Large-spacing obstacle crossing photovoltaic cleaning device and obstacle crossing method thereof

Abstract

The invention relates to a large-spacing obstacle crossing photovoltaic cleaning device and an obstacle crossing method.The device comprises a rack, a power source assembly, a cleaning assembly, a control assembly, a walking assembly, an obstacle crossing assembly and a positioning sensing assembly, and the walking assembly comprises a first driving wheel assembly and a second driving wheel assembly; the positioning sensing assembly comprises a first positioning sensing part and a second positioning sensing part, the positioning sensing assembly is in communication connection with the control assembly and transmits a positioning signal to the control assembly, the obstacle crossing assembly comprises a first obstacle crossing part and a second obstacle crossing part, and the first obstacle crossing part and the second obstacle crossing part each comprise a supporting seat, a driving execution part, a swing part and an obstacle crossing walking part. The supporting seat is fixedly connected with the rack, one end of the swing part is hinged to the supporting seat, the obstacle crossing walking part is arranged at the other end of the swing part, and the driving execution part is in transmission connection with the swing part and used for driving the swing part to swing in the vertical plane. Large-interval crossing can be achieved on the plane of the photovoltaic module, the design and labor cost can be saved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a large-spacing obstacle-crossing photovoltaic cleaning device and an obstacle-crossing method thereof. Background Art

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

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

[0004] For large photovoltaic array cleaning applications, traditional cleaning robots on the market cannot pass through large gaps between photovoltaic panels in the horizontal direction, or large steps or drops in the vertical direction, which makes photovoltaic cleaning robot products have certain limitations.

[0005] Among the existing robot obstacle-crossing solutions, the typical one is to rely on a crawler-type walking structure to cross obstacles for the robot. Although it can cross obstacles for photovoltaic panels with large spacing, its mechanical structure is complex, which will increase the weight of the robot and there is a certain risk of causing damage to the photovoltaic panel components due to the heavy load. In addition, its obstacle-crossing method process is relatively complicated, which will eventually affect the cleaning efficiency.

[0006] In summary, there is an urgent need to provide a large-spacing obstacle-crossing photovoltaic cleaning device and an obstacle-crossing method thereof which has a simple structure, an efficient method, and the ability to cross large-spacing obstacles. Summary of the invention

[0007] The purpose of the present invention is to provide a large-spacing obstacle-crossing photovoltaic cleaning device and an obstacle-crossing method thereof which have a simple structure, an efficient method and can cross large-spacing obstacles.

[0008] The above object is achieved through the following technical solution: a large-spacing obstacle-crossing photovoltaic cleaning device, comprising a frame and a power supply assembly, a cleaning assembly, a control assembly, a walking assembly, an obstacle-crossing assembly and a positioning sensor assembly arranged on the frame, the power supply assembly being electrically connected to the cleaning assembly, the control assembly, the walking assembly, the obstacle-crossing assembly and the positioning sensor assembly, the walking assembly at least comprising a first driving wheel assembly and a second driving wheel assembly respectively arranged on both sides of the frame, the positioning sensor assembly comprising a first positioning sensor component and a second positioning sensor component, the first positioning sensor component and the second positioning sensor component respectively matching the setting positions of the first driving wheel assembly and the second driving wheel assembly, the The positioning sensor component is communicatively connected to the control component and is used to transmit the positioning signal to the control component. The obstacle overcoming component at least includes a first obstacle overcoming component and a second obstacle overcoming component respectively arranged on both sides of the frame. The first obstacle overcoming component and the second obstacle overcoming component both include a support seat, a driving actuator, a swinging member and an obstacle overcoming walking member. The support seat is fixedly connected to the frame, one end of the swinging member is hinged to the support seat, and the other end is provided with the obstacle overcoming walking member. The driving actuator is transmission-connected to the swinging member and is used to drive the swinging member to swing in a vertical plane. The control component is used to send control instructions to the cleaning component, the walking component and the driving actuator and then perform related actions.

