Cleaning mechanism, cleaning device and cleaning method

Abstract

A detection assembly of the cleaning mechanism comprises a first detection piece and a second detection piece which are arranged on the same side of a movable support, the first detection piece protrudes out of the movable support so as to be located on the front side of the second detection piece, and the cleaning mechanism moves in the length direction of a face to be cleaned. The first detection piece and the second detection piece enter the to-be-cleaned surface in sequence; the first detection piece comprises at least two front sensors arranged in the length direction of the movable support at intervals, the second detection piece comprises at least two first middle sensors arranged in the length direction of the movable support at intervals, and the front sensors and the first middle sensors can detect the vertical distance between the front sensors and the to-be-cleaned face. By means of the arrangement, the collision risk when the cleaning mechanism enters the to-be-cleaned face is reduced, the problem that the edge area cleaning effect is poor is solved, and the cleaning efficiency and safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a cleaning mechanism, a cleaning device and a cleaning method. Background Art

[0002] Tower solar thermal utilization technology is an emerging solar energy utilization technology. It converts low-temperature heat storage medium into high-temperature heat storage medium through a tower solar thermal collection system (the tower solar thermal collection system includes a heliostat field and a corresponding absorber set on the heat absorption tower), and then transports the high-temperature heat storage medium to the heat use system to release heat to achieve the utilization of solar energy. The heliostat field of the tower solar thermal collection system includes thousands of heliostats. The heliostats track the sun outdoors for a long time, and the reflective surface is prone to dust accumulation and dirtiness, resulting in a decrease in reflectivity, which in turn affects the efficiency of the entire tower solar thermal collection system. Therefore, it is necessary to use a cleaning device to regularly clean the reflective surface of the heliostat.

[0003] Due to the uneven road surface in the heliostat field, installation errors during the installation of heliostats, and the inability of the cleaning device to maintain a consistent moving path during the cleaning process, the relative position of the cleaning mechanism in the cleaning device and the reflective surface of the heliostat to be cleaned is constantly changing for different heliostats or even for different areas of the reflective surface of the same heliostat during the movement of the cleaning device. When the cleaning mechanism is too far away from the reflective surface to be cleaned, it cannot clean the reflective surface to be cleaned; when the cleaning mechanism is too close to the reflective surface to be cleaned, the cleaning mechanism may collide with the reflective surface to be cleaned. Therefore, the existing cleaning device usually sets a detection sensor to detect the distance between the cleaning mechanism and the reflective surface to be cleaned in real time, and the driving mechanism adjusts the posture of the cleaning mechanism according to the detection result. However, the existing detection sensor usually detects only after the cleaning mechanism enters the reflective surface to be cleaned. In addition, the response speed of the driving mechanism is insufficient. When the distance abnormality is detected, there is no time to adjust the posture of the cleaning mechanism, resulting in the cleaning mechanism colliding when entering the reflective surface to be cleaned, causing damage to the cleaning device and the heliostat; or the cleaning mechanism has a poor cleaning effect on the edge area when it just enters the reflective surface to be cleaned. Summary of the invention

[0004] An object of the present invention is to provide a cleaning mechanism that can solve the problem that the existing driving mechanism has insufficient response speed and has no time to adjust the posture of the cleaning mechanism when the detection distance is abnormal, resulting in poor cleaning effect on the edge area of ​​the surface to be cleaned, or collision damage between the cleaning device and the heliostat.

[0005] To achieve this object, the first aspect of the present invention adopts the following technical solutions:

[0006] A cleaning mechanism is provided, comprising a cleaning mechanism body and a detection component, wherein the cleaning mechanism body comprises a movable bracket and a cleaning brush mounted on the movable bracket, wherein the cleaning brush is used to clean the surface to be cleaned of the object to be cleaned, and wherein the detection component comprises a first detection component and a second detection component arranged on the same side of the movable bracket along the width direction of the movable bracket, wherein the first detection component protrudes from the movable bracket to be located in front of the second detection component, and the movable bracket moves along the length direction of the surface to be cleaned so that the first detection component and the second detection component successively enter the surface to be cleaned; the first detection component comprises at least two front sensors spaced apart along the length direction of the movable bracket, and the second detection component comprises at least two first middle sensors spaced apart along the length direction of the movable bracket, and both the front sensor and the first middle sensor are capable of detecting the vertical distance between the front sensor and the surface to be cleaned.

[0007] In one embodiment, the detection component also includes at least one intermediate sensor connected to the movable bracket, wherein the intermediate sensor is arranged to protrude from the movable bracket and is located between the first detection member and the second detection member along the width direction of the movable bracket. The intermediate sensor can detect the vertical distance between the intermediate sensor and the surface to be cleaned.

[0008] In one embodiment, the detection component also includes a third detection member. Along the width direction of the movable bracket, the second detection member and the third detection member are respectively arranged on both sides of the movable bracket. When the movable bracket moves along the length direction of the surface to be cleaned, the second detection member and the third detection member successively enter the surface to be cleaned. The third detection member includes at least two second central sensors arranged at intervals along the length direction of the movable bracket. The second central sensors can detect the vertical distance between the movable bracket and the surface to be cleaned.

[0009] In one embodiment, all the front sensors in the first detection member are installed at the same height along the height direction of the mobile bracket, and all the front sensors in the first detection member are at the same distance from the front side of the mobile bracket along the width direction of the mobile bracket.

[0010] In one embodiment, all the second center sensors in the third detection member are installed at the same height in the height direction of the mobile bracket, and all the second center sensors in the third detection member are at the same distance from the rear side of the mobile bracket along the width direction of the mobile bracket.

[0011] In one embodiment, the distance from all the second center sensors in the third detection member to the rear side of the mobile bracket along the width direction of the mobile bracket is smaller than the distance from each of the front sensors in the first detection member to the front side of the mobile bracket along the width direction of the mobile bracket; or, the detection component further includes at least one intermediate sensor connected to the mobile bracket, the intermediate sensor protruding from the mobile bracket, and located between the first detection member and the second detection member along the width direction of the mobile bracket, and the distance from all the second center sensors in the third detection member to the rear side of the mobile bracket along the width direction of the mobile bracket is smaller than the distance from any one of the intermediate sensors to the front side of the mobile bracket along the width direction of the mobile bracket.

[0012] In one of the embodiments, the detection assembly further includes a limit detection member, and the limit detection member includes at least one limit sensor disposed on the movable bracket, and the limit sensor is used to detect the edge of the surface to be cleaned along the width direction.

[0013] In one of the embodiments, the limit detection component includes two limit sensors respectively arranged at two ends of the movable bracket along the length direction of the movable bracket.

[0014] In one of the embodiments, along the height direction of the mobile bracket, the installation position of the first detection member on the mobile bracket is higher than the installation position of the second detection member on the mobile bracket.

[0015] The second object of the present invention is to provide a cleaning device having a cleaning mechanism that can solve the problem that the existing driving mechanism has insufficient response speed and there is no time to adjust the cleaning mechanism when the detection distance is abnormal, resulting in poor cleaning effect in the edge area, or collision damage between the cleaning device and the heliostat.

[0016] To achieve this object, the second aspect of the present invention adopts the following technical solution:

[0017] A cleaning device is provided, comprising the cleaning mechanism as described above, the cleaning device also comprising an adjustment component, the cleaning mechanism is connected to the adjustment component, and the detection component of the cleaning mechanism is communicatively connected to the adjustment component; the adjustment component is used to adjust the posture of the cleaning mechanism.

[0018] In one embodiment, the cleaning device is used to clean a reflective surface of a heliostat or to clean a photovoltaic panel.

[0019] The third object of the present invention is to provide a cleaning method, which cleans the surface to be cleaned by the above-mentioned cleaning device. The cleaning process can avoid the problem of insufficient response speed when the cleaning device enters the surface to be cleaned, and there is no time to adjust the cleaning mechanism when the detection distance is abnormal, resulting in poor cleaning effect in the edge area, or collision damage between the cleaning device and the surface to be cleaned.

[0020] To achieve this purpose, the third aspect of the present invention adopts the following technical solutions:

[0021] A cleaning method is provided, wherein the cleaning device as described in the above embodiment is used to clean the surface to be cleaned, and the cleaning method comprises the following steps:

[0022] The cleaning mechanism moves toward the surface to be cleaned along the length direction of the surface to be cleaned, the first detection member and the second detection member move successively to above the surface to be cleaned, and the first detection member and the second detection member are triggered for detection successively; at least two of the front sensors of the first detection member respectively detect the vertical distance between the first detection member and the surface to be cleaned, and the adjustment component adjusts the posture of the cleaning mechanism body for the first time, so that the cleaning mechanism body is in the pre-cleaning posture; at least two of the first middle sensors of the second detection member respectively detect the vertical distance between the first detection member and the surface to be cleaned, and the adjustment component adjusts the posture of the cleaning mechanism body for the second time, so that the cleaning mechanism body is in the actual cleaning posture;

[0023] In which, the first adjustment and the second adjustment occur successively, and in the pre-cleaning posture, the vertical distance between the cleaning mechanism body and the surface to be cleaned is greater than the maximum value in the preset normal working distance range or is within the preset normal working distance range; in the actual cleaning posture, the cleaning mechanism body is parallel to the surface to be cleaned in both the width direction and the length direction along the movable bracket, and the distance between the cleaning mechanism body and the surface to be cleaned is within the preset normal working distance range.

