Cleaning system, charging system, docking system, cleaning method and transfer device

Abstract

The present application relates to the field of solar power station cleaning technology, and discloses a cleaning system, a charging system, a docking system, a cleaning method and a transfer device. The cleaning system is used for cleaning ground-type solar power stations, and mainly includes at least two discontinuous support parts arranged along a preset path, a cleaning device and a transfer body. The transfer body is equipped with cleaning equipment and a power device, which can generate displacement between the support parts to achieve mobile shuttle in the power station. The discontinuous support parts are used to support the movement of the transfer body, without relying on long guide rails, which significantly reduces the occupation of the internal space of the solar power station, thereby improving the traffic rate and flexibility of other operations in the power station, and ensuring the efficient operation and maintenance of the solar power station.

Description

Technical Field

[0001] The present application relates to the field of solar power station cleaning technology, and further to a cleaning system, a charging system, a docking system, a cleaning method and a transfer device. Background Art

[0002] In traditional ground-based solar power plants, the cleaning of photovoltaic modules has always been a challenge. At present, the cleaning method adopted by some power plants is to use long rails to realize the movement of cleaning equipment (such as cleaning robots), so that they can move between different rows of solar racks for cleaning operations. However, there are several significant problems with the design of such long rails. First, the long rails will occupy a long path in the solar power plant, which not only affects the normal traffic in the power plant, but also limits the flexibility of other operations; secondly, the installation and replacement process of the long rails is complicated and costly, and after long-term use, due to environmental factors and load pressure, the rails may sink, which directly affects the accuracy of the robot's movement, resulting in positioning deviations of the cleaning equipment during movement, increasing the difficulty and cost of operation and maintenance. Summary of the invention

[0003] In view of the above technical problems, the purpose of the present application is to provide a cleaning system, a charging system, a docking system, a cleaning method and a transfer device to improve the operation and maintenance efficiency and quality of a solar power station.

[0004] In a first aspect, the present application provides a cleaning system for a ground-based solar power station, wherein at least two rows of solar racks are arranged in the solar power station, and photovoltaic modules are installed on the solar racks, including:

[0005] at least two discontinuous support portions, the support portions being arranged along a preset path within the solar power station;

[0006] Cleaning equipment for cleaning photovoltaic modules on solar racks in solar power plants;

[0007] A transport body, used to carry or load the cleaning device, comprising a power device, so as to drive the transport body to move relative to the support part through the power device, thereby realizing the movement of the transport body in the solar power station;

[0008] The transport body carries the cleaning device to move between different rows of solar racks, so that the cleaning device can clean the photovoltaic components on different rows of solar racks.

[0009] In some embodiments, the number of the support parts is at least three, and the length of the transport body is at least equal to the total length formed by any three adjacent support parts on the preset path.

[0010] In some embodiments, the support portion is provided with a sliding groove or a rolling portion adapted to the transport body to assist in the sliding of the transport body;

[0011] And / or, a lubricating material is provided on a mating surface of the support portion relative to the transfer body to reduce friction between the support portion and the transfer body.

[0012] In some embodiments, the support portion is provided with a limiting portion, which abuts against the side wall and / or at least a portion of the top surface and / or at least a portion of the bottom surface of the transfer body to prevent the transfer body from tipping over or shifting.

[0013] In some embodiments, the transport body includes a main body and a moving part, the main body is used to dock with the support part to determine the travel trajectory of the transport body, and the cleaning equipment can be loaded on the main body or the moving part; the power device is arranged on the main body and / or the moving part, so that at least the moving part can move relative to the main body under the drive of the power device.

[0014] In some embodiments, the cleaning system further comprises at least one body fixing portion, and the body fixing portion and the body portion are correspondingly provided with locking components for limiting the displacement of the body portion; and / or,

[0015] The cleaning system further includes a second positioning module, which is disposed at one or more of the main body, the moving part, the supporting part, and the cleaning device, and is used for assisting the positioning of the component.

[0016] In some embodiments, the power device includes a first transmission belt and a first driving member, wherein the first transmission belt is disposed on the main body and has a plurality of matching holes along its length direction;

[0017] The first driving member is disposed on the moving part, and includes a driving gear and a driving motor connected thereto. When the driving motor is running, the driving gear drives the moving part to move relative to the main body.

[0018] The cleaning system comprises a first fixed part, and the movable part and the first fixed part are respectively provided with matching first locking mechanisms. When the movable part and the first fixed part are locked by the first locking mechanism, the main body part can move relative to the supporting part under the driving action of the first driving member. When the movable part and the first fixed part are not locked by the first locking mechanism, the movable part can move relative to the main body part or the supporting part under the driving action of the first driving member.