[0009] The present invention is used for cleaning the surface of solar photovoltaic cells, and is particularly suitable for crossing obstacles of photovoltaic panels with large spacing. By setting an obstacle crossing component on the frame of a photovoltaic cleaning device with large spacing, the photovoltaic panel can cross the large spacing. The obstacle crossing component includes a driving component that can make the obstacle crossing wheel retract when there is no need to cross the obstacle, so that the equipment runs smoothly and prevents the additional obstacle crossing component from becoming a walking obstacle. When the photovoltaic cleaning device with large spacing needs to cross the obstacle, the first obstacle crossing component on the front side of the forward direction starts to work to form a height difference between the front and rear drives. By utilizing the height difference, the second driving wheel component on the rear side can provide a driving force for forward movement. When the first driving wheel component on the front side crosses the gap of the photovoltaic component, the first obstacle crossing component on the front side is reset, and the second obstacle crossing component on the rear side starts to work. At this time, the first driving wheel component on the front side provides a forward driving force, so that the second driving wheel component on the rear side crosses the gap to realize the obstacle crossing function. The first positioning sensor and the second positioning sensor are respectively used to cooperate with the positioning sensor on the photovoltaic component to locate the positions of the first driving wheel component and the second driving wheel component, and judge whether it is necessary to cross the obstacle and whether it is necessary to cross the obstacle.

[0010] A further technical solution is that the first driving wheel assembly and the second driving wheel assembly are respectively provided at both ends of the frame, and the first obstacle-crossing member and the second obstacle-crossing member are respectively provided at the four corners of the frame. In this way, by providing obstacle-crossing mechanisms at the four corners of the frame, it is more stable when achieving large row spacing of photovoltaic panels.

[0011] A further technical solution is that the swinging member includes a first connecting portion and a second connecting portion, and the connecting portion and the second connecting portion are connected by a buffer member. Thus, by providing the buffer member, the contact with the photovoltaic panel during the swinging process to avoid damage to the photovoltaic panel.

[0012] A further technical solution is that the large-spacing obstacle-crossing photovoltaic cleaning device is provided with a cross-row sensing component for sensing a row-break identification block provided on the photovoltaic panel assembly. Thus, in actual application, a row-break identification block is provided at a predetermined position of the photovoltaic panel assembly, and when the cross-row sensing component senses the row-break identification block, preparations for cross-row obstacle crossing are made.

[0013] A further technical solution is that the first drive wheel assembly and the second drive wheel assembly each include a travel drive, a bearing base, a transmission shaft and a travel wheel, the bearing base is fixedly connected to the frame, and the travel drive is fixed to the bearing base and is connected to the travel wheel through the transmission shaft. In the specific application process, there are two sets of the first drive wheel assembly and the second drive wheel assembly, that is, this solution adopts a four-wheel drive travel mode in the forward and backward directions of cleaning, the travel drive is connected to the transmission shaft through a coupling, and the transmission shaft is connected to the frame through a bearing flange.

[0014] A further technical solution is that the cleaning assembly includes a fixing seat, a cleaning drive and a spiral cleaning roller brush, the spiral cleaning roller brush is arranged at the bottom of the frame, one end of the connecting shaft of the spiral cleaning roller brush is rotationally connected to the frame, and the other end is transmission-connected to the cleaning drive, and the cleaning drive is fixed to the frame through the fixing seat. The cleaning assembly is used to clean impurities on the photovoltaic panel, and the spiral cleaning roller brush and the cleaning drive can be connected in the form of a coupling, a direct connection with a connecting rod, etc.

[0015] A further technical solution is that the frame is provided with a deviation correcting wheel assembly corresponding to the position where the first driving wheel assembly and the second driving wheel assembly are provided.

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

[0017] To achieve the above object, the present invention also provides an obstacle crossing method for a photovoltaic cleaning device with large spacing over obstacles as described above, which is used for the photovoltaic cleaning device with large spacing over obstacles to cross from a first photovoltaic component to a second photovoltaic component, comprising the following steps:

[0018] S1, the first obstacle-crossing component crosses the gap between photovoltaic modules and reaches above the second photovoltaic module;

[0019] S2, the first positioning sensor on the front side detects the positioning sensor on the first photovoltaic assembly, and the walking assembly stops moving;

[0020] S3, the control component controls the swinging member of the first obstacle surmounting member to move so that the obstacle surmounting walking member of the first obstacle surmounting member is positioned on the second photovoltaic assembly;

[0021] S4, the control component controls the movement of the walking component, and the second driving wheel component at the rear side drives the large-spacing obstacle-crossing photovoltaic cleaning device to move toward the second photovoltaic component;