[0024] In one embodiment, the detection assembly further comprises at least one intermediate sensor connected to the movable bracket, wherein the intermediate sensor is protruding from the movable bracket and is located between the first detection member and the second detection member along the width direction of the movable bracket, and the intermediate sensor can detect the vertical distance between the intermediate sensor and the surface to be cleaned;

[0025] In the second adjustment, the second detection member and the intermediate sensor are both moved above the surface to be cleaned, and the second detection member and the intermediate sensor respectively detect the vertical distance between them and the surface to be cleaned, and the adjustment component adjusts the posture of the mobile bracket according to the distance value detected by the second detection member, the distance value detected by the intermediate sensor, and the installation positions of the second detection member and the intermediate sensor on the mobile bracket.

[0026] In one embodiment, the detection assembly further includes a third detection member, and along the width direction of the movable bracket, the second detection member and the third detection member are respectively arranged on both sides of the movable bracket, when the cleaning mechanism moves along the length direction of the surface to be cleaned, the second detection member and the third detection member successively enter the surface to be cleaned, and the third detection member includes at least two second central sensors arranged at intervals along the length direction of the movable bracket, and the second central sensors can detect the vertical distance between the second central sensors and the surface to be cleaned;

[0027] After the second adjustment, the adjustment component continues to adjust the posture of the cleaning mechanism body, wherein the second detection member and the third detection member respectively detect the vertical distance between the cleaning mechanism body and the surface to be cleaned, and the adjustment component adjusts the posture of the cleaning mechanism body according to the distance value detected by the second detection member, the distance value detected by the third detection member, and the installation positions of the second detection member and the third detection member on the movable bracket; and / or the second detection member moves away from the surface to be cleaned, and the third detection member detects the vertical distance between the cleaning mechanism body and the surface to be cleaned, and according to the distance value detected by the third detection member and the installation position of the third detection member on the movable bracket, the adjustment component adjusts the distance between the cleaning mechanism body and the surface to be cleaned, so that the distance between the cleaning mechanism body and the surface to be cleaned is greater than the maximum value in the preset normal working distance range or is within the preset normal working distance range.

[0028] Beneficial effects of the present invention:

[0029] The cleaning mechanism provided by the present invention has the first detection member capable of moving above the surface to be cleaned before the second detection member, and the first detection member is located at the front side of the movable bracket; before the cleaning mechanism body moves above the surface to be cleaned, the first detection member performs detection before the second detection member, and the posture of the cleaning mechanism body before reaching the surface to be cleaned can be pre-adjusted according to the distance value detected by the first detection member, so that the cleaning mechanism body is adjusted to the pre-cleaning posture. By adjusting the cleaning mechanism body to the pre-cleaning posture first, on the one hand, the posture of the cleaning mechanism body is preliminarily corrected, avoiding the problem of collision with the surface to be cleaned due to posture adjustment after the cleaning mechanism body reaches the surface to be cleaned, and on the other hand, the distance between the cleaning mechanism body in the pre-cleaning posture and the surface to be cleaned is reduced. The distance is already relatively close to the preset normal working distance range or is within the preset normal working distance range. When the cleaning mechanism body actually reaches the surface to be cleaned, it only needs to make simple adjustments to achieve the actual cleaning posture, which effectively reduces the complexity of the posture adjustment of the cleaning mechanism body after it reaches the surface to be cleaned. On the third aspect, since the cleaning mechanism body can pre-adjust its posture while approaching the surface to be cleaned, it can make full use of the time of the cleaning mechanism body's movement process. Compared with the solution in which the cleaning mechanism body directly adjusts from the initial posture to the actual cleaning posture after reaching the surface to be cleaned, it can avoid the problem that the cleaning mechanism body cannot effectively clean the surface to be cleaned when it just enters the surface to be cleaned due to insufficient posture adjustment speed, thereby improving the cleaning efficiency.

[0030] The cleaning device provided by the present invention has the above-mentioned cleaning mechanism. The first detection member detects before the second detection member to realize the pre-cleaning posture adjustment and the actual cleaning posture adjustment of the cleaning mechanism body, thereby improving the cleaning efficiency, reliability and safety of the cleaning device.

[0031] The cleaning method provided by the present invention adjusts the cleaning mechanism body to a pre-cleaning posture according to the distance value detected by the first detection member in the first adjustment. In the second adjustment, the cleaning mechanism body is quickly brought into the actual cleaning posture according to the distance value detected by the first detection member and the second detection member, at which time the cleaning mechanism body is parallel to the surface to be cleaned along the length direction of the moving bracket and the width direction of the moving bracket, and the distance between the cleaning mechanism body and the surface to be cleaned is within a preset normal working distance range. The posture adjustment of the cleaning mechanism body is divided into two stages, and a pre-cleaning posture is added between the initial posture and the actual cleaning posture. On the one hand, the cleaning mechanism enters the surface to be cleaned in a pre-cleaning posture to avoid initial collision; on the other hand, the distance between the cleaning mechanism body in the pre-cleaning posture and the surface to be cleaned is already relatively close to the preset normal working distance range or within the preset normal working distance range, reducing the time required for the second adjustment and avoiding the inability to complete the adjustment of the actual cleaning posture of the cleaning mechanism body in time due to insufficient response speed of the adjustment component. Ensure that the cleaning mechanism cleans the surface to be cleaned efficiently and safely. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic structural diagram of a cleaning mechanism provided by an embodiment of the present invention;

[0033] Figure 2 is a top view of the structure of the cleaning mechanism provided by an embodiment of the present invention;

[0034] Figure 3 It is a structural front view of the cleaning mechanism provided by an embodiment of the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of a cleaning device provided in an embodiment of the present invention.

[0036] In the figure:

[0037] 11. Mobile bracket; 12. Cleaning brush; 2. Detection assembly; 21. First detection member; 211. Front sensor; 22. Second detection member; 221. First center sensor; 23. Intermediate sensor; 24. First support rod; 25. Limit sensor; 26. Third detection member; 261. Second center sensor; 100. Part to be cleaned; 101. Surface to be cleaned; 300. Adjustment assembly; 301. Rotary reducer; 302. Telescopic arm; 303. Vehicle platform; 304. Support arm; 305. Electric push rod; 306. Second rotary reducer. DETAILED DESCRIPTION

[0038] Before any embodiments of the application are explained in detail, it is to be understood that the application is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the above drawings.

[0039] In this application, the terms "comprises", "includes", "has" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device that includes the element.

[0040] In this application, the term "and / or" is a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this application generally indicates that the related objects before and after are in an "and / or" relationship.

[0041] In the present application, the terms "connect", "combine", "couple", and "install" may refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, direct connection refers to two parts or components being connected together without the need for an intermediate piece, and indirect connection refers to two parts or components being connected to at least one intermediate piece respectively, and the two parts or components being connected via the intermediate piece. In addition, "connect" and "couple" are not limited to physical or mechanical connections or couplings, and may include electrical connections or couplings.

[0042] In the present application, it will be understood by those of ordinary skill in the art that relative terms (e.g., "about," "approximately," "substantially," etc.) used in conjunction with quantities or conditions include the values ​​and have the meaning indicated by the context. For example, the relative terms include at least the degree of error associated with the measurement of a specific value, the tolerances caused by manufacturing, assembly, and use associated with a specific value, and the like. Such terms should also be considered to disclose a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to plus or minus a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. In addition, "substantially" may refer to plus or minus a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) on the basis of the indicated angle when expressing a relative angular position relationship (e.g., substantially parallel, substantially perpendicular).

[0043] In this application, it will be understood by those skilled in the art that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0044] In the present application, the terms "upper", "lower", "left", "right", "front", "back" and other directional words are described based on the orientation and positional relationship shown in the accompanying drawings, and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element. It should also be understood that directional words such as upper side, lower side, left side, right side, front side, back side, etc. not only represent the positive orientation, but can also be understood as the lateral orientation. For example, the bottom can include directly below, lower left, lower right, lower front, and lower back, etc.