[0019] In some embodiments, the power device includes a transmission member and a second driving member, the transmission member connects the main body and the moving part, and the transmission member is connected to the second driving member so as to drive the transmission member to move through the second driving member;

[0020] The cleaning system has a second fixed part, and the movable part and the second fixed part are respectively provided with matching second locking mechanisms. When the movable part and the second fixed part are locked by the second locking mechanism, the main body can move under the driving action of the transmission member; when the movable part and the second fixed part are not locked by the second locking mechanism, the movable part can move relative to the main body under the driving action of the transmission member.

[0021] In some embodiments, the transmission member is a synchronous belt, the main body is used to receive the cleaning device, and the synchronous belt is respectively connected to the main body and the moving part;

[0022] The second locking mechanism includes a first locking end and a second locking end, the first locking end is arranged on the movable part, and the second locking end is arranged on the second fixed part. When the first locking end and the second locking end are connected with each other, the position of the movable part is fixed, so that the main body can move during the operation of the synchronous belt.

[0023] In some embodiments, the power device includes a third transmission belt and a third driving member, wherein the third transmission belt is wholly or partially surrounded relative to the transfer body in the length direction, and the third driving member is cooperatively connected to the third transmission belt to drive the third transmission belt to operate, thereby forming a displacement of the transfer body relative to the support part.

[0024] In some embodiments, the power device includes a transmission rod and a fourth driving member, wherein the fourth driving member is connected to the transmission rod to drive the transmission rod to rotate forward or reverse, so that when the transmission rod rotates, the relative position of the transmission rod and the support part changes to push the transport body to move relative to the support part.

[0025] In some embodiments, the transport body is provided with a bracket structure, and the bracket structure is used to support the cleaning device;

[0026] And / or, the transfer body is provided with a first positioning module, and the transfer body can be relatively positioned with at least one of the positioning ends on the solar bracket, the positioning ends in the solar power station, the positioning ends on the cleaning equipment, and the positioning ends on the support part through the first positioning module, so as to assist the transfer body to dock to a preset position.

[0027] In some embodiments, the number of the cleaning devices is at least two, and during the movement of the transport body, different cleaning devices can move between different rows of solar racks as the transport body moves.

[0028] In some embodiments, the cleaning device can actively or passively generate relative movement between the transport body and the solar support.

[0029] In some embodiments, the cleaning device has a power module for driving the cleaning device to and fro between the transport body and the solar support.

[0030] In some embodiments, the cleaning system is provided with a robotic arm and a robotic gripper for grasping the cleaning equipment and controlling the transfer of the cleaning equipment between the transporting body and the solar support.

[0031] In some embodiments, at least one side end of the transport body is provided with a guide portion inclined upward.

[0032] In some embodiments, the width of the guide portion gradually decreases along a direction from the middle of the transfer body to the end portion where the guide portion is located.

[0033] In some embodiments, at least one of the support parts is fixed to the ground; and / or at least one of the support parts is fixed to a solar rack in the solar power station.

[0034] In a second aspect, the present application provides a charging system, which is applied to the above-mentioned cleaning system, and includes a first power supply module, and the first power supply module is used to supply power to the cleaning device.

[0035] In some embodiments, the first power supply module is disposed on the transport body;

[0036] Or, the first power supply module is a conventional power supply device arranged in the solar power station;

[0037] Alternatively, the first power supply module is a solar panel disposed on the solar support.

[0038] In some embodiments, the cleaning device and the power device share the first power supply module; or, the charging system further includes a second power supply module for supplying power to the power device.

[0039] In a third aspect, the present application provides a docking system for the cleaning equipment in the above-mentioned cleaning system, including: a docking platform, arranged at a preset position of the solar power station or the transfer body, for docking and / or transferring the cleaning equipment.

[0040] In some embodiments, the docking platform is provided with a power supply module for supplying power to the cleaning device;

[0041] And / or, a power supply module is provided in the solar power station for supplying power to the cleaning equipment;

[0042] And / or, the solar support is provided with a power supply module for supplying power to the cleaning device.

[0043] In a fourth aspect, the present application provides a cleaning method, which uses the above-mentioned cleaning system for cleaning a ground-based solar power station, comprising the steps of:

[0044] Step (1): arranging at least two discontinuous support portions along a preset path in the solar power station;

[0045] Step (2): Control the transfer body equipped with the cleaning equipment to move relative to the support portion so as to move between different rows of solar racks in the solar power station, so that the cleaning equipment can perform row-changing cleaning.