[0022] S5, the first positioning sensor detects the positioning sensor on the second photovoltaic assembly and determines that the front first driving wheel assembly is above the second photovoltaic assembly;

[0023] S6, the walking component stops moving, and the control component controls the swinging component of the first obstacle overcoming component to move, so that the obstacle overcoming walking component of the first obstacle overcoming component is reset, and the walking wheel of the first driving wheel component is placed on the second photovoltaic component;

[0024] S7, the control component controls the swing member of the second obstacle-surmounting component at the rear side to move so that the obstacle-surmounting walking member of the second obstacle-surmounting component is positioned on the first photovoltaic component;

[0025] S8, the control component controls the movement of the walking component, and the first driving wheel component on the front side drives the large-spacing obstacle-crossing photovoltaic cleaning device to continue moving toward the second photovoltaic component;

[0026] S9, the second positioning sensor on the rear side detects the positioning sensor on the second photovoltaic assembly, and determines that the second driving wheel assembly on the rear side is above the second photovoltaic assembly;

[0027] S10, the control component controls the movement of the swing member of the second obstacle overcoming member on the rear side, so that the obstacle overcoming walking member of the second obstacle overcoming member is reset, and the walking wheel of the second driving wheel assembly is placed on the second photovoltaic assembly, completing the cross-row obstacle overcoming.

[0028] When the large-spacing obstacle-crossing photovoltaic cleaning device is in normal driving state, the obstacle-crossing component is in a non-working state, that is, the obstacle-crossing walking part does not contact the surface of the photovoltaic component; specifically, the setting position of the positioning sensor part needs to be calculated, and the position of the sensor plate needs to be set according to the principle that the first obstacle-crossing component in the forward direction has crossed the photovoltaic component spacing and the large-spacing obstacle-crossing photovoltaic cleaning device has not crossed it (especially the first large-spacing obstacle-crossing photovoltaic cleaning device).

[0029] A further technical solution is that in step S3, after the obstacle overcoming member of the first obstacle overcoming member on the front side contacts the second photovoltaic component, the swinging member of the second obstacle overcoming member continues to move until the large-spacing obstacle overcoming photovoltaic cleaning device tilts toward the rear side; in step S4, after the obstacle overcoming member of the second obstacle overcoming member on the rear side contacts the first photovoltaic component, the swinging member of the first obstacle overcoming member continues to move until the large-spacing obstacle overcoming photovoltaic cleaning device tilts toward the front side.

[0030] Compared with the prior art, the application of the technical solution of the present invention enables the photovoltaic cleaning device to achieve large spacing across the plane of photovoltaic modules, and no longer needs to build a customized bridge system, thus saving design and labor costs and improving cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 A schematic structural diagram of a large-spacing obstacle-crossing photovoltaic cleaning device according to an embodiment of the present invention;

[0033] Figure 2 A schematic structural diagram of a large-spacing obstacle-crossing photovoltaic cleaning device according to an embodiment of the present invention from another perspective;

[0034] Figure 3 It is a structural schematic diagram of a first obstacle surmounting component involved in one embodiment of the present invention;

[0035] Figure 4 It is a structural schematic diagram of a first driving wheel assembly involved in one embodiment of the present invention;

[0036] Figure 5 This is a schematic structural diagram of a cleaning component involved in one embodiment of the present invention;

[0037] Figure 6 A schematic structural diagram of a first positioning sensor involved in an embodiment of the present invention;

[0038] Figure 7 This is a schematic structural diagram of a deviation-correcting wheel assembly involved in one embodiment of the present invention;

[0039] Figures 8 to 12 The present invention is a schematic diagram of an obstacle crossing process of a large-spacing obstacle-crossing photovoltaic cleaning device according to an embodiment of the present invention.