[0045] Embodiment 1

[0046] like Figures 1 to 3 As shown, the first embodiment of the present invention provides a cleaning mechanism, which includes a cleaning mechanism body and a detection component 2. The cleaning mechanism body includes a movable bracket 11 and a cleaning brush 12 mounted on the movable bracket 11. The cleaning brush 12 is used to clean the surface 101 to be cleaned of the part 100 to be cleaned, wherein the posture change of the movable bracket 11 can drive the cleaning brush 12 to change its posture synchronously. The part 100 to be cleaned can be a heliostat, or a solar photovoltaic panel or other device having a surface 101 to be cleaned, and this embodiment does not make specific restrictions. For example, when the part 100 to be cleaned is a heliostat, the surface 101 to be cleaned is the reflective surface of the heliostat. The cleaning brush 12 can be a roller brush arranged along the axial direction of the movable bracket 11, or a plurality of brush discs arranged along the axial direction, etc., and is not limited to the drawings of this embodiment.

[0047] The detection assembly 2 includes a first detection member 21 and a second detection member 22 disposed on the same side of the mobile bracket 11. The first detection member 21 protrudes from the mobile bracket 11, and along the width direction of the mobile bracket 11, the first detection member 21 is located in front of the second detection member 22. The mobile bracket 11 moves along the length direction of the surface to be cleaned 101, and the first detection member 21 and the second detection member 22 successively enter the surface to be cleaned 101. The first detection member 21 includes at least two front sensors 211 spaced apart along the length direction of the mobile bracket 11. Specifically, in the present embodiment, the number of the front sensors 211 in the first detection member 21 is 2. Of course, in other embodiments, the number of the front sensors 211 in the first detection member 21 can also be 3, 4, 5 or other numbers. The second detection member 22 includes at least two first middle sensors 221 spaced apart along the length direction of the mobile bracket 11. Specifically, in the present embodiment, the number of the first middle sensors 221 in the second detection member 22 is 2. Of course, in other embodiments, the number of the first middle sensors 221 in the second detection member 22 can also be 3, 4, 5 or other numbers. Both the front sensor 211 and the first middle sensor 221 can detect the vertical distance between the surface to be cleaned 101. Among them, both the front sensor 211 and the first middle sensor 221 can be selected from at least one of an optical distance sensor, an ultrasonic distance sensor, and an infrared distance sensor. For ease of understanding, in this embodiment, in the initial state of the mobile bracket 11, the length direction of the mobile bracket 11 and the length direction of the surface to be cleaned 101 are perpendicular to each other. Figure 1 and Figure 2 As shown in the figure, X1 is the width direction of the surface to be cleaned 101, Y1 is the length direction of the surface to be cleaned 101; X2 is the length direction of the movable bracket 11, Y2 is the width direction of the movable bracket 11, and Z2 is the height direction of the movable bracket 11.

[0048] By setting the first detection member 21 and the second detection member 22, the adjustment of the posture of the cleaning mechanism body can be guided according to the distance value detected by the first detection member 21 and the second detection member 22, and the installation position of the first detection member 21 and the second detection member 22 on the mobile bracket 11, so that the cleaning mechanism body is finally adjusted to the actual cleaning posture, that is, the cleaning mechanism body is parallel to the surface to be cleaned 101, and the vertical distance between the cleaning mechanism body and the surface to be cleaned 101 is within the preset normal working distance range, wherein, when the vertical distance between the cleaning mechanism body and the surface to be cleaned 101 is within the preset normal working distance range, the cleaning mechanism body is in the actual cleaning posture. When the cleaning brush 12 is within the working distance range, the cleaning brush 12 in the cleaning mechanism body can normally clean the surface to be cleaned. When the vertical distance between the cleaning mechanism body and the surface 101 to be cleaned is less than the minimum value of the preset normal working distance range, the cleaning brush 12 in the cleaning mechanism body may interfere with and collide with the surface to be cleaned 101, thereby damaging the surface 101. When the vertical distance between the cleaning mechanism body and the surface 101 to be cleaned is greater than the maximum value of the preset normal working distance range, the cleaning brush 12 in the cleaning mechanism body may be too far away from the surface 101 to be cleaned and cannot effectively clean the surface 101.

[0049] Among them, since the first detection member 21 can move to the top of the surface to be cleaned 101 before the second detection member 22, and the first detection member 21 is located on the front side of the movable bracket 11 (along the width direction of the movable bracket 11, the side of the movable bracket 11 facing the forward direction of the cleaning mechanism body is the front side of the movable bracket 11); before the cleaning mechanism body moves to the top of the surface to be cleaned 101, the first detection member 21 performs detection before the second detection member 22. Therefore, according to the distance value detected by the first detection member 21, the posture pre-adjustment of the cleaning mechanism body before reaching the surface to be cleaned 101 can be guided, that is, according to the distance value detected by the first detection member 21, the distance between the cleaning mechanism body and the surface to be cleaned 101 is adjusted, so that the cleaning mechanism body is adjusted to the pre-cleaning posture. By adjusting the cleaning mechanism body to the pre-cleaning posture first, on the one hand, the posture of the cleaning mechanism body is preliminarily corrected, avoiding the problem of collision with the surface 101 to be cleaned by adjusting the posture after the cleaning mechanism body reaches the surface 101 to be cleaned; on the other hand, the distance between the cleaning mechanism body in the pre-cleaning posture and the surface 101 to be cleaned is already relatively close to the preset normal working distance range described above (relatively close to the preset normal working distance range described above means: relative to the initial posture, the distance between the cleaning mechanism body and the surface 101 to be cleaned becomes smaller, but is still greater than the maximum value in the preset normal working distance range) or is within the preset normal working distance range. When the cleaning mechanism body actually reaches the surface 101 to be cleaned, it only needs to make simple adjustments to achieve the actual cleaning posture, which effectively reduces the complexity of the posture adjustment of the cleaning mechanism body after it reaches the surface 101 to be cleaned. On the third hand, since the cleaning mechanism body can pre-adjust its posture while approaching the surface 101 to be cleaned, the time of the cleaning mechanism body's movement can be fully utilized. Compared with the solution in which the cleaning mechanism body directly adjusts from the initial posture to the actual cleaning posture after reaching the surface 101 to be cleaned, the problem of the cleaning mechanism body being unable to effectively clean the surface 101 to be cleaned when it just enters the surface 101 due to the posture adjustment speed being not fast enough can be avoided, thereby improving the cleaning efficiency.

[0050] Preferably, in the present embodiment, the two front sensors 211 in the first detection member 21 are installed at the same height in the height direction of the mobile bracket 11, and the two front sensors 211 are at the same distance from the front side of the mobile bracket 11 in the width direction of the mobile bracket 11; in the present embodiment, the height direction of the mobile bracket 11 refers to a direction that is perpendicular to both the length direction and the width direction of the mobile bracket 11; by specially setting the installation position of the first detection member 21 on the mobile bracket 11, it is also possible to determine whether the cleaning mechanism body is parallel to the surface to be cleaned 101 in the length direction of the mobile bracket 11 according to the distance value detected by the first detection member 21. The specific judgment process is: since the two front sensors 211 in the first detection member 21 are installed at the same height in the width direction of the mobile bracket 11, the two front sensors 211 are at the same distance from the front side of the mobile bracket 11 in the width direction of the mobile bracket 11; in the present embodiment, the height direction of the mobile bracket 11 refers to a direction that is perpendicular to both the length direction and the width direction of the mobile bracket 11; by specially setting the installation position of the first detection member 21 on the mobile bracket 11, it is also possible to determine whether the cleaning mechanism body is parallel to the surface to be cleaned 101 in the length direction of the mobile bracket 11 according to the distance value detected by the first detection member 21. The specific judgment process is: The installation heights of the two front sensors 211 in the height direction of the mobile bracket 11 are the same, and the distances from the two front sensors 211 to the mobile bracket 11 along the width direction of the mobile bracket 11 are the same. Therefore, the extension direction of the line connecting the two front sensors 211 is the length direction of the mobile bracket 11. When the distance values ​​detected by the two front sensors 211 in the first detection member 21 are the same, it means that the extension direction of the line connecting the two front sensors 211 is parallel to the surface to be cleaned 101, that is, the cleaning mechanism body is parallel to the surface to be cleaned along the length direction of the mobile bracket 11. Conversely, when the distance values ​​detected by the two front sensors 211 in the first detection member 21 are different, it means that the cleaning mechanism body is not parallel to the surface to be cleaned along the length direction of the mobile bracket 11. Based on the above description, it can be known that by setting the installation height of the two pre-sensors 211 in the first detection member 21 to be the same along the height direction of the mobile bracket 11, and setting the distance of the two pre-sensors 211 to the front side of the mobile bracket 11 along the width direction of the mobile bracket 11 to be the same, in the process of adjusting the cleaning mechanism body to the pre-cleaning posture, not only can the distance between the cleaning mechanism body and the surface to be cleaned 101 be preliminarily adjusted, but the cleaning mechanism body can also be adjusted along the length direction of the mobile bracket 11 to be parallel to the surface to be cleaned 101, thereby further reducing the time required for the subsequent adjustment of the cleaning mechanism body to the actual cleaning posture, and at the same time, it can also simplify the complexity of adjusting the cleaning mechanism body to the actual cleaning posture. Among them, the pre-sensor 211 is installed to a position protruding from the front side of the mobile bracket 11 via the first support rod 24.

