Anti-slip base suitable for inclined photovoltaic panel and cleaning device

Abstract

The invention belongs to the technical field of photovoltaic equipment cleaning, and particularly provides an anti-slip base suitable for an inclined photovoltaic panel, the anti-slip base comprises a bottom plate, a moving unit and a reverse thrust unit are arranged on the bottom plate, the moving unit controls the bottom plate to move, and the reverse thrust unit provides upward thrust along the inclined plane of the photovoltaic panel for the bottom plate. The reverse thrust unit is arranged on the bottom plate to provide upward thrust along the inclined plane of the photovoltaic panel for the whole robot, the thrust is used for counteracting component force of the gravity of the whole robot, and the problem that when the robot moves in the length direction of a photovoltaic array, linear motion cannot be maintained is solved; and the running stability of the photovoltaic cleaning device on the inclined photovoltaic panel is ensured. And meanwhile, the backstepping unit is arranged, so that the portability of the cleaning robot is not influenced, an additional structure does not need to be erected on the photovoltaic panel, and the cost is saved.

Description

Technical Field

[0001] The invention belongs to the technical field of photovoltaic equipment cleaning, and specifically provides an anti-slip base and a cleaning device suitable for an inclined photovoltaic panel. Background Art

[0002] With the continuous growth of global energy demand and the increasing prominence of environmental problems, the development and utilization of clean energy has become a common concern of governments and enterprises around the world. As a clean and renewable energy, solar energy has gradually become an important part of the global energy structure optimization due to its abundant resources and good environmental benefits.

[0003] At present, large-scale photovoltaic power stations are generally deployed in the arid and rainless northwest region. If they are not cleaned for a long time, a large amount of dust in the air will accumulate on the surface of the photovoltaic panels of the photovoltaic modules over time, thus significantly affecting the energy conversion of the photovoltaic power station. For small or difficult-to-reach photovoltaic arrays, a portable cleaning machine that does not rely on guide rails and robotic arms will be used. For example, a sweeping robot generally moves on the surface of the photovoltaic panel and cleans the photovoltaic panel through cleaning modules such as roller brushes. However, in general, the photovoltaic panel is tilted at a certain angle. When the cleaning machine moves along the length of the photovoltaic module array, the gravity component of the cleaning machine will cause the cleaning machine to slide down, making it difficult to move in a straight line, and even slip off the photovoltaic panel. Therefore, how to keep the cleaning robot moving stably on the photovoltaic panel is an urgent problem to be solved today. Summary of the invention

[0004] The present invention provides an anti-slip base suitable for tilted photovoltaic panels. A reverse thrust unit is provided to provide a reverse thrust for the base and a cleaning machine installed on the base, thereby offsetting the component force of its own gravity.

[0005] The technical solution of the present invention is as follows:

[0006] A non-slip base suitable for tilted photovoltaic panels comprises a base plate, on which a moving unit and a reverse thrust unit are arranged. The moving unit controls the movement of the base plate, and the reverse thrust unit provides a thrust for the base plate upward along the slope of the photovoltaic panel.

[0007] In this solution, instead of setting up support rails on the photovoltaic modules, providing external support arms and other external mechanisms to prevent the robot from sliding, a reverse thrust unit is set on the bottom plate to provide an upward thrust for the entire robot to offset the force of the robot's own gravity, solving the problem that the robot cannot maintain linear motion when moving along the length of the photovoltaic array, and ensuring the stability of the cleaning robot moving on the inclined photovoltaic panel. Setting up the reverse thrust unit does not affect the portability of the cleaning robot, and it does not require the erection of additional structures on the photovoltaic panel, saving costs.

[0008] Preferably, the angle α formed by the thrust direction provided by the reverse thrust unit and the plane of the photovoltaic panel is an acute angle. The thrust provided by the reverse thrust unit can be decomposed into a downward pressure on the bottom plate perpendicular to the surface of the photovoltaic panel and a thrust parallel to the inclined surface of the photovoltaic panel and upward along the inclined surface. The former can improve the stability of the bottom plate and the friction of the mobile unit on the photovoltaic panel to avoid slipping; while the latter can offset the gravity component of the base as a whole and the subsequent finished robot product, allowing the base and the subsequent finished robot to move in a straight line in the direction of the photovoltaic array.