[0046] In some embodiments, the step (2) comprises:

[0047] Controlling the transfer body to move from one row of solar racks to the next row of solar racks for sequential row replacement and cleaning;

[0048] Alternatively, the transport body is controlled to move from one row of solar supports to another preset row of solar supports in a movement mode spanning one or more rows, for targeted cleaning across rows.

[0049] In a fifth aspect, the present application provides a transfer device for cleaning a ground-based solar power station, comprising: a mobile body, the mobile body having a power module, the power module being capable of providing power to the mobile body, so that the mobile body can move based on two or more discontinuous support parts in the solar power station;

[0050] The mobile body can carry the cleaning module, so that the cleaning module can move synchronously with the movement of the mobile body, so that the equipment in the solar power station can be cleaned by the cleaning module.

[0051] As described above, the cleaning system in the present application is provided with a discontinuous support part, and the cleaning equipment can flexibly move between different rows of solar brackets by moving the transfer body on the support part, forming a displacement form based on multi-point support, which solves the problem of long guide rails occupying a large amount of power station space in current technology, thereby providing more feasible space for normal traffic and other operations in the solar power station, and improving the operational flexibility of the power station; at the same time, the replacement or maintenance of the support part is more convenient, and even in the event of sinking or other unevenness, it can be adjusted in time, which improves the operating efficiency and reduces the workload of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present application.

[0053] Figure 1 is a schematic diagram of the structure of a cleaning system in one embodiment of the present application when it is applied to a solar power station;

[0054] Figure 2 is a partial schematic diagram of a cleaning device in one embodiment of the present application when cleaning a photovoltaic module;

[0055] Figure 3 is a partial schematic diagram of a bracket structure in an embodiment of the present application when it is unfolded;

[0056] Figure 4 This is a schematic diagram of the overall structure of the transport body in one embodiment of the present application;

[0057] Figure 5 yes Figure 4 The enlarged view of point A in the middle;

[0058] Figure 6 This is a schematic diagram of the overall structure of the moving part in one embodiment of the present application;

[0059] Figure 7 It is a partial detail diagram of an embodiment of the present application;

[0060] Figure 8 This is a schematic diagram of the structure of a support portion in one embodiment of the present application;

[0061] Fig. 9 It is a partial schematic diagram of a supporting portion fixed to a solar support in one embodiment of the present application;

[0062] Fig.10 This is a partial schematic diagram of a bracket structure and a photovoltaic module docking in one embodiment of the present application;

[0063] Fig.11is a schematic diagram of a cleaning system in an embodiment of the present application when it is located in the middle of the solar support;

[0064] Fig.12 is a schematic diagram of the structure of a mobile part equipped with a cleaning device in one embodiment of the present application;

[0065] Fig.13 is a structural diagram of a power device in one embodiment of the present application;

[0066] Fig.14 is a schematic structural diagram of a moving part in one embodiment of the present application;

[0067] Fig.15 This is a schematic diagram of the structure of a support portion in one embodiment of the present application;

[0068] Fig.16 It is a partial structural schematic diagram of an embodiment of the present application;

[0069] Fig.17 is a structural diagram of a power device in one embodiment of the present application;

[0070] Fig.18 This is a schematic diagram of the partial structure of a power device in one of the embodiments of the present application;

[0071] Fig.19 This is a schematic diagram of the structure of the support portion in one of the embodiments of the present application;

[0072] Fig. 20 is a partial cross-sectional view of one of the embodiments of the present application;

[0073] Fig.21 It is a schematic diagram of the partial structure of a power device in one embodiment of the present application;

[0074] Fig. 22 This is a step diagram of a cleaning method in one embodiment of the present application.

[0075] Explanation of the accompanying drawings: supporting part 1; rolling part 11; limiting part 12; lubricating material 13; contact part 14; cleaning device 2; transfer body 3; guiding part 301; main body 31; moving part 32; bracket structure 33; adjustment component 331; matching hole 410; first transmission belt 411; first driving member 412; first locking mechanism 413; synchronous belt 421; second driving member 422; first locking end 4231; second locking end 4232; third transmission belt 431; protrusion 432; transmission rod 441; bracket docking structure 51; mechanical arm 52; mechanical gripper 53; solar power station 6; solar bracket 61; photovoltaic module 62. DETAILED DESCRIPTION

[0076] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0077] In order to simplify the drawings, only the parts related to the application are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0078] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0079] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0080] In the description of the present application, it should be understood that the terms "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0081] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0082] Photovoltaic modules can convert sunlight into electrical energy and are widely used in solar power plants to generate electricity. In the operation and maintenance of ground-based solar power plants, the cleaning of photovoltaic modules is an important link that cannot be ignored. Traditional cleaning methods rely on long track systems, which guide the movement of cleaning equipment by laying continuous tracks in the power plant. However, this design has multiple technical defects, high cost and poor adaptability, which limits its efficiency and practicality.