[0051] In this embodiment, when the first detection member 21 and the second detection member 22 both reach the surface to be cleaned 101, it is possible to judge whether the cleaning mechanism body is in the actual cleaning posture and guide the posture adjustment of the cleaning mechanism body according to the distance values ​​detected by the first detection member 21 and the second detection member 22 and the installation positions of the first detection member 21 and the second detection member 22 on the mobile bracket 11. The specific judgment principle is: any one of the two front sensors 211 and the two first middle sensors 221 is used as a reference sensor, and the remaining three sensors are comparison sensors. The distance value detected by each comparison sensor is calculated separately from the distance value detected by the reference sensor. At the same time, obtain the absolute value h of the height difference between each comparison sensor and the reference sensor along the height direction of the mobile bracket 11 (when the first detection member 21 and the second detection member 22 are installed on the mobile bracket 11, the h value corresponding to each comparison sensor is a determined known value), and take the H value and h value corresponding to each comparison sensor as a comparison group, then the three comparison sensors will correspond to three comparison groups. If the H value and h value in at least two comparison groups are equal (the H value and h value in each comparison group are compared separately, and not compared with the H value and h value in other comparison groups), it means that the cleaning mechanism body and the surface to be cleaned 101 are in a parallel state.

[0052] Specifically, in the present embodiment, the two front sensors 211 in the first detection member 21 are installed at the same height along the height direction of the mobile bracket 11, and the two first middle sensors 221 in the second detection member 22 are also installed at the same height along the height direction of the mobile bracket 11. The distances from the two first middle sensors 221 in the second detection member 22 to the front side of the mobile bracket 11 along the width direction of the mobile bracket 11 are the same or different. The installation height of the first detection member 21 along the height direction of the mobile bracket 11 is greater than the installation height of the second detection member 22 along the height direction of the mobile bracket 11. It should be particularly noted that setting the installation height of the first detection member 21 along the height direction of the mobile bracket 11 to be greater than the installation height of the second detection member 22 along the height direction of the mobile bracket 11 can reduce the risk of the first detection member 21 colliding with the surface to be cleaned 101 when the first detection member 21 just moves to the surface to be cleaned 101. Of course, in other embodiments, the relative installation positions of the two front sensors 211 and the two first middle sensors 221 on the mobile bracket 11 may also be other situations, such as the two front sensors 211 and the two first middle sensors 221 are installed at the same height along the height direction of the mobile bracket 11. In addition, in this embodiment, when the cleaning mechanism body is in the actual cleaning posture, in addition to being in a parallel state with the surface to be cleaned 101, the distance between the cleaning mechanism body and the surface to be cleaned 101 also needs to be within a preset normal working distance range, and the actual distance between the cleaning mechanism body and the surface to be cleaned 101 can also be obtained through the detection of the first detection member 21 and the second detection member 22, and then the distance between the cleaning mechanism body and the surface to be cleaned 101 can be adjusted to within the preset normal working distance range according to the detection results of the first detection member 21 and the second detection member 22.

[0053] In this embodiment, since the cleaning mechanism body may be too high or too low in the width direction of the surface 101 to be cleaned when entering the surface 101 to be cleaned, or when moving along the length direction of the surface 101 to be cleaned, that is, in the width direction of the surface 101 to be cleaned, a part of the cleaning mechanism body is outside the surface 101 to be cleaned, resulting in the cleaning mechanism body cannot be maximized, and at the same time, it also causes that part of the area of ​​the surface 101 to be cleaned cannot be effectively cleaned. Therefore, in the cleaning mechanism of this embodiment, a limit detection member is also provided on the mobile bracket 11. Specifically, the limit detection member includes at least one limit sensor 25 provided on the mobile bracket 11, and the limit sensor 25 is used to detect the edge of the surface 101 to be cleaned along the width direction of the surface 101 to be cleaned. When the limit sensor 25 detects the surface 101 to be cleaned, it means that the cleaning brush 12 in the cleaning mechanism body does not cover the surface 101 to be cleaned according to the preset requirements in the width direction of the surface 101 to be cleaned, and part of the surface 101 to be cleaned cannot be cleaned according to the preset requirements. At this time, the adjustment component 300 adjusts the posture of the mobile bracket 11 so that the projection of the walking path of the cleaning mechanism body along the direction perpendicular to the surface 101 to be cleaned always covers the surface 101 to be cleaned, ensuring that all areas of the surface 101 to be cleaned are cleaned. One limit sensor 25 can be set, for example, only set at one end along the length direction of the mobile bracket 11, or at the other end along the length direction of the mobile bracket 11, and detection and adjustment are performed from the end of the mobile bracket 11 that needs position constraint; when the limit detection component includes two limit sensors 25, the two limit sensors 25 are respectively set at the two ends along the length direction of the mobile bracket 11, and detection and adjustment are performed from the two ends along the length direction of the mobile bracket 11 at the same time.

[0054] It should be noted that the posture adjustment of the cleaning mechanism body can be achieved by the adjustment component 300. The adjustment component 300 adjusts the posture of the cleaning mechanism body, including the adjustment of the inclination angle of the cleaning mechanism body relative to the surface 101 to be cleaned (such as adjusting the cleaning mechanism body from a non-parallel state relative to the surface 101 to a parallel state relative to the surface 101 to be cleaned), and the adjustment of the distance of the cleaning mechanism body relative to the surface 101 to be cleaned. It also includes the adjustment of the position of the cleaning mechanism body relative to the surface 101 along the width direction of the surface 101 to be cleaned (that is, the adjustment component 300 can drive the cleaning mechanism body to move along the width direction of the surface 101 to be cleaned). The specific adjustment dimensions that the adjustment component 300 needs to have can be set according to actual needs. It can have all of the above-mentioned adjustment dimensions, or only some of the above-mentioned adjustment dimensions, as long as it can meet the actual needs of the cleaning mechanism posture adjustment. The adjustment component 300 can achieve posture adjustment of the cleaning mechanism body through a mechanical structure. Specifically, Figure 4As shown, the adjustment assembly 300 includes a rotary reducer 301, a telescopic arm 302 and a vehicle platform 303. Specifically, the middle part of the top surface of the mobile bracket 11 is fixedly connected to the pivot part in the rotary reducer 301, so that the cleaning mechanism body can rotate synchronously with the pivot part in the rotary reducer 301 around the rotary axis of the rotary reducer 301 (the rotary axis of the rotary reducer 301 is arranged along the width direction of the mobile bracket 11), so that the cleaning mechanism body can be adjusted along the length direction of the mobile bracket 11 to be parallel to the surface 101 to be cleaned; at the same time, the fixed part in the rotary reducer 301 is fixedly connected to the telescopic end of the telescopic arm 302, and the telescopic arm 302 can drive The rotary reducer 301 and the cleaning mechanism body move in the direction of approaching or moving away from the surface to be cleaned 101 to adjust the distance between the cleaning mechanism body and the surface to be cleaned 101; the end of the telescopic arm 302 away from the cleaning mechanism body is rotatably connected to the support arm 304, and an electric push rod 305 is also provided between the support arm 304 and the telescopic arm 302, one end of the electric push rod 305 is connected to the telescopic arm 302, and the other end is connected to the support arm 304, and the electric push rod 305 can drive the telescopic arm 302 to rotate around the connecting shaft between the telescopic arm 302 and the support arm 304, and the cleaning mechanism body can be adjusted by rotating the telescopic arm 302 around the connecting shaft between the telescopic arm 302 and the support arm 304. The cleaning mechanism body can be moved along the width direction of the surface to be cleaned 101, so that the cleaning mechanism body can cover the surface to be cleaned 101 in the width direction of the surface to be cleaned 101; the end of the support arm 304 away from the connecting shaft is fixedly connected to the pivot part of the second rotary reducer 306 fixed on the vehicle platform 303, so that the second rotary reducer 306 can drive the support arm 304 to rotate around the rotation axis of the second rotary reducer 306, and the rotation axis of the second rotary reducer 306 is arranged in a direction perpendicular to the chassis of the vehicle platform 303. The second rotary reducer 306 drives the support arm 304 to rotate around the rotation axis of the second rotary reducer 306, so that the cleaning mechanism body can be moved along the width direction of the surface to be cleaned 101; the end of the support arm 304 away from the connecting shaft is fixedly connected to the pivot part of the second rotary reducer 306 fixed on the vehicle platform 303, so that the second rotary reducer 306 can drive the support arm 304 to rotate around the rotation axis of the second rotary reducer 306, and the rotation axis of the second rotary reducer 306 is set in a direction perpendicular to the chassis of the vehicle platform 303. It is adjusted to be parallel to the surface to be cleaned 101 along the width direction of the mobile bracket 11; wherein, when the surface to be cleaned 101 is inclined relative to the horizontal plane, the vehicle platform 303, on the one hand, can drive the cleaning mechanism body to move along the length direction of the surface to be cleaned 101 when advancing normally along the cleaning path, and on the other hand, by controlling the vehicle platform 303 to turn in the direction close to the surface to be cleaned 101 or to turn away from the surface to be cleaned 101, it is also possible to adjust the distance between the cleaning mechanism body and the surface to be cleaned 101 on both sides along the width direction of the mobile bracket 11. The structure of the adjustment component 300 itself is not the focus of this application, and this embodiment will not be described in detail here. The size of the preset normal working distance range described in the foregoing can be set according to the specific structure of the cleaning mechanism, the working parameters, the detection accuracy of the first detection member 21, and the detection accuracy of the second detection member 22, and this embodiment does not limit it here.