[0040] 1. Power supply component 2. Cleaning component 3. Walking component 4. Obstacle crossing component

[0041] 5 positioning sensor assembly 6 control assembly 7 first positioning sensor 8 second positioning sensor 9 first obstacle surmounting member 10 second obstacle surmounting member 11 first driving wheel assembly 12 second driving wheel assembly 13 supporting seat 14 swinging member 15 deviation correction wheel assembly 16 buffer member

[0042] 17 driving actuator 18 obstacle-crossing walking component 19 crossing sensing component 20 walking driving component

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

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

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

[0046] 33 bearing flange 34 first photovoltaic assembly 35 second photovoltaic assembly 36 positioning sensor 37 rack DETAILED DESCRIPTION

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

[0048] The embodiments of the present invention are as follows, referring to Figures 1 to 3A photovoltaic cleaning device for overcoming obstacles with large spacing comprises a frame 37 and a power supply assembly 1, a cleaning assembly 2, a control assembly 6, a walking assembly 3, an obstacle overcoming assembly 4 and a positioning sensor assembly 5 arranged on the frame 37, wherein the power supply assembly 1 is electrically connected to the cleaning assembly 2, the control assembly 6, the walking assembly 3, the obstacle overcoming assembly 4 and the positioning sensor assembly 5, the walking assembly 3 at least comprises a first driving wheel assembly 11 and a second driving wheel assembly 12 respectively arranged on both sides of the frame 37, the positioning sensor assembly 5 comprises a first positioning sensor 7 and a second positioning sensor 8, the first positioning sensor 7 and the second positioning sensor 8 respectively match the setting positions of the first driving wheel assembly 11 and the second driving wheel assembly 12, the positioning sensor assembly 5 and the control assembly 3 are electrically connected to each other ... Component 6 is communicatively connected and used to transmit the positioning signal to the control component 6. The obstacle overcoming component 4 includes at least a first obstacle overcoming component 9 and a second obstacle overcoming component 10 respectively arranged on both sides of the frame 37. The first obstacle overcoming component 9 and the second obstacle overcoming component 10 both include a support seat 13, a driving actuator 17, a swinging member 14 and an obstacle overcoming walking member 18. The support seat 13 is fixedly connected to the frame 37. One end of the swinging member 14 is hinged to the support seat 13, and the other end is provided with the obstacle overcoming walking member 18. The driving actuator 17 is transmission-connected to the swinging member 14 and is used to drive the swinging member 14 to swing in a vertical plane. The control component 6 is used to send control instructions to the cleaning component 2, the walking component 3 and the driving actuator 17 and then perform related actions.

[0049] The present invention is used for cleaning the surface of solar photovoltaic cells, and is particularly suitable for crossing rows of photovoltaic panels with large spacing. By setting an obstacle crossing component 4 on the large spacing obstacle crossing photovoltaic cleaning device frame 37, the large spacing of photovoltaic panels can be crossed. The obstacle crossing component 4 includes a driving component that can retract the obstacle crossing wheel when there is no need to cross obstacles, so that the equipment runs smoothly and prevents the addition of the obstacle crossing component 4 from becoming a walking obstacle. When the large spacing obstacle crossing photovoltaic cleaning device needs to cross obstacles, the first obstacle crossing component 9 on the front side of the forward direction starts to work to form a height difference between the front and rear drives. The height difference can be used to enable the second drive wheel component 12 on the rear side to provide a forward driving force. When the first drive wheel component 11 on the front side crosses the gap between the photovoltaic panels, the first obstacle crossing component 9 on the front is reset, and the second obstacle crossing component 10 on the rear side starts to work. At this time, the first drive wheel component 11 on the front side provides a forward driving force, so that the second drive wheel component 12 on the rear side crosses the gap to achieve the obstacle crossing function. Figure 6The first positioning sensor 7 and the second positioning sensor 8 respectively include a sensor 31 and a mounting bracket 32. The sensor 31 can also be set as a contact sensor element. The sensor 31 is fixed to the frame 37 through a bracket. This component senses the in-position sensing block set on the track as an in-position signal to the robot. The first positioning sensor 7 and the second positioning sensor 8 are respectively used to cooperate with the positioning sensing element 36 on the photovoltaic component to locate the position of the first driving wheel component 11 and the second driving wheel component 12, and determine whether it is necessary to cross obstacles and whether it is necessary to cross obstacles.

[0050] In the specific application process, the frame 37 can be welded or assembled, and the material includes but is not limited to Q235A, 304, 6061, etc., mainly for bearing. The power supply component 1 is mainly composed of photovoltaic components and battery components, which can realize the autonomous power supply function of the photovoltaic cleaning large-spacing obstacle-crossing photovoltaic cleaning device; the control component 6 includes a main electric control box and control components integrated in the control box.