[0083] Firstly, the long track system needs to provide a continuous moving path for the cleaning equipment, which requires more track materials, supporting materials and more supporting piles. The long track occupies the ground space in the power plant, and the track area cannot be crossed by vehicles, which will lead to traffic interruptions and logistics delays in the power plant, causing great difficulties for the operation and maintenance of the power plant.

[0084] Secondly, the long track system is difficult and costly to maintain. During long-term use, the track may sink due to environmental factors and weight pressure, which directly affects the movement accuracy of the cleaning equipment, resulting in a decrease in the efficiency and quality of the cleaning operation. At the same time, the maintenance and replacement process of the track is complicated and costly, which increases the difficulty and economic burden of the power station's operation and maintenance.

[0085] In view of this, please refer to the attached manual Figure 1 The present application provides a cleaning system that can overcome the defects in the prior art and effectively improve the operation and maintenance quality and cleaning efficiency of ground-based solar power stations.

[0086] It should be noted that ground-mounted solar power stations refer to all solar power stations with pile foundations fixed on the ground, regardless of their specific geographical location or environmental conditions. Ground-mounted solar power stations include but are not limited to traditional land-based power stations, lakes, ponds, and solar power stations in shallow sea areas. The common feature of these power stations is that their structural foundation, i.e., pile foundation, is fixed by driving it into the ground or underground.

[0087] Please refer to the instruction manual Figure 2 and Figure 3 The cleaning system provided in the present application mainly includes at least two discontinuous supporting parts 1, a cleaning device 2 and a transporting body 3.

[0088] The support part 1 is arranged along a preset path in the solar power station 6, and the preset path can be optimized according to the layout of the solar bracket 61 and the terrain conditions to ensure that the cleaning device 2 can efficiently clean the photovoltaic module 62. Through the design of the discontinuous support part 1 in this embodiment, the necessary support is provided without occupying additional space, thereby avoiding the problem existing in the prior art, that is, the influence and interference of the long track system in the above content on the internal traffic of the power station.

[0089] At the same time, the cleaning device 2 is used to clean the photovoltaic components 62 on the solar bracket 61. It should be noted that in this embodiment, the cleaning device 2 can be a high-pressure water gun, a brush or other cleaning tools to meet different cleaning needs. Preferably, the cleaning device 2 can be a cleaning robot.

[0090] In this case of the present embodiment, after the cleaning device 2 is transferred to the solar bracket 61, it can be moved by the power system equipped on the solar bracket 61 to achieve the cleaning work; more preferably, the cleaning device 2 can be automated, can automatically identify the dirt on the photovoltaic component 62 and clean it, and can also be operated by remote control, such as the cleaning robot shown in the accompanying drawing.

[0091] The transport body 3 in this embodiment is mainly used to bear or load the cleaning equipment 2, and the transport body 3 includes a power device, so that the transport body 3 can be displaced between the support parts 1 to achieve shuttling within the solar power station 6.

[0092] In actual operation, the transport body 3 first transports the cleaning equipment 2 to the designated row of solar brackets 61, and the cleaning equipment 2 is then transferred from the transport body 3 to the photovoltaic components 62 and starts cleaning. After the cleaning of the current row of photovoltaic components 62 is completed, the transport body 3 loads the cleaning equipment 2 again and moves to the next row or the predetermined row to continue cleaning. This process can be repeated automatically until all photovoltaic components 62 are cleaned.

[0093] Based on this embodiment, the number of cleaning devices 2 in the cleaning system is two or more, so that different cleaning devices 2 can shuttle between different rows of solar supports 61 through the movement of the transport body 3, thereby improving the efficiency and flexibility of the cleaning operation.

[0094] Specifically, the transport body 3 is equipped with multiple cleaning devices 2, each of which has the ability to independently clean one or more rows of solar racks 61. The cleaning system flexibly assigns cleaning tasks to each cleaning device 2 according to actual needs. Multiple cleaning devices 2 can work together. For example, when one cleaning device 2 is cleaning the current row of solar racks 61, another cleaning device 2 can prepare or move to the next row to achieve a continuous cleaning process. Compared with the prior art, this setting is more energy-saving and environmentally friendly, while reducing operation and maintenance costs, achieving great progress.