[0055] Embodiment 2

[0056] This embodiment provides a cleaning mechanism body. The difference between this embodiment and the first embodiment is that the detection component 2 in this embodiment is based on the detection component 2 in the first embodiment, and at least one intermediate sensor 23 connected to the mobile bracket 11 is added. The other parts are the same as the first embodiment and will not be repeated. Among them, the intermediate sensor 23 can be selected from at least one of an optical distance sensor, an ultrasonic distance sensor, and an infrared distance sensor.

[0057] In this embodiment, the intermediate sensor 23 is arranged protruding from the mobile bracket 11. Along the width direction of the mobile bracket 11, the intermediate sensor 23 is arranged between the first detection member 21 and the second detection member 22, that is, the distance between the intermediate sensor 23 and the front side of the mobile bracket 11 is smaller than the distance between the first detection member 21 and the front side of the mobile bracket 11, and is larger than the distance between the second detection member 22 and the front side of the mobile bracket 11. Therefore, during the movement of the cleaning mechanism body along the length direction of the surface to be cleaned 101, the intermediate sensor 23 moves to the top of the surface to be cleaned 101 before the second detection member 22, and moves to the top of the surface to be cleaned 101 later than the first detection member 21. In the first embodiment, when judging whether the cleaning mechanism body is in the actual cleaning posture and guiding the posture adjustment of the cleaning mechanism body, it is necessary to make a judgment based on the distance value detected by the first detection member 21 and the second detection member 22, and the installation position of the first detection member 21 and the second detection member 22 on the movable bracket 11. However, since the first detection member 21 is at a large distance from the front side of the movable bracket 11, the detection result of the first detection member 21 relative to the actual state of the cleaning mechanism body will have a large error due to the detection accuracy and installation accuracy of the first detection member 21. In this embodiment, an intermediate sensor 23 is added. When judging whether the cleaning mechanism body is in the actual cleaning posture and guiding the posture adjustment of the cleaning mechanism body in this embodiment, the distance value detected by the intermediate sensor 23 and the installation position information of the intermediate sensor 23 on the movable bracket 11 can be used instead of the distance value detected by the front sensor 211 of the first detection member 21 and the installation position information of the first detection member 21 on the movable bracket 11 for judgment and adjustment. The distance between the intermediate sensor 23 and the front side of the movable bracket 11 is smaller, and the detection result can more truly reflect the actual state of the movable bracket 11, which can reduce the detection error and make the posture adjustment of the cleaning mechanism body more accurate.

[0058] Specifically, in the present embodiment, when both the intermediate sensor 23 and the second detection member 22 enter above the surface to be cleaned 101, it is possible to judge whether the cleaning mechanism body is in the actual cleaning posture and guide the posture adjustment of the cleaning mechanism body according to the distance value detected by the intermediate sensor 23 and the second detection member 22, and the installation position of the intermediate sensor 23 and the second detection member 22 on the movable bracket 11. The specific judging principle is: the intermediate sensor 23 and any one of the two first central sensors 221 are used as reference sensors, and the remaining two sensors are comparison sensors. The absolute value H of the difference between the distance value detected by each comparison sensor and the distance value detected by the reference sensor is calculated respectively. At the same time, the absolute value h of the height difference between each comparison sensor and the reference sensor along the height direction of the movable bracket 11 is obtained (when the intermediate sensor 23 and the second detection member 22 are installed on the movable bracket 11, each comparison sensor The h value corresponding to the sensor is the determined known value), and the H value and h value corresponding to each comparison sensor are taken as a comparison group, then the two comparison sensors will correspond to two comparison groups. If the H value and h value in the two comparison groups are equal (the H value and h value in each comparison group are compared separately, and are not compared with the H value and h value in other comparison groups), it means that the cleaning mechanism body and the surface to be cleaned 101 are in a parallel state. In addition, in this embodiment, when the cleaning mechanism body is in the actual cleaning posture, in addition to being in a parallel state with the surface to be cleaned 101, the distance between the cleaning mechanism body and the surface to be cleaned 101 also needs to be within a preset normal working distance range. The actual distance between the cleaning mechanism body and the surface to be cleaned 101 can also be obtained through the detection of the intermediate sensor 23 and the second detection member 22, and then the distance between the cleaning mechanism body and the surface to be cleaned 101 can be adjusted to within the preset normal working distance range according to the detection results of the intermediate sensor 23 and the second detection member 22.

[0059] Embodiment 3

[0060] This embodiment provides a cleaning mechanism. The difference between this embodiment and embodiment one or embodiment two is that the detection component 2 in this embodiment is based on the detection component 2 in embodiment one or embodiment two, and a third detection component 26 is added. The other parts are the same as embodiment one or embodiment two and will not be repeated. In the present embodiment, along the width direction of the movable bracket 11, the second detection member 22 and the third detection member 26 are respectively arranged on both sides of the movable bracket 11. When the cleaning mechanism body moves along the length direction of the surface to be cleaned 101, the second detection member 22 and the third detection member 26 successively enter the surface to be cleaned 101. The third detection member 26 includes at least two second central sensors 261 arranged at intervals along the length direction of the movable bracket 11. The second central sensor 261 can detect the vertical distance between the surface to be cleaned 101. Specifically, in the present embodiment, the number of the second central sensors 261 in the third detection member 26 is 2. Of course, in other embodiments, the number of the second central sensors 261 can also be 3, 4, 5 or other numbers, wherein the second central sensor 261 can be selected from at least one of an optical distance sensor, an ultrasonic distance sensor, and an infrared distance sensor.

[0061] When the cleaning mechanism body completes cleaning of the surface 101 to be cleaned and leaves the surface 101 to be cleaned, the sensor arranged on the front side of the movable bracket 11 will leave the surface 101 to be cleaned first, resulting in the sensor located on the front side of the movable bracket 11 being unable to continue to detect the surface 101 to be cleaned, and further unable to judge the posture of the cleaning mechanism body. In this embodiment, a third detection member 26 is arranged. When the cleaning mechanism body completes cleaning of the surface 101 to be cleaned and leaves the surface 101 to be cleaned, the third detection member 26 is the last to leave the surface 101 in the entire cleaning mechanism. Therefore, the third detection member 26 can always detect the distance between the cleaning mechanism body and the surface 101 to be cleaned during the process of the cleaning mechanism body leaving the surface 101, so as to prevent the cleaning mechanism body from colliding with the surface 101 due to being too close, thereby ensuring the safe operation of the cleaning mechanism.

[0062] Preferably, in this embodiment, the installation heights of the two second central sensors 261 in the third detection member 26 along the height direction of the mobile bracket 11 are the same, and the distances of the two second central sensors 261 in the third detection member 26 along the width direction of the mobile bracket 11 to the rear side of the mobile bracket 11 (along the width direction of the mobile bracket 11, the side of the mobile bracket 11 facing the forward direction of the cleaning mechanism body is the front side of the mobile bracket 11, and the side of the mobile bracket 11 facing the direction opposite to the forward direction of the cleaning mechanism body is the rear side of the mobile bracket 11) are the same; and, when this embodiment is based on the first embodiment and the third detection member 2 is additionally provided 6, when the distance from the two second center sensors 261 in the third detection member 26 to the rear side of the mobile bracket 11 along the width direction of the mobile bracket 11 is smaller than the distance from each front sensor 211 in the first detection member 21 to the front side of the mobile bracket 11 along the width direction of the mobile bracket 11; when this embodiment is based on the second embodiment and the third detection member 26 is additionally provided, when the distance from the two second center sensors 261 in the third detection member 26 to the rear side of the mobile bracket 11 along the width direction of the mobile bracket 11 is smaller than the distance from the intermediate sensor 23 to the front side of the mobile bracket 11 along the width direction of the mobile bracket 11.