[0051] Based on the above embodiment, in another embodiment of the present invention, Figure 1 The first driving wheel assembly 11 and the second driving wheel assembly 12 are respectively disposed at both ends of the frame 37, and the first obstacle-crossing member 9 and the second obstacle-crossing member 10 are respectively disposed at the four corners of the frame 37. In this way, by arranging obstacle-crossing mechanisms at the four corners of the frame 37, it is more stable when realizing large row spacing of photovoltaic panels.

[0052] Based on the above embodiment, in another embodiment of the present invention, Figure 3 The swing member 14 includes a first connection portion and a second connection portion, and the connection portion and the second connection portion are connected by a buffer member 16. Thus, by providing the buffer member 16, it is avoided that the photovoltaic panel is damaged by contact with the photovoltaic panel during the swinging process.

[0053] Based on the above embodiment, in another embodiment of the present invention, Figure 1 The large-spacing obstacle-crossing photovoltaic cleaning device is provided with a cross-row sensing component 19 for sensing the row-break identification block set on the photovoltaic panel assembly. Thus, in the actual application process, the row-break identification block is set at a predetermined position of the photovoltaic panel assembly, and when the cross-row sensing component 19 senses the row-break identification block, the cross-row obstacle-crossing preparation is made.

[0054] Based on the above embodiment, in another embodiment of the present invention, Figure 4, the first driving wheel assembly 11 and the second driving wheel assembly 12 both include a travel drive 20, a bearing base 21, a transmission shaft 22 and a travel wheel 23, the bearing base 21 is fixedly connected to the frame 37, and the travel drive 20 is fixed to the bearing base 21 and is transmission-connected to the travel wheel 23 through the transmission shaft 22. In the specific application process, the first driving wheel assembly 11 and the second driving wheel assembly 12 are each two sets, that is, this solution adopts a four-wheel drive travel mode in the forward and backward directions of cleaning, the travel drive 20 is connected to the transmission shaft 22 through a coupling 24, and the transmission shaft 22 is connected to the frame 37 through a bearing flange 33.

[0055] Based on the above embodiment, in another embodiment of the present invention, Figure 5 The cleaning assembly 2 includes a fixing seat 25, a cleaning drive 26 and a spiral cleaning roller brush 27. The spiral cleaning roller brush 27 is arranged at the bottom of the frame 37. One end of the connecting shaft of the spiral cleaning roller brush 27 is rotatably connected to the frame 37, and the other end is transmission-connected to the cleaning drive 26. The cleaning drive 26 is fixed to the frame 37 through the fixing seat 25. The cleaning assembly 2 is used to clean impurities on the photovoltaic panel. The spiral cleaning roller brush 27 and the cleaning drive 26 can be connected in the form of a coupling 24, a connecting rod direct connection, etc.

[0056] Based on the above embodiment, in another embodiment of the present invention, Figure 1 The frame 37 is provided with a deviation correcting wheel assembly 15 at the positions where the first driving wheel assembly 11 and the second driving wheel assembly 12 are provided.

[0057] Based on the above embodiment, in another embodiment of the present invention, Figure 7 The correcting wheel assembly 15 includes a mounting seat 28, a connecting bracket 29 and a roller 30. The mounting seat 28 is fixed on the frame 37. One end of the connecting bracket 29 is connected to the mounting seat 28, and the other end is provided with the roller 30. The roller 30 is hinged to the connecting bracket 29 and the rotation direction is horizontal.

[0058] The present invention also provides an obstacle crossing method for a photovoltaic cleaning device having a large spacing and obstacle crossing as described above, and the embodiments are as follows: Figures 8 to 12 , a photovoltaic cleaning device for crossing large-distance obstacles from the first photovoltaic component 34 to the second photovoltaic component 35, comprising the following steps:

[0059] S1, the first obstacle-crossing member 9 crosses the gap between photovoltaic modules and reaches above the second photovoltaic module 35;

[0060] S2, the first positioning sensor 7 on the front side detects the positioning sensor 36 on the first photovoltaic assembly 34, and the walking assembly 3 stops moving;

[0061] S3, the control component 6 controls the swinging member 14 of the first obstacle surmounting member 9 to move, so that the obstacle surmounting walking member 18 of the first obstacle surmounting member 9 is placed on the second photovoltaic assembly 35;