[0095] On the other hand, the power device can also enable the transport body 3 to achieve bidirectional movement, that is, the transport body 3 can travel back and forth on a preset path, for example, returning to the starting point for docking after completing the delivery of the cleaning equipment 2, or recovering the cleaning equipment 2 that has completed cleaning in the previous sequence when returning.

[0096] Based on the above content, it can be understood that the transfer body 3 is driven by a power device to generate displacement on the discontinuous support part 1, thereby realizing the shuttle within the solar power station 6. This displacement form based on multi-point support replaces the traditional long track, provides higher cleaning efficiency and better space utilization, and avoids conflict with vehicle traffic.

[0097] In addition, the cleaning system in the present application, the support part 1 can be fixed to the ground or to the solar bracket 61. Specifically, for the former, the support part 1 can be fixed to the ground by a pile foundation method, a concrete block counterweight method, a pre-embedded method, a ground anchor method, etc.; for the latter, Fig. 9 As shown, the support part 1 is directly fixed on the solar bracket 61 in the solar power station 6. This method can utilize the existing structure and reduce additional foundation work.

[0098] In practical applications, the two situations of ground fixing and solar bracket 61 fixing can be combined according to the specific layout and design requirements of the solar power station 6. For example, a part of the support part 1 is fixed to the ground to provide a stable base, while another part of the support part 1 is fixed to the solar bracket 61 to optimize space utilization and structural layout.

[0099] It should also be noted that the support portion 1 in the figure is arranged below the transfer body 3, that is, the transfer body 3 moves from above the support portion 1, but in other embodiments, the relative positions of the support portion 1 and the transfer body 3 can also be changed, for example, the support portion 1 is arranged in a form similar to a barb, so that the transfer body 3 moves in a space formed by the barb, similar to the movement of a light rail, reducing the movement obstacles caused by uneven ground.

[0100] In one embodiment, the support part 1 includes at least two or more parts. Through this multi-part modular setting, the support part 1 can achieve fine-tuning functions of up and down, left and right, front and back, and twisting. For example, after the support part 1 is fixed, if deflection or other installation errors are found, it can be precisely adjusted through fine-tuning to ensure the correct position and posture of the support part 1; these fine-tuning functions can exist independently or in combination according to the setting of the structure. Similarly, the position and posture of the support part 1 can also be fine-tuned when it is necessary to adjust it, ensuring the reliability and practicality of the system.

[0101] In a specific implementation, the support part 1 includes two parts, the first part (fixed section): this is the fixed part of the support part 1, usually fixed on the ground or the solar bracket 61, serving as the base of the entire support part 1; the second part (adjustable section): this is the adjustable part of the support part 1, which can be adjusted up and down, left and right, front and back, and torsionally relative to the fixed section.

[0102] For example, a compression spring or an elastic washer is used as an elastic part and installed between the second part and the first part. By changing the compression amount of the spring, the second part can be fine-tuned up and down; a slide rail or roller is designed at the bottom of the second part so that the second part can be slid and adjusted left and right and front and back on the first part; an elastic torsion spring or universal joint is set between the first part and the second part to allow the second part to rotate at a certain angle relative to the first part to achieve torsional adjustment.

[0103] Furthermore, the number of the support parts 1 is at least three, and the length of the transport body 3 is at least equal to the total length formed by any three adjacent support parts 1 on the preset path, ensuring that when the transport body 3 moves, there are always at least two support parts 1 to provide stable support, so that it can move stably on the support parts 1. The "total length" in the above content refers to a length formed by any three adjacent support parts 1 on the preset path, including the size of the support parts 1 themselves and the spacing between them.

[0104] In one embodiment, Figure 8 As shown, the support portion 1 is provided with a sliding groove or rolling portion 11 adapted to the transfer body 3 to assist in the sliding of the transfer body 3 .

[0105] Specifically, the sliding groove forms a longitudinal channel, the inner surface of which matches the bottom profile of the transfer body 3 to ensure smooth sliding, and a lubricating oil channel can be provided in the sliding groove to further reduce friction and wear. In contrast, the rolling part 11 can be composed of a series of rollers, which are mounted on the top of the support part 1 and directly contact the bottom of the transfer body 3 to reduce friction between the transfer body 3 and the support part 1, thereby facilitating the increase of the life of the components.

[0106] In addition, in one embodiment, a lubricating material 13 is provided on the mating surface of the support portion 1 relative to the transfer body 3 to reduce the sliding friction between the transfer body 3 and the support portion 1, thereby reducing power consumption and improving the energy efficiency of the system.