[0063] By specially setting the installation position of the third detection member 26 on the mobile bracket 11, according to the distance value detected by the third detection member 26, it is also possible to judge whether the cleaning mechanism body is parallel to the to-be-cleaned surface 101 along the length direction of the mobile bracket 11. The specific judgment process is as follows: since the installation heights of the two second center sensors 261 in the third detection member 26 along the height direction of the mobile bracket 11 are the same, and the distances of the two second center sensors 261 to the mobile bracket 11 along the width direction of the mobile bracket 11 are equal, therefore, the distances of the two second center sensors 261 to the mobile bracket 11 are equal. The extension direction of the line is the length direction of the mobile bracket 11. When the distance values ​​detected by the two second center sensors 261 in the third detection member 26 are the same, it means that the extension direction of the line connecting the two second center sensors 261 is parallel to the surface to be cleaned 101, that is, the cleaning mechanism body is parallel to the surface to be cleaned 101 along the length direction of the mobile bracket 11. On the contrary, when the distance values ​​detected by the two second center sensors 261 in the third detection member 26 are different, it means that the cleaning mechanism body is not parallel to the surface to be cleaned 101 along the length direction of the mobile bracket 11. By judging whether the cleaning mechanism body is parallel to the surface to be cleaned 101 along the length direction of the mobile bracket 11 in the process of leaving the surface to be cleaned 101 through the third detection member 26, the posture adjustment of the cleaning mechanism body can be guided, so that the cleaning mechanism body can maintain a good posture even in the process of leaving the surface to be cleaned 101, so that the edge of the surface to be cleaned 101 can also be well cleaned.

[0064] Furthermore, when the cleaning mechanism body is completely above the surface 101 to be cleaned, the second detection member 22 and the third detection member 26 can simultaneously detect the vertical distance between the cleaning mechanism body and the surface 101 to be cleaned. At this time, when it is necessary to determine whether the cleaning mechanism body is in the actual cleaning posture and to provide guidance for the posture adjustment of the cleaning mechanism body, since the second detection member 22 and the third detection member 26 are closer to the movable bracket 11 body than the first detection member 21 or the intermediate sensor 23, the distance values ​​detected by the second detection member 22 and the third detection member 26 can more truly reflect the actual posture of the cleaning mechanism body. Specifically, in the present embodiment, when both the second detection member 22 and the third detection member 26 can detect the surface to be cleaned 101, and it is necessary to determine whether the cleaning mechanism body is in the actual cleaning posture and to provide guidance for the posture adjustment of the cleaning mechanism body, the specific judgment principle is: using any one of the two second central sensors 261 and the two first central sensors 221 as a reference sensor, and the remaining three sensors are comparison sensors, and respectively calculating the absolute value H of the difference between the distance value detected by each comparison sensor and the distance value detected by the reference sensor, and at the same time, obtaining the absolute value h of the height difference between each comparison sensor and the reference sensor along the height direction of the mobile bracket 11 (when the third detection member 26 and the second detection member 22 are installed on the mobile bracket 11, the h value corresponding to each comparison sensor is a determined known value), and calculating the absolute value h of the height difference between each comparison sensor and the reference sensor along the height direction of the mobile bracket 11. The corresponding H value and h value are taken as a comparison group, and the three comparison sensors will correspond to the three comparison groups. If the H value and h value in at least two comparison groups are equal (the H value and h value in each comparison group are compared separately, and not compared with the H value and h value in other comparison groups), it means that the cleaning mechanism body and the surface to be cleaned 101 are in a parallel state. In addition, in this embodiment, when the cleaning mechanism body is in the actual cleaning posture, in addition to being in a parallel state with the surface to be cleaned 101, the distance between the cleaning mechanism body and the surface to be cleaned 101 also needs to be within the preset normal working distance range. The actual distance between the cleaning mechanism body and the surface to be cleaned can also be obtained through the detection of the third detection member 26 and the second detection member 22, and then the distance between the cleaning mechanism body and the surface to be cleaned 101 can be adjusted to within the preset normal working distance range according to the detection results of the third detection member 26 and the second detection member 22.

[0065] Embodiment 4

[0066] The fourth embodiment provides a cleaning device, which includes any cleaning mechanism of the first to third embodiments, and further includes an adjustment component 300, and the cleaning mechanism is connected to the adjustment component 300. Specifically, the cleaning device in this embodiment is used to clean the reflective surface of the heliostat or to clean other devices such as photovoltaic panels.

[0067] For example, Figure 4As shown, the cleaning device is a heliostat reflective surface cleaning device, in which the adjustment component 300 includes a rotary reducer 301, a telescopic arm 302 and a vehicle platform 303. Specifically, the middle part of the top surface of the mobile bracket 11 is fixedly connected to the pivot part in the rotary reducer 301, so that the cleaning mechanism body can rotate synchronously with the pivot part in the rotary reducer 301 around the rotary axis of the rotary reducer 301 (the rotary axis of the rotary reducer 301 is arranged along the width direction of the mobile bracket 11), so that the cleaning mechanism body can be adjusted along the length direction of the mobile bracket 11 to be parallel to the surface to be cleaned 101; at the same time, the fixed part in the rotary reducer 301 and the telescopic arm 302 are connected to the vehicle platform 303. The telescopic end of the telescopic arm 302 is fixedly connected, and the telescopic arm 302 can drive the rotary reducer 301 and the cleaning mechanism body to move towards or away from the surface to be cleaned 101, so as to adjust the distance between the cleaning mechanism body and the surface to be cleaned 101; the end of the telescopic arm 302 away from the cleaning mechanism body is rotatably connected to the support arm 304, and an electric push rod 305 is also provided between the support arm 304 and the telescopic arm 302, one end of the electric push rod 305 is connected to the telescopic arm 302, and the other end is connected to the support arm 304, and the electric push rod 305 can drive the telescopic arm 302 to rotate around the connecting shaft between it and the support arm 304, and the telescopic arm 302 rotates around the connecting shaft between it and the support arm 304. The connecting shaft rotates to realize the movement of the cleaning mechanism body along the width direction of the surface to be cleaned 101, so that the cleaning mechanism body can cover the surface to be cleaned 101 in the width direction of the surface to be cleaned 101; the end of the support arm 304 away from the connecting shaft is fixedly connected to the pivot part of the second rotary reducer 306 fixed on the vehicle platform 303, so that the second rotary reducer 306 can drive the support arm 304 to rotate around the rotation axis of the second rotary reducer 306, and the rotation axis of the second rotary reducer 306 is set in a direction perpendicular to the chassis of the vehicle platform 303, and the support arm 304 is driven by the second rotary reducer 306 to rotate around the rotation axis of the second rotary reducer 306 The cleaning mechanism body can be adjusted to be parallel to the surface to be cleaned 101 along the width direction of the mobile bracket 11 by rotating the line; wherein, when the surface to be cleaned 101 is inclined relative to the horizontal plane, the vehicle platform 303 can drive the cleaning mechanism body to move along the length direction of the surface to be cleaned 101 when advancing normally along the cleaning path, and on the other hand, by controlling the vehicle platform 303 to turn toward the direction close to the surface to be cleaned 101 or away from the surface to be cleaned 101, the distance between the cleaning mechanism body and the surface to be cleaned 101 on both sides along the width direction of the mobile bracket 11 can be adjusted or the cleaning mechanism body can be moved closer to or away from the surface to be cleaned 101. The structure of the adjustment component 300 itself is not the focus of this application, and the above description of the adjustment component 300 is only for example and not for limitation.

[0068] Embodiment 5

[0069] Embodiment 5 of the present invention provides a cleaning method, which uses the cleaning device in embodiment 4 to clean the surface 101 to be cleaned. The cleaning method includes the following steps:

[0070] The cleaning mechanism moves toward the surface to be cleaned 101 along the length direction of the surface to be cleaned 101, and the first detection member 21 and the second detection member 22 move successively to the top of the surface to be cleaned 101, and the first detection member 21 and the second detection member 22 are triggered and detected successively; at least two front sensors 211 of the first detection member 21 respectively detect the vertical distance between the surface to be cleaned 101, and the adjustment component 300 adjusts the posture of the cleaning mechanism body for the first time, so that the cleaning mechanism body is in the pre-cleaning posture; at least two first central sensors 221 of the second detection member 22 respectively detect the vertical distance between the surface to be cleaned 101, and the adjustment component 300 adjusts the posture of the cleaning mechanism body for the second time, so that the cleaning mechanism body is in the actual cleaning posture. Among them, the first adjustment and the second adjustment occur successively. In the pre-cleaning posture, the vertical distance between the cleaning mechanism body and the surface to be cleaned 101 is greater than the maximum value in the preset normal working distance range or is within the preset normal working distance range; in the actual cleaning posture, the cleaning mechanism body is parallel to the surface to be cleaned 101 along the width direction and the length direction of the movable bracket 11, and the distance between the cleaning mechanism body and the surface to be cleaned 101 is within the preset normal working distance range.