[0009] Since the entire base needs to turn on the photovoltaic panel to achieve hairpin curve movement on the photovoltaic panel, when turning, the reverse thrust unit will change the thrust angle as the angle of the base plate changes, and the thrust generated by the reverse thrust unit is difficult to coordinate with the base plate posture. Therefore, it is preferred that the base plate also includes an auxiliary adsorption unit, which can provide a certain adsorption force for the base plate. When the base plate needs to turn, the reverse thrust unit can stop working directly, and the auxiliary adsorption unit is started to temporarily ensure that the entire base and the finished robot will not slide off the inclined photovoltaic panel due to the gravity component until the entire turning action is completed.

[0010] Preferably, a reverse thrust unit is rotatably provided at the center position of the base plate, the rotation plane of the reverse thrust unit is perpendicular to the forward direction of the base plate, and the reverse thrust unit is controlled to rotate by a rotating motor.

[0011] Both sides of the base may face downward. In this solution, only one reverse thrust unit needs to be set in the center of the base plate. When the base completes the turn, the motor is turned to control the reverse thrust unit to rotate to the other side, so that no matter which direction the base moves forward, the thrust provided by the reverse thrust unit always provides the entire base with force to resist the gravity component.

[0012] Preferably, at the same time, the reverse thrust unit can also be symmetrically arranged on both sides of the bottom plate. In this solution, since the portable cleaning robot needs to move back and forth for cleaning, both sides of the robot may face downward along the length direction of the photovoltaic module array, so reverse thrust units are arranged on both sides of the base to ensure that the cleaning robot arranged on the base can avoid moving downward by the force provided by the reverse thrust unit no matter which side faces downward. At the same time, the reverse thrust unit will only work when the base moves along the length direction of the photovoltaic array, so as to avoid the reverse thrust unit affecting its smooth movement when the base moves up and down.

[0013] Preferably, the reverse thrust unit comprises a propeller and a sensing unit arranged at the edge of the bottom plate, and the sensing unit automatically starts the propeller when it senses that the air outlet of the propeller is downward along the photovoltaic panel.

[0014] In this solution, the thrust is provided by the propeller. On the basis of avoiding the problem of sliding down when the base moves, the wind from the propeller can also blow away some floating dust on the photovoltaic panel to assist in cleaning. The start-up control of the propeller is achieved through the detection status of the sensing unit.

[0015] Preferably, the auxiliary adsorption unit is a negative pressure adsorption structure, and one or more negative pressure adsorption structures are arranged along the length direction of the bottom plate.

[0016] In this solution, the negative pressure auxiliary adsorption unit is provided to ensure that when the anti-slip base turns, the negative pressure auxiliary adsorption unit can ensure effective adsorption of the entire bottom plate.

[0017] A cleaning device comprises any of the above-mentioned anti-slip bases suitable for tilted photovoltaic panels, wherein the anti-slip base suitable for tilted photovoltaic panels is provided with a cleaning roller brush and an outer shell, and the outer shell is provided with an air outlet slot.

[0018] Beneficial effects of the present invention:

[0019] The present invention does not need to set up additional support rails, provide external support arms and other external mechanisms to prevent the robot from slipping. Instead, the reverse thrust unit provides an upward thrust along the slope of the photovoltaic panel to the bottom plate, providing an upward force for the subsequent finished cleaning robot to offset the force component of the entire robot's own gravity, solving the problem that the robot cannot maintain linear motion when moving along the length direction of the photovoltaic array. In addition, the reverse thrust unit does not affect the portability of the cleaning robot, and does not need to set up additional structures on the photovoltaic panel, saving costs. At the same time, by setting a certain inclination angle of the reverse thrust unit, while providing an upward thrust, pressure is provided to the mobile unit at the same time, which can increase the friction of the mobile unit on the photovoltaic panel and avoid slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solution of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A three-dimensional diagram of the base of the present invention;

[0022] Figure 2 It is a front view of the present invention;

[0023] Figure 3 A three-dimensional diagram of a base embodiment 2 of the present invention;

[0024] Figure 4 is a cross-sectional view of a thrust reverser unit in Embodiment 2 of the present invention;

[0025] Figure 5 It is a cross-sectional view of the auxiliary adsorption unit of the present invention.

[0026] Figure 6 It is a three-dimensional diagram of the cleaning device of the present invention.

[0027] In the above drawings, the corresponding reference numerals are as follows:

[0028] 1-bottom plate, 2-auxiliary adsorption unit, 21-brushless motor, 22-impeller, 23-mounting seat, 24-bottom pad, 25-elastic member, 3-moving unit, 4-reverse thrust unit, 41-thruster, 42-induction unit, 421-connecting pipe, 422-first conductive end, 423-second conductive end, 424-conductive magnetic block, 425-buffer spring, 426-small magnet, 427-magnetic ring, 428-rotating motor, 5-cleaning roller brush, 6-outer shell. DETAILED DESCRIPTION

[0029] In conjunction with the accompanying drawings, the technical solution of the present invention is clearly and completely described through the specific implementation methods of the embodiments of the present invention.