[0062] S4, the control component 6 controls the movement of the walking component 3, and the second driving wheel component 12 at the rear side drives the large-spacing obstacle-crossing photovoltaic cleaning device to move toward the second photovoltaic component 35;

[0063] S5, the first positioning sensor 7 detects the positioning sensor 36 on the second photovoltaic assembly 35, and determines that the front first driving wheel assembly 11 is above the second photovoltaic assembly 35;

[0064] S6, the walking component 3 stops moving, and the control component 6 controls the swinging member 14 of the first obstacle overcoming member 9 to move, so that the obstacle overcoming walking member 18 of the first obstacle overcoming member 9 is reset, and the walking wheel 23 of the first driving wheel assembly 11 is placed on the second photovoltaic assembly 35;

[0065] S7, the control component 6 controls the swinging member 14 of the second obstacle-surmounting member 10 at the rear side to move, so that the obstacle-surmounting walking member 18 of the second obstacle-surmounting member 10 is placed on the first photovoltaic assembly 34;

[0066] S8, the control component 6 controls the movement of the walking component 3, and the first driving wheel component 11 on the front side drives the large-spacing obstacle-crossing photovoltaic cleaning device to continue moving toward the second photovoltaic component 35;

[0067] S9, the second positioning sensor 8 at the rear side detects the positioning sensor 36 on the second photovoltaic assembly 35, and determines that the second driving wheel assembly 12 at the rear side is above the second photovoltaic assembly 35;

[0068] S10, the control component 6 controls the swing member 14 of the second obstacle overcoming member 10 on the rear side to move, so that the obstacle overcoming walking member 18 of the second obstacle overcoming member 10 is reset, and the walking wheel 23 of the second driving wheel assembly 12 is placed on the second photovoltaic assembly 35, completing the cross-row obstacle overcoming.

[0069] When the large-spacing obstacle-crossing photovoltaic cleaning device is in normal driving state, the obstacle-crossing component 4 is in a non-working state, that is, the obstacle-crossing walking component 18 does not contact the surface of the photovoltaic component; specifically, the setting position of the positioning sensor 36 needs to be calculated, and the sensor plate position needs to be set according to the principle that the first obstacle-crossing component 9 in the forward direction has crossed the photovoltaic component spacing and the large-spacing obstacle-crossing photovoltaic cleaning device has not yet crossed (especially the first large-spacing obstacle-crossing photovoltaic cleaning device).

[0070] Based on the above embodiment, in another embodiment of the present invention, Figure 4In step S3, after the obstacle overcoming walking member 18 of the first obstacle overcoming member 9 on the front side contacts the second photovoltaic assembly 35, the swinging member 14 of the second obstacle overcoming member 10 continues to move until the large-spacing obstacle overcoming photovoltaic cleaning device tilts toward the rear side; in step S4, after the obstacle overcoming walking member 18 of the second obstacle overcoming member 10 on the rear side contacts the first photovoltaic assembly 34, the swinging member 14 of the first obstacle overcoming member 9 continues to move until the large-spacing obstacle overcoming photovoltaic cleaning device tilts toward the front side.

[0071] In this way, when the photovoltaic cleaning device with large-distance obstacle-crossing needs to overcome obstacles, the first obstacle-crossing member 9 on the front side of the forward direction starts to work to form a height difference between the front and rear drives. The height difference is used to ensure that the second drive wheel assembly 12 on the rear side provides the forward driving force. When the first drive wheel assembly 11 on the front side crosses the gap between the photovoltaic components, the front first obstacle-crossing member 9 is reset and the second obstacle-crossing member 10 on the rear side starts to work. At this time, it is ensured that the first drive wheel assembly 11 on the front side provides the forward driving force, so that the second drive wheel assembly 12 on the rear side crosses the gap to achieve the obstacle-crossing function.

[0072] In order to better understand the technical solution of the present invention, a principle of an obstacle control system is also provided in a specific embodiment, and the embodiments are as follows:

[0073] The initial position and the end position of the large-spacing obstacle-crossing photovoltaic cleaning device remain consistent. The initial posture of the large-spacing obstacle-crossing photovoltaic cleaning device is in the walking state when changing lines, that is, the obstacle-crossing component 4 is in the extended state.