[0107] It is understandable that the mating surface of the support part 1, i.e., the surface in contact with the transport body 3, is provided with a lubricating material 13, and this lubricating material 13 can be a solid lubricant, such as polytetrafluoroethylene (PTFE) or graphite, or a liquid or semi-solid lubricant, such as lubricating oil or grease. It should be noted that the lubricating material 13 can be applied to the mating surface of the support part 1 in a variety of ways, for example, the lubricating material 13 is directly sprayed or brushed on the mating surface in the form of a coating, or, during the manufacturing process of the support part 1, the lubricating material 13 is fixed as an insert in the mating area, or, a covering layer or tape made of the lubricating material 13 is pasted on the mating surface.

[0108] In one embodiment, the support portion 1 is provided with a limiting portion 12, which abuts against the side wall and / or at least a portion of the top surface and / or at least a portion of the bottom surface of the transfer body 3 to limit the movement range of the transfer body 3 on the support portion 1, prevents the transfer body 3 from tipping over or shifting during the movement, and ensures the stability and safety of the transfer body 3.

[0109] The limiting portion 12 can be designed as a protrusion or a blocking section fixed on the support portion 1. When the transfer body 3 moves on the support portion 1, the limiting portion 12 provides a physical barrier to prevent the transfer body 3 from exceeding the predetermined path. Corresponding grooves can also be provided on the transfer body 3. When the transfer body 3 moves, the protrusion on the support portion 1 matches the groove on the transfer body 3.

[0110] On the other hand, components such as the rolling portion 11 or the lubricating material 13 in the above-mentioned embodiments may also be provided on the limiting portion 12. For example, a rolling portion 11, such as a roller or a ball bearing, may be provided on the limiting portion 12 to reduce friction and enable the transfer body 3 to move smoothly under the guidance of the limiting portion 12, thereby improving the efficiency of the movement of the transfer body 3, reducing maintenance costs, and enhancing the durability and reliability of the system; the same applies to the lubricating material 13, which will not be described in detail here.

[0111] Furthermore, the transfer body 3 is specially designed with an inclined upward guide portion 301, which is arranged at least at one end of the transfer body 3. This design can effectively prevent the transfer body 3 from affecting the docking accuracy with the support portion 1 due to ground settlement during long-term operation.

[0112] like Figure 4As shown, the guide portion 301 is designed as an inclined upward structure, which can be a continuous guide section or a segmented form. In a solar power station, the transfer body 3 may encounter uneven ground settlement during movement. By setting an inclined upward guide portion 301 at one end of the transfer body 3, during the docking process between the transfer body 3 and the support portion 1, the guide portion 301 serves as a physical guide between the transfer body 3 and the support portion 1. Even when settlement occurs, the transfer body 3 can smoothly transition along the guide portion 301 and maintain accurate docking with the support portion 1.

[0113] The inclination angle and length of the guide portion 301 are calculated and designed based on the possible maximum settlement of the ground and the movement characteristics of the transfer body 3, ensuring that the stability and docking accuracy of the transfer body 3 can be maintained under various settlement conditions.

[0114] Furthermore, optionally, the width of the guide portion 301 is designed to gradually decrease from the middle to the end of the transfer body 3, forming a conical or tapered shape, which helps to reduce the air resistance or friction with the ground of the transfer body 3 during movement, thereby improving the movement efficiency of the transfer body 3; it also makes the docking of the guide portion 301 and the support portion 1 more precise, reducing the risk of jamming or collision.

[0115] In one embodiment, different from the above embodiment, Figure 4 As shown, the transfer body 3 includes a main body 31 and a moving part 32. The main body 31 is used to dock with the support part 1 to determine the travel trajectory of the transfer body 3 and ensure that the transfer body 3 moves stably along a predetermined path. It can be understood that the part that cooperates with the limiting part 12 in the above text is the main body 31; and the moving part 32 can move relative to the main body 31 under the drive of the power device, thereby achieving position adjustment.

[0116] In one configuration, the power device is arranged on the main body 31, and can drive the entire transport body 3 or its moving part 32. Through mechanical transmission elements such as gears, chains, and belts, the power device transmits force to the end surface in contact with the support part 1 to achieve the movement of the main body 31. The moving part 32 is used to receive the cleaning device 2, and a driven module that is compatible with the power device can be arranged on the moving part 32 to achieve the relative movement of the moving part 32 on the main body 31.