[0071] In the cleaning method provided in this embodiment, in the first adjustment, the approximate distance and approximate posture between the cleaning mechanism body and the surface to be cleaned 101 can be preliminarily determined based on the distance values ​​detected by the two front sensors 211 and the installation positions of the two front sensors 211 on the mobile bracket 11, and guidance can be provided for the posture adjustment of the cleaning mechanism body, so that the cleaning mechanism body can be adjusted from the initial posture to the pre-cleaning posture. In the second adjustment, the posture adjustment of the cleaning mechanism body can be guided based on the distance values ​​detected by the first detection member 21 and the second detection member 22 and the installation positions of the first detection member 21 and the second detection member 22 on the mobile bracket 11, so that the cleaning mechanism body reaches the actual cleaning posture, at which time the cleaning mechanism body is parallel to the surface to be cleaned 101 in both the length direction and the width direction along the mobile bracket 11, and the distance between the cleaning mechanism body and the surface to be cleaned 101 is within the preset normal working distance range. The adjustment process of the above-mentioned cleaning method can refer to the description in Example 1, and the posture adjustment of the cleaning mechanism body is divided into two stages, and a pre-cleaning posture is added between the initial posture and the actual cleaning posture. On the one hand, the posture of the cleaning mechanism body is initially corrected to avoid the problem of collision with the surface 101 to be cleaned by adjusting the posture after the cleaning mechanism body reaches the surface 101 to be cleaned. On the other hand, the distance between the cleaning mechanism body in the pre-cleaning posture and the surface 101 to be cleaned is already relatively close to the preset normal working distance range described in the previous text (relatively close to the preset normal working distance range described in the previous text means: relative to the initial posture, the distance between the cleaning mechanism body and the surface 101 to be cleaned becomes smaller, but is still greater than the maximum distance in the preset normal working distance range). maximum value) or is within the preset normal working distance range, when the cleaning mechanism body actually reaches the surface 101 to be cleaned, it only needs to make simple adjustments to achieve the actual cleaning posture, which effectively reduces the complexity of the posture adjustment of the cleaning mechanism body after it reaches the surface 101 to be cleaned. On the third hand, since the cleaning mechanism body can pre-adjust its posture while approaching the surface 101 to be cleaned, the time of the cleaning mechanism body's movement process can be fully utilized. Compared with the solution where the cleaning mechanism body is adjusted from the initial posture to the actual cleaning posture after reaching the surface 101 to be cleaned, the problem of the cleaning mechanism body being unable to effectively clean the surface 101 to be cleaned when it just enters the surface 101 due to the posture adjustment speed being not fast enough can be avoided, thereby improving the cleaning efficiency.

[0072] It should be noted that in the second adjustment, the first detection member 21 and the second detection member 22 both reach the surface to be cleaned 101, that is, according to the distance values ​​detected by the first detection member 21 and the second detection member 22, and the installation positions of the first detection member 21 and the second detection member 22 on the mobile bracket 11, it is possible to judge whether the cleaning mechanism body is in the actual cleaning posture and guide the posture adjustment of the cleaning mechanism body. The specific judgment principle is: any one of the two front sensors 211 and the two first middle sensors 221 is used as a reference sensor, and the remaining three sensors are comparison sensors, and the distance value detected by each comparison sensor is calculated with the reference sensor. The absolute value H of the difference between the detected distance values, at the same time, obtain the absolute value h of the height difference between each comparison sensor and the reference sensor along the height direction of the mobile bracket 11 (when the first detection member 21 and the second detection member 22 are installed on the mobile bracket 11, the h value corresponding to each comparison sensor is a determined known value), and the H value and h value corresponding to each comparison sensor are used as a comparison group, then the three comparison sensors will correspond to three comparison groups. If the H value and h value in at least two comparison groups are equal (the H value and h value in each comparison group are compared separately, and not compared with the H value and h value in other comparison groups), it means that the cleaning mechanism body and the surface to be cleaned 101 are in a parallel state.

[0073] Optionally, the detection assembly 2 further includes at least one intermediate sensor 23 connected to the mobile bracket 11, and the intermediate sensor 23 is arranged protruding from the mobile bracket 11. Along the width direction of the mobile bracket 11, the intermediate sensor 23 is arranged between the first detection member 21 and the second detection member 22, that is, along the width direction of the mobile bracket 11, the distance between the intermediate sensor 23 and the front side of the mobile bracket 11 is smaller than the distance between the first detection member 21 and the front side of the mobile bracket 11. Therefore, during the movement of the cleaning mechanism along the length direction of the surface 101 to be cleaned, the intermediate sensor 23 moves to the top of the surface 101 to be cleaned before the second detection member 22, and moves to the top of the surface 101 to be cleaned later than the first detection member 21. Therefore, for the second adjustment, when the second detection member 22 and the intermediate sensor 23 are both moved to be located above the surface to be cleaned 101, the distance value detected by the intermediate sensor 23 and the installation position information of the intermediate sensor 23 on the mobile bracket 11 can be used to replace the distance value detected by the first detection member 21 and the installation position information of the first detection member 21 on the mobile bracket 11, and the distance value detected by the second detection member 22 and the installation position information of the second detection member 22 on the mobile bracket 11 together provide a judgment reference. The distance between the intermediate sensor 23 and the front side of the mobile bracket 11 is smaller, and the detection result can more truly reflect the actual state of the cleaning mechanism body, reduce the detection error, and make the posture adjustment of the cleaning mechanism body more accurate.

[0074] Optionally, the detection assembly 2 further includes a third detection member 26. Along the width direction of the mobile bracket 11, the second detection member 22 and the third detection member 26 are respectively arranged on both sides of the mobile bracket 11. When the cleaning mechanism moves along the length direction of the surface to be cleaned 101, the second detection member 22 and the third detection member 26 successively enter the surface to be cleaned 101. The third detection member 26 includes at least two second central sensors 261 arranged at intervals along the length direction of the mobile bracket 11. The second central sensor 261 can detect the vertical distance between the surface to be cleaned 101. After the second adjustment, the adjustment assembly 300 continues to adjust the posture of the mobile bracket 11. Specifically, the second detection member 22 and the third detection member 26 are both moved to the top of the surface to be cleaned 101, and the second detection member 22 and the third detection member 26 respectively detect the vertical distance between the surface to be cleaned 101. According to the distance value detected by the second detection member 22 and the distance value detected by the third detection member 26, and the installation position of the second detection member 22 and the third detection member 26 on the mobile bracket 11, the adjustment assembly 300 adjusts the posture of the cleaning mechanism body. Compared with the first detection member 21, the second detection member 22 and the third detection member 26 are closer to the mobile bracket 11, and can more accurately reflect the actual state of the cleaning mechanism body. The adjustment component 300 can dynamically adjust the posture of the cleaning mechanism body in real time according to the distance value detected by the second detection member 22 and the third detection member 26, and the installation position of the second detection member 22 and the third detection member 26 on the mobile bracket 11, so that the posture of the cleaning mechanism body is more accurate and the cleaning effect of the cleaning mechanism is better.

[0075] In addition, during the movement of the cleaning mechanism along the length direction of the surface to be cleaned 101, the cleaning brush 12 is always cleaning. Since the cleaning mechanism body has a certain width, when the cleaning mechanism body moves to the point where the first detection member 21 and the second detection member 22 are not above the surface to be cleaned 101, the third detection member 26 still continues to detect, and the adjustment component 300 performs real-time dynamic posture adjustment on the cleaning mechanism body according to the distance value detected by the third detection member 26. In combination with the distance value detected by the third detection member 26 and the installation position on the mobile bracket 11, the distance between the cleaning mechanism body and the surface to be cleaned 101 is adjusted so that the distance between the cleaning mechanism body and the surface to be cleaned 101 is greater than the maximum value in the preset normal working distance range or is within the preset normal working distance range. Even if the cleaning mechanism body is tilted relative to the surface to be cleaned 101 at this time, it can still be ensured that the part of the cleaning mechanism body above the surface to be cleaned 101 will not collide with the surface to be cleaned 101, and the cleaning mechanism is safe during the entire cleaning process.

[0076] Of course, during the above cleaning process, the limit detection part is always under detection to prevent the situation where a part of the cleaning mechanism body is outside the surface 101 to be cleaned in the width direction of the surface 101 to be cleaned, so that the cleaning mechanism body can be utilized to the maximum extent and all areas of the surface 101 to be cleaned can be effectively cleaned.