[0074] 1. Power on the large-spacing obstacle-crossing photovoltaic cleaning device:

[0075] By installing an irradiator in a photovoltaic power station, mathematical and logical operations can be performed through the following formula to obtain the ratio of the actual power generation to the theoretical power generation of the power station as the basis for the comprehensive efficiency coefficient. According to the formula:

[0076] EP=HA×PAZ / ES×K

[0077] Among them, EP is the theoretical power generation of the photovoltaic power station, unit (Kw·h); HA is the total solar radiation, unit (Kw·h / m2, peak hours); PAZ is the component installation capacity, unit (kWp); ES is the preset irradiance, which can be taken as a constant = 1Kw·h / m2; K is the comprehensive efficiency coefficient.

[0078] 2. Self-inspection before cleaning:

[0079] When the comprehensive efficiency coefficient is lower than the preset value, the large-spacing obstacle-crossing photovoltaic cleaning device starts the cleaning self-test mode, in which the self-test includes meteorological detection, self-power detection, self-mechanical structure detection, and initial position detection. If the self-test passes, the large-spacing obstacle-crossing photovoltaic cleaning device enters the next round of cleaning mode. If the self-test fails, an error signal of the corresponding stage will be sent to the cloud.

[0080] 3. Cleaning mode motion control:

[0081] After the self-check is completed, the signal is transmitted to the main control center, and the cleaning mode is entered. The cleaning drive member 26 in the cleaning component 2 starts to work, driving the spiral cleaning roller brush 27 to rotate.

[0082] 4. Obstacle crossing mode control:

[0083] When entering the obstacle crossing mode, the photovoltaic cleaning device for large-spacing obstacle crossing uses the positioning sensor component 5 to sense the signal of the positioning sensor 36 added on the track to determine whether the front and rear wheels have crossed the gap. Through the sequential sensing of the signal, the front and rear obstacle crossing components 4 complete the corresponding actions in each period, thereby realizing the obstacle crossing function. When the obstacle crossing mode is completed, it returns to the cleaning mode.

[0084] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A large-spacing obstacle-crossing photovoltaic cleaning device, characterized in that: The invention comprises a frame and a power supply assembly, a cleaning assembly, a control assembly, a walking assembly, an obstacle-crossing assembly and a positioning sensor assembly arranged on the frame, wherein the power supply assembly is electrically connected to the cleaning assembly, the control assembly, the walking assembly, the obstacle-crossing assembly and the positioning sensor assembly, the walking assembly at least comprises a first driving wheel assembly and a second driving wheel assembly respectively arranged on both sides of the frame, the positioning sensor assembly comprises a first positioning sensor and a second positioning sensor, the first positioning sensor and the second positioning sensor respectively match the setting positions of the first driving wheel assembly and the second driving wheel assembly, and the positioning sensor assembly communicates with the control assembly The obstacle-crossing component is connected and used to transmit the positioning signal to the control component, the obstacle-crossing component at least includes a first obstacle-crossing component and a second obstacle-crossing component respectively arranged on both sides of the frame, the first obstacle-crossing component and the second obstacle-crossing component each include a support seat, a driving actuator, a swinging component and an obstacle-crossing walking component, the support seat is fixedly connected to the frame, one end of the swinging component is hinged to the support seat, and the other end is provided with the obstacle-crossing walking component, the driving actuator is transmission-connected to the swinging component and used to drive the swinging component to swing in a vertical plane, and the control component is used to execute related actions after sending control instructions to the cleaning component, the walking component and the driving actuator.

2. The large-spacing obstacle-crossing photovoltaic cleaning device according to claim 1 is characterized in that: The first driving wheel assembly and the second driving wheel assembly are respectively disposed at two ends of the frame, and the first obstacle-crossing member and the second obstacle-crossing member are respectively disposed at four corners of the frame.

3. The large-spacing obstacle-crossing photovoltaic cleaning device according to claim 1 is characterized in that: The swinging member includes a first connecting portion and a second connecting portion, and the connecting portion and the second connecting portion are connected through a buffer member.

4. The large-spacing obstacle-crossing photovoltaic cleaning device according to any one of claims 1 to 3, characterized in that: The large-spacing obstacle-crossing photovoltaic cleaning device is provided with a cross-row sensing component for sensing a row-break identification block arranged on a photovoltaic panel component.