[0030] Embodiment 1:

[0031] A non-slip base suitable for tilted photovoltaic panels includes a base plate 1, on which a moving unit 3 and a reverse thrust unit 4 are arranged. The moving unit 3 controls the movement of the base plate 1, and the reverse thrust unit 4 provides a thrust for the base plate 1 to move upward along the slope of the photovoltaic panel.

[0032] Furthermore, the mobile unit 3 and the reverse thrust unit 4 are both powered by a mobile power source arranged on the base, wherein the reverse thrust unit 4 is Figure 1 As shown, it can be rotatably set at the center of the base 1, and the rotating motor 428 controls the thrust direction of the reverse thrust unit according to the orientation of the base. The reverse thrust unit 4 can use a small turbojet engine, which can provide sufficient thrust. And because the portable cleaning robot needs to make a hairpin turn to achieve back and forth cleaning, along the length direction of the photovoltaic array, both sides of the entire robot may face downward, and the rotating motor 428 can be equipped with other sensors such as an inclination sensor and a gyroscope sensor to determine which side of the base is at the bottom, and control the thrust direction generated by the small turbojet engine and the angle formed by the plane of the photovoltaic panel to be α, as shown in FIG. Figure 2As shown, angle α is an acute angle, preferably 10°. The thrust provided by the reverse thrust unit 4 can be decomposed into a downward pressure on the bottom plate 1 perpendicular to the surface of the photovoltaic panel and a thrust parallel to the inclined surface of the photovoltaic panel and upward along the inclined surface. The former can improve the stability of the bottom plate and at the same time increase the friction of the mobile unit 3 on the photovoltaic panel to avoid slipping; while the latter can offset the gravity component of the base as a whole and the subsequent finished robot, allowing the base and the subsequent finished robot to move in a straight line in the direction of the photovoltaic array. In addition, since the edge of the photovoltaic panel of the photovoltaic array will have a frame protrusion and there will be gaps between the photovoltaic panels, the reverse thrust unit 4 provides downward pressure on the base, which can ensure that the base will not fall due to the presence of protrusions and gaps when crossing the gap.

[0033] Furthermore, an auxiliary adsorption unit 2 is also provided on the bottom plate 1. When the bottom plate 1 needs to turn, the reverse thrust unit 4 can directly stop working, and the auxiliary adsorption unit 2 is started to temporarily ensure that the entire base 1 and the finished robot will not slide off the inclined photovoltaic panel due to the gravity component force until the entire turning action is completed. The auxiliary adsorption unit 2 can specifically be a negative pressure adsorption structure, such as Figure 5 As shown, a plurality of negative pressure adsorption structures are arranged in the length direction of the bottom plate 1. The plurality of negative pressure auxiliary adsorption units 2 can ensure that when one negative pressure auxiliary adsorption unit 2 fails, there are still a plurality of auxiliary adsorption units 2 that can continue to adsorb, thereby ensuring effective adsorption of the bottom plate 1 as a whole.

[0034] Specifically, the negative pressure adsorption structure includes a brushless motor 21, an impeller 22, a mounting seat 23 and a bottom pad 24. The impeller 22 mounting seat 23 is set on the bottom plate 1, the impeller 22 is mounted on the mounting seat 23, and the bottom pad 24 is provided with a plurality of adsorption holes connected to the impeller 22. The brushless motor 21 rotates the impeller 22, sucks air from the bottom, and forms a negative pressure cavity between the bottom pad 24 and the mounting seat 23. The components are small and light, and the mounting structure is simple. The provision of multiple adsorption holes can also prevent protrusions or large foreign objects from getting stuck in the negative pressure auxiliary adsorption unit 2.

[0035] Furthermore, the mounting seat 23 is provided with a sliding slot, and the bottom pad 24 is provided with a mounting ridge corresponding to the sliding slot, and the mounting ridge is slidably inserted into the sliding slot. Since the base encounters unevenness when moving, the negative pressure adsorption surface may generate an elevation angle or a depression angle due to encountering a protrusion or a depression when contacting the protrusion or depression, which may easily cause other negative pressure auxiliary adsorption units 2 to fail, and eventually cause the entire device to fall. In this scheme, since the bottom pad 24 of the negative pressure auxiliary adsorption unit 2 is slidably inserted on the mounting seat 23, the bottom pad 24 is movable. When the negative pressure auxiliary adsorption unit 2 encounters a protrusion, its bottom pad 24 is further inserted into the mounting seat 23, closer to the base, to ensure that the bottom plate 1 will not tilt up to generate an elevation angle, and when encountering a depression, the bottom pad 24 is further separated from the base to ensure that the bottom plate 1 will not sink here and generate a depression angle, thereby ensuring the stability of the entire bottom plate 1 when moving on the light panel.