[0077] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A cleaning mechanism, comprising a cleaning mechanism body and a detection component (2), wherein the cleaning mechanism body comprises a movable bracket (11) and a cleaning brush (12) mounted on the movable bracket (11), wherein the cleaning brush (12) is used to clean a surface (101) to be cleaned of a part (100) to be cleaned, and characterized in that: Along the width direction of the movable bracket (11), the detection component (2) comprises a first detection member (21) and a second detection member (22) which are arranged on the same side of the movable bracket (11); the first detection member (21) protrudes from the movable bracket (11) so as to be located in front of the second detection member (22); the movable bracket (11) moves along the length direction of the surface to be cleaned (101) so as to make the first detection member (21) and the second detection member (22) successively enter the surface to be cleaned (101); the first detection member (21) comprises at least two front sensors (211) arranged at intervals along the length direction of the movable bracket (11); the second detection member (22) comprises at least two first middle sensors (221) arranged at intervals along the length direction of the movable bracket (11); the front sensors (211) and the first middle sensors (221) are both capable of detecting the vertical distance between the front sensors (211) and the first middle sensors (221) and the surface to be cleaned (101).

2. The cleaning mechanism according to claim 1, characterized in that: The detection component (2) further comprises at least one intermediate sensor (23) connected to the movable bracket (11); the intermediate sensor (23) is arranged to protrude from the movable bracket (11); along the width direction of the movable bracket (11), the intermediate sensor (23) is located between the first detection member (21) and the second detection member (22); the intermediate sensor (23) is capable of detecting a vertical distance from the surface to be cleaned (101).

3. The cleaning mechanism according to claim 1 or 2, characterized in that: The detection component (2) further comprises a third detection member (26); along the width direction of the movable bracket (11), the second detection member (22) and the third detection member (26) are respectively arranged on both sides of the movable bracket (11); when the movable bracket (11) moves along the length direction of the surface to be cleaned (101), the second detection member (22) and the third detection member (26) successively enter the surface to be cleaned (101); the third detection member (26) comprises at least two second centrally located sensors (261) arranged at intervals along the length direction of the movable bracket (11); the second centrally located sensors (261) are capable of detecting a vertical distance between the second centrally located sensors and the surface to be cleaned (101).

4. The cleaning mechanism according to claim 1, characterized in that: All the front sensors (211) in the first detection member (21) are installed at the same height in the height direction of the movable bracket (11), and all the front sensors (211) in the first detection member (21) are at the same distance from the front side of the movable bracket (11) in the width direction of the movable bracket (11).

5. The cleaning mechanism according to claim 3, characterized in that: All the second centrally located sensors (261) in the third detecting member (26) are installed at the same height in the height direction of the movable bracket (11), and all the second centrally located sensors (261) in the third detecting member (26) are at the same distance from the rear side of the movable bracket (11) in the width direction of the movable bracket (11).

6. The cleaning mechanism according to claim 5, characterized in that: The distance from all the second central sensors (261) in the third detection member (26) to the rear side of the mobile bracket (11) along the width direction of the mobile bracket (11) is shorter than the distance from each of the front sensors (211) in the first detection member (21) to the front side of the mobile bracket (11) along the width direction of the mobile bracket (11); or, the detection component (2) further comprises at least one intermediate sensor (23) connected to the mobile bracket (11), the intermediate sensor (23) being arranged to protrude from the mobile bracket (11), and being located between the first detection member (21) and the second detection member (22) along the width direction of the mobile bracket (11), and the distance from all the second central sensors (261) in the third detection member (26) to the rear side of the mobile bracket (11) along the width direction of the mobile bracket (11) is shorter than the distance from any one of the intermediate sensors (23) to the front side of the mobile bracket (11) along the width direction of the mobile bracket (11).

7. The cleaning mechanism according to claim 1, characterized in that: The detection assembly (2) further comprises a limit detection member, the limit detection member comprising at least one limit sensor (25) arranged on the movable bracket (11), the limit sensor (25) being used to detect the edge of the surface to be cleaned (101) along the width direction.

8. The cleaning mechanism according to claim 7, characterized in that: The position limit detection component comprises two position limit sensors (25) respectively arranged at two ends of the movable bracket (11) along the length direction of the movable bracket (11).

9. The cleaning mechanism according to claim 1, characterized in that: Along the height direction of the mobile bracket (11), the installation position of the first detection member (21) on the mobile bracket (11) is higher than the installation position of the second detection member (22) on the mobile bracket (11).

10. A cleaning device, characterized in that: The cleaning device comprises a cleaning mechanism as described in any one of claims 1 to 9, wherein the cleaning device further comprises an adjustment component (300), the cleaning mechanism is connected to the adjustment component (300), and the detection component (2) of the cleaning mechanism is communicatively connected to the adjustment component (300); the adjustment component (300) is used to adjust the posture of the cleaning mechanism.

11. The cleaning device according to claim 10, characterized in that: The cleaning device is used for cleaning the reflecting surface of the heliostat or for cleaning the photovoltaic panel.

12. A cleaning method, characterized in that: The cleaning device according to claim 10 is used to clean the surface to be cleaned (101), and the cleaning method comprises the following steps: The cleaning mechanism moves toward the surface (101) to be cleaned along the length direction of the surface (101) to be cleaned, the first detection member (21) and the second detection member (22) move successively to the top of the surface (101) to be cleaned, and the first detection member (21) and the second detection member (22) are triggered for detection successively; at least two of the front sensors (211) of the first detection member (21) respectively detect the vertical distance between the first detection member (21) and the surface (101) to be cleaned, and the adjustment component (300) adjusts the posture of the cleaning mechanism body for the first time, so that the cleaning mechanism body is in the pre-cleaning posture; at least two of the first middle sensors (221) of the second detection member (22) respectively detect the vertical distance between the first detection member (21) and the surface (101) to be cleaned, and the adjustment component (300) adjusts the posture of the cleaning mechanism body for the second time, so that the cleaning mechanism body is in the actual cleaning posture; The first adjustment and the second adjustment occur successively; in the pre-cleaning posture, the vertical distance between the cleaning mechanism body and the surface to be cleaned (101) is greater than the maximum value in a preset normal working distance range or is within a preset normal working distance range; in the actual cleaning posture, the cleaning mechanism body is parallel to the surface to be cleaned (101) in both the width direction and the length direction along the movable bracket (11), and the distance between the cleaning mechanism body and the surface to be cleaned (101) is within the preset normal working distance range.

13. The cleaning method according to claim 12, characterized in that: The detection assembly (2) further comprises at least one intermediate sensor (23) connected to the movable bracket (11); the intermediate sensor (23) is arranged to protrude from the movable bracket (11); along the width direction of the movable bracket (11), the intermediate sensor (23) is located between the first detection member (21) and the second detection member (22); the intermediate sensor (23) is capable of detecting a vertical distance from the surface to be cleaned (101); In the second adjustment, the second detection member (22) and the intermediate sensor (23) are both moved to the top of the surface to be cleaned (101), and the second detection member (22) and the intermediate sensor (23) respectively detect the vertical distance between the second detection member (22) and the surface to be cleaned (101), and the adjustment component (300) adjusts the posture of the mobile bracket (11) according to the distance value detected by the second detection member (22), the distance value detected by the intermediate sensor (23), and the installation positions of the second detection member (22) and the intermediate sensor (23) on the mobile bracket (11).

14. The cleaning method according to claim 12, characterized in that: The detection component (2) further comprises a third detection member (26); along the width direction of the movable bracket (11), the second detection member (22) and the third detection member (26) are respectively arranged on both sides of the movable bracket (11); when the cleaning mechanism moves along the length direction of the surface to be cleaned (101), the second detection member (22) and the third detection member (26) successively enter the surface to be cleaned (101); the third detection member (26) comprises at least two second centrally located sensors (261) arranged at intervals along the length direction of the movable bracket (11); the second centrally located sensors (261) are capable of detecting the vertical distance between the second centrally located sensors and the surface to be cleaned (101); After the second adjustment, the adjustment component (300) continues to adjust the posture of the cleaning mechanism body, wherein the second detection member (22) and the third detection member (26) respectively detect the vertical distance to the surface to be cleaned (101), and according to the distance value detected by the second detection member (22), the distance value detected by the third detection member (26) and the installation positions of the second detection member (22) and the third detection member (26) on the movable bracket (11), the adjustment component (300) adjusts the posture of the cleaning mechanism body; and / or the second detection member (22) and the third detection member (26) respectively detect the vertical distance to the surface to be cleaned (101). The measuring member (22) moves away from the surface to be cleaned (101), the third detecting member (26) detects the vertical distance between the third detecting member (26) and the surface to be cleaned (101), and according to the distance value detected by the third detecting member (26) and the installation position of the third detecting member (26) on the movable bracket (11), the adjusting component (300) adjusts the distance between the cleaning mechanism body and the surface to be cleaned (101), so that the distance between the cleaning mechanism body and the surface to be cleaned (101) is greater than a maximum value in a preset normal working distance range or is within a preset normal working distance range.

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