5. The large-spacing obstacle-crossing photovoltaic cleaning device according to any one of claims 1 to 3, characterized in that: The first driving wheel assembly and the second driving wheel assembly both include a travel drive member, a bearing base, a transmission shaft and a travel wheel. The bearing base is fixedly connected to the frame, and the travel drive member is fixed on the bearing base and is transmission-connected to the travel wheel via the transmission shaft.

6. The large-spacing obstacle-crossing photovoltaic cleaning device according to claim 5, characterized in that: The cleaning assembly includes a fixed seat, a cleaning drive and a spiral cleaning roller brush. The spiral cleaning roller brush is arranged at the bottom of the frame. One end of the connecting shaft of the spiral cleaning roller brush is rotatably connected to the frame, and the other end is transmission-connected to the cleaning drive. The cleaning drive is fixed to the frame through the fixed seat.

7. The large-spacing obstacle-crossing photovoltaic cleaning device according to claim 2, characterized in that: The frame is provided with a deviation correcting wheel assembly corresponding to the position where the first driving wheel assembly and the second driving wheel assembly are provided.

8. The large-spacing obstacle-crossing photovoltaic cleaning device according to claim 7, characterized in that: The deflection-correcting wheel assembly comprises a mounting seat, a connecting bracket and a roller. The mounting seat is fixed on the frame. One end of the connecting bracket is connected to the mounting seat, and the other end is provided with the roller. The roller is hinged to the connecting bracket and rotates in a horizontal direction.

9. An obstacle crossing method for a photovoltaic cleaning device with large spacing over obstacles as claimed in any one of claims 1 to 8, used for a photovoltaic cleaning device with large spacing over obstacles to cross from a first photovoltaic component to a second photovoltaic component, characterized in that: The steps include: S1, the first obstacle-crossing component crosses the gap between photovoltaic modules and reaches above the second photovoltaic module; S2, the first positioning sensor on the front side detects the positioning sensor on the first photovoltaic assembly, and the walking assembly stops moving; S3, the control component controls the swinging member of the first obstacle surmounting member to move so that the obstacle surmounting walking member of the first obstacle surmounting member is positioned on the second photovoltaic assembly; S4, the control component controls the movement of the walking component, and the second driving wheel component at the rear side drives the large-spacing obstacle-crossing photovoltaic cleaning device to move toward the second photovoltaic component; S5, the first positioning sensor detects the positioning sensor on the second photovoltaic assembly and determines that the front first driving wheel assembly is above the second photovoltaic assembly; S6, the walking component stops moving, and the control component controls the swinging component of the first obstacle overcoming component to move, so that the obstacle overcoming walking component of the first obstacle overcoming component is reset, and the walking wheel of the first driving wheel component is placed on the second photovoltaic component; S7, the control component controls the swing member of the second obstacle-surmounting component at the rear side to move so that the obstacle-surmounting walking member of the second obstacle-surmounting component is positioned on the first photovoltaic component; S8, the control component controls the movement of the walking component, and the first driving wheel component on the front side drives the large-spacing obstacle-crossing photovoltaic cleaning device to continue moving toward the second photovoltaic component; S9, the second positioning sensor on the rear side detects the positioning sensor on the second photovoltaic assembly, and determines that the second driving wheel assembly on the rear side is above the second photovoltaic assembly; S10, the control component controls the movement of the swing member of the second obstacle overcoming member on the rear side, so that the obstacle overcoming walking member of the second obstacle overcoming member is reset, and the walking wheel of the second driving wheel assembly is placed on the second photovoltaic assembly, completing the cross-row obstacle overcoming.

10. The obstacle surmounting method of a photovoltaic cleaning device with large-spacing obstacles according to claim 9, characterized in that: In the step S3, after the obstacle overcoming member of the first obstacle overcoming member on the front side contacts the second photovoltaic assembly, the swinging member of the second obstacle overcoming member continues to move until the large-spacing obstacle overcoming photovoltaic cleaning device tilts toward the rear side; in the step S4, after the obstacle overcoming member of the second obstacle overcoming member on the rear side contacts the first photovoltaic assembly, the swinging member of the first obstacle overcoming member continues to move until the large-spacing obstacle overcoming photovoltaic cleaning device tilts toward the front side.

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