[0036] In addition, an elastic member 25 is provided between the bottom pad 24 and the mounting seat 23, and the elastic member 25 provides a force for the bottom pad 24 to move away from the mounting seat 23. The elastic member 25 provides a downward force to the bottom pad 24, so that the adsorption stroke of the negative pressure adsorption bottom pad 24 when not adsorbed can be lengthened by the force of the elastic member 25, ensuring that the negative pressure auxiliary adsorption unit 2 can quickly resume negative pressure adsorption after passing over the protrusion.

[0037] Furthermore, the negative pressure adsorption structure also includes a guide cover and a drive protection shell. The drive protection shell can protect the motor drive board from being invaded by impurities such as dust and sand during subsequent work, and the gas guide cover can also guide the air sucked by the impeller 22 to be discharged from the side.

[0038] Embodiment 2:

[0039] Different from the first embodiment, this embodiment Figure 3 As shown, the reverse thrust unit 4 is symmetrically arranged on both sides of the base plate, that is, the reverse thrust unit 4 is provided with a plurality of reverse thrust units, and the thrust generating part of the reverse thrust unit 4 is preferably a detachable existing thruster (such as a small duct thruster utilizing wind force, a small ion thruster, etc.). The thrusters 41 are symmetrically arranged on both sides of the base plate 1, and at least two sharp thrusters are arranged on the same side to ensure that the thrust received by the base is even. And because the portable cleaning robot needs to move back and forth for cleaning, both sides of the robot may face downward along the length direction of the photovoltaic component array, so the reverse thrust units 4 are arranged on both sides of the base to ensure that the cleaning robot arranged on the base can avoid downward movement by the force provided by the reverse thrust unit 4 regardless of which side faces downward. At the same time, the induction unit 42 is also arranged to ensure that the reverse thrust unit 4 will only work when the base moves along the length direction of the photovoltaic array, so as to avoid the reverse thrust unit 4 affecting its smooth movement when the base moves up and down.

[0040] Furthermore, the sensing unit 42 may use existing devices such as an existing tilt sensor, a gyroscope sensor, etc., but this embodiment provides a traditional mechanical sensing unit 42 structure, so that only one side of the propeller 41 on the bottom plate 1 can work. Specifically, Figure 4 As shown, the induction unit 42 includes a connecting tube 421, and the bottom of the two ends of the connecting tube 421 is provided with a first conductive end 422, and a conductive magnet block 424 is slidably arranged in the connecting tube 421, and the tube wall of the two ends of the connecting tube 421 is provided with a second conductive end 423, and the two poles of the power circuit of the propeller 41 are respectively connected to the first conductive end 422 and the second conductive end 423 at one end, and the conductive magnet block 424 moves to one end of the connecting tube 421 and contacts the first conductive end 422 and the second conductive end 423 at the same time, so that the power circuit of the propeller 41 is connected. The connecting tube 421 is preferably in an arch shape, and the conductive magnet block 424 is generally located in the middle position of the connecting tube 421 when the base position is stable, and does not contact the two ends of the connecting tube 421, and when there is a height difference between the propellers 41 on both sides, the conductive magnet block 424 can be moved downward by gravity, and contact the first conductive end 422 and the second conductive end 423 at the lower position, thereby connecting the electric circuit of the propeller 41 at the lower position, so that it starts and generates thrust.

[0041] Furthermore, the conductive magnet can be a metal conductive block, with small magnets 426 at both ends, and a magnetic ring 427 with the same magnetic properties as the small magnet 426 is provided on the first conductive end 422, so that it generates repulsion with the conductive magnet, but this repulsion needs to be smaller than the gravity component force received by the conductive magnet block 424 on the photovoltaic inclined plane, to ensure that the conductive magnet block 424 can be forced to move downward when the base moves along the length direction of the photovoltaic array. When the base turns on the inclined plane, the gravity component force received by the conductive magnet block 424 decreases as the height difference of the thrusters 41 on both sides gradually decreases, and it is eventually repelled by the repulsive force, disconnecting from the first conductive end 422, stopping the thruster 41, and the conductive magnet falls into the other end of the connecting tube 421 after the U-turn.