[0117] In one configuration, the power device is directly installed on the moving part 32 to provide a direct power source for the moving part 32. At the same time, the power can be transmitted to the main body part 31 through an indirect driving mechanism, thereby realizing the movement of the main body part 31. For example, a swing arm can be driven, which is connected to the main body part 31. Through the swing of the swing arm, the movement of the main body part 31 on the support part 1 can be realized.

[0118] In another configuration, the power device is installed on both the mobile part 32 and the main body 31, and they can work together to achieve more complex movements and positioning. For example, the power device of the main body 31 can be responsible for long-distance movement, while the power device of the mobile part 32 is responsible for fine adjustment and docking.

[0119] It should be noted that the cleaning device 2 can be flexibly loaded on the main body 31 or the mobile part 32 according to actual needs or situations, so as to improve the adaptability of the system and achieve optimal cleaning efficiency and cleaning planning.

[0120] Optionally, the main body 31 and the mobile part 32 are both provided with corresponding sensor devices to detect the relative position between the two in real time. The sensor device can collect information such as the moving distance, relative position, relative posture, etc. of the main body 31 and the mobile part 32, and transmit the collected information to the central control system. The system processes the data through an algorithm to form further control instructions, thereby controlling the output of the power device according to the updated control instructions, and timely adjusting the positions of the main body 31 and the mobile part 32.

[0121] More specifically, in actual applications, a positioning module will be integrated into the cleaning system. The positioning module may be one or more modules to ensure the precise docking and coordinated operation of components such as the transport body 3 and the cleaning equipment 2.

[0122] It can be understood that the positioning module is responsible for providing the absolute positioning of the transport body 3 relative to the entire solar power station, and the relative positioning between the various components within the cleaning system. This includes but is not limited to the positioning of the transport body 3 relative to different solar racks 61, the positioning of the transport body 3 relative to the support part 1, and the mutual positioning between the main body 31, the moving part 32, the bracket structure 33 and the cleaning device 2.

[0123] Among them, the positioning methods include but are not limited to infrared positioning, laser ranging positioning, global positioning system (GPS) positioning, ultrasonic positioning, radio frequency identification (RFID) positioning, magnetic positioning, contact switch positioning, QR code positioning, radar positioning, Wi-Fi positioning and visual positioning.

[0124] Furthermore, a main body fixing portion is provided in the cleaning system, and locking components that can cooperate with each other are provided correspondingly between the fixing portion and the main body portion 31, which effectively prevents the main body portion 31 from slipping in the solar power station due to terrain conditions such as slope, thereby ensuring the stability and safety of the cleaning operation.

[0125] The main body fixing part is a key component of the cleaning system. Its design forms are diverse. It can be set independently or integrated in the support part 1 or the solar bracket 61. The main function of the main body fixing part is to provide a stable fixing point, which cooperates with the locking component of the main body 31 to limit the displacement of the main body 31. The locking component includes but is not limited to mechanical locking devices (such as latches, buckles, locking pins, etc.) and electronic locking systems (such as electromagnetic locks, electric clamps, etc.), so that the main body 31 can be locked when necessary to prevent it from moving, and can be easily unlocked when the main body 31 needs to be moved.

[0126] In addition, the main body fixing parts are generally arranged at intervals along a preset path (the layout path of the support part 1), providing a series of fixing points to ensure the safety of components such as the main body 31 and the cleaning device 2.

[0127] The design of the power device of the transport body 3 is very important. In one embodiment, Figure 4 and Figure 5 As shown, the power device mainly includes a first transmission belt 411 and a first driving member 412. The first transmission belt 411 is arranged on the main body 31, and a plurality of matching holes 410 are arranged along its length direction. The first driving member 412 is arranged on the moving part 32, and is composed of a driving gear and a driving motor connected thereto. The matching holes 410 are evenly distributed on the transmission belt, and are used to dock with the gear teeth of the driving gear, so as to realize effective transmission of power.

[0128] The driving motor is used as a power source. When it is running, the driving gear rotates accordingly. The gear teeth are sequentially connected with the matching holes 410 on the first transmission belt 411. Through precise mechanical matching, the driving gear drives the moving part 32 to move relative to the main body 31, which not only ensures the high efficiency of power transmission, but also improves the stability and reliability of the system.

[0129] It should be noted that in order to achieve accurate docking and smooth power transmission, the design of the matching hole 410 and the gear teeth of the driving gear need to be accurately matched, and the shape and size of the matching hole 410 are optimized according to the specifications of the gear teeth to ensure that excessive wear is avoided during the docking process. In addition, the distribution interval of the matching hole 410 and the length of the transmission belt need to be accurately calculated according to the moving range and speed requirements of the transport body 3 to achieve optimal motion control.