[0042] Furthermore, a buffer spring 425 is connected to the first conductive end 422. The buffer spring 425 is arranged at both ends of the connecting tube 421 along the axial direction of the connecting tube 421, and the buffer spring 425 plays a certain buffering role on the conductive magnet block 424, so as to prevent the conductive magnet block 424 from being damaged by a rigid collision with the first conductive end 422 in the connecting tube 421. When the buffer spring 425 is used, if the buffer spring 425 is made of non-conductive material, the small magnet 426 on the conductive electromagnet 424 and the magnetic ring 427 of the first conductive end 422 may not be provided, and the elastic force of the buffer spring 425 is relied on to provide the conductive electromagnet 424 with a force away from the first conductive end 422, but this elastic force needs to be smaller than the component force of gravity received by the conductive electromagnet 424 on the photovoltaic slope; when the height difference between the two ends of the connecting tube 421 decreases, the component force of gravity received by the conductive electromagnet 424 decreases, and when this force is smaller than the elastic force of the buffer spring 425, the buffer spring 425 can push it away, disconnecting the power supply circuit of the propeller 41. When the buffer spring 425 is conductive, the buffer spring 425 needs to contact the first conductive end 422, not the second conductive end 423.

[0043] It should be noted that an accelerometer and a gyroscope can be set on the base, and the data of these two sensors can be fused through a Kalman filter to finally obtain a stable roll angle (Roll) and pitch angle (Pitch) of the base, and the posture of the base can be calculated and the output power of the thruster 41 can be controlled through a processor set on the base plate 1.

[0044] Embodiment three:

[0045] A cleaning device, such as Figure 6 As shown, on the basis of the above embodiment, it also includes a cleaning roller brush 5 and an outer shell 6, and the outer shell 6 is provided with an air outlet slot to ensure that the reverse thrust unit 4 generates effective thrust, wherein a control unit is provided to control the operation of the cleaning roller brush 5, the moving unit 2, the reverse thrust unit 4 and other devices.

[0046] This cleaning device can achieve stable straight-line operation on an inclined photovoltaic panel. At the same time, the reverse thrust unit 4 can effectively prevent the cleaning device from falling due to gravity. At the same time, when performing the cross-slot action between photovoltaic panels, there is no need to worry about the frame protrusion on the photovoltaic panel.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention.

Claims

1. An anti-slip base suitable for tilted photovoltaic panels, characterized by: The invention comprises a base plate (1), on which a moving unit (3) and a reverse thrust unit (4) are arranged. The moving unit (3) controls the movement of the base plate (1), and the reverse thrust unit (4) provides the base plate (1) with a thrust force upward along the slope of the photovoltaic panel.

2. The anti-slip base for tilted photovoltaic panels according to claim 1, characterized in that: The angle α formed by the thrust direction provided by the reverse thrust unit (4) and the plane of the photovoltaic panel is an acute angle.

3. The anti-slip base for tilted photovoltaic panels according to claim 2, characterized in that: The bottom plate (1) also includes an auxiliary adsorption unit (2).

4. The anti-slip base for tilted photovoltaic panels according to claim 3, characterized in that: A reverse thrust unit (4) is rotatably arranged at the center of the base plate (1); the rotation plane of the reverse thrust unit (4) is perpendicular to the forward direction of the base plate (1); and the rotation of the reverse thrust unit (4) is controlled by a rotating motor (428).

5. The anti-slip base for tilted photovoltaic panels according to claim 3, characterized in that: Alternatively, the reverse thrust unit (4) is symmetrically arranged on both sides of the base plate (1).

6. The anti-slip base for tilted photovoltaic panels according to claim 5, characterized in that: The reverse thrust unit (4) comprises a propeller (41) and a sensing unit (42) arranged at the edge of the bottom plate (1); when the sensing unit (42) senses that the air outlet of the propeller (41) is directed downward along the photovoltaic panel, the propeller (41) is activated.

7. An anti-slip base for tilted photovoltaic panels according to any one of claims 3 to 6, characterized in that: The auxiliary adsorption unit (2) is a negative pressure adsorption structure, and one or more negative pressure adsorption structures are arranged along the length direction of the bottom plate (1).

8. A cleaning device, characterized in that: It comprises an anti-slip base suitable for tilted photovoltaic panels as described in any one of claims 1 to 7, wherein the anti-slip base suitable for tilted photovoltaic panels is provided with a cleaning roller brush (5) and an outer shell (6), and the outer shell (6) is provided with an air outlet groove.

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