[0130] As shown in the figure, in this embodiment, the first transmission belt 411 and the matching hole 410 are both arranged on the upper surface of the main body 31. Optionally, the matching hole 410 can also be arranged on the side or bottom surface of the main body 31, thereby reducing the occupation of the upper surface of the main body 31 and leaving space for other equipment or components to adapt to different installation and use conditions.

[0131] Furthermore, the cleaning system has a first fixing part for fixing the position of the moving part 32 when needed, and the moving part 32 and the first fixing part are respectively provided with matching first locking mechanisms 413 .

[0132] When the first locking mechanism 413 is locked, the moving portion 32 is fixedly connected to the first fixing portion, and the main body 31 can move relative to the supporting portion 1 under the driving action of the first driving member 412. When the first locking mechanism 413 is not locked, the moving portion 32 can move independently relative to the main body 31 or the supporting portion 1, providing greater flexibility and operating range.

[0133] The first fixing part can be arranged on the supporting part 1, the solar bracket 61 or other similar equipment of the power station itself, or can be arranged as an independent structure. For example, when the first fixing part is arranged on the supporting part 1, it is integrated with the supporting part 1 to provide a stable locking point for the moving part 32; the first fixing part can also be directly arranged on the solar bracket 61, using the structural strength of the solar bracket 61 as the fixing and positioning basis of the moving part 32; the first fixing part can be arranged in the solar power station 6 as an independent structure, independent of the supporting part 1 or the solar bracket 61, and such an independently arranged first fixing part can be flexibly arranged according to the specific layout of the power station.

[0134] Specifically, if Figure 6 and Figure 7 As shown, when the first fixing part is arranged on the supporting part 1, it can be understood that: the moving part 32 and the supporting part 1 are efficiently connected and moved controlled by the first locking mechanism 413, and the first locking mechanism 413 can adopt latch-type locking or electromagnetic adsorption locking.

[0135] Importantly, when the first locking mechanism 413 is in the locked state, the moving part 32 and the supporting part 1 are docked with each other to form a stable whole. In this state, the main body 31 can move along the supporting part 1 under the drive of the power device to realize the shuttle of the transport body 3 as a whole between different rows of solar brackets 61. The operation in this state is suitable for the change of the base of the transport body 3, and the main body 31 moves forward or backward to adjust the movable area of ​​the subsequent cleaning device 2.

[0136] When the first locking mechanism 413 is unlocked, the connection between the moving part 32 and the supporting part 1 is released, so that the moving part 32 can move independently on the main body 31 under the drive of the power device. Operation in this state is suitable for adjusting the position of the cleaning device 2 so that it can be accurately docked to the corresponding solar bracket 61, wherein the independent movement ability of the moving part 32 enables the cleaning device 2 to flexibly respond to different cleaning tasks, thereby improving the response speed and operation accuracy of the system.

[0137] In another embodiment, Fig.13 As shown, the power device includes a transmission member and a second driving member 422 , the transmission member is connected to the second driving member 422 , and the transmission member is operated by the driving force of the second driving member 422 .

[0138] Among them, the transmission member connects the main body 31 and the moving part 32. The transmission member can be a synchronous belt, a chain or other forms of mechanical transmission structure. The second driving member 422 is generally configured as a driving motor. The operation of the motor drives the transmission member, thereby realizing the movement of the main body 31 or the moving part 32.

[0139] Furthermore, the cleaning system is also provided with a second fixed part, and the second fixed part and the movable part 32 are matched by a second locking mechanism. When the movable part 32 and the second fixed part are locked by the second locking mechanism, the driving force of the transmission member causes the main body 31 to move; when the movable part 32 and the second fixed part are not locked, the second driving member 422 drives the transmission member to move the movable part 32 relative to the main body 31.

[0140] It can be understood that the setting form of the second fixing part is similar to that of the first fixing part, and can be set independently, such as on the ground inside the power station, or integrated into the support part 1 or the solar bracket 61 and other components located inside the power station.

[0141] Based on the above, in one embodiment, one or more sensors are arranged on the transport body 3, and the sensors may include but are not limited to tilt sensors, distance sensors, visual sensors or laser radars, etc. These sensors can provide real-time data on the position, angle and distance of the transport body 3 relative to the solar bracket 61, the support part 1, various fixing parts and other structures and facilities in the power station.

[0142] Specifically, for example, by setting sensors such as inclination sensors and visual sensors on the transport body 3, the system can detect the relative position and angle difference between the transport body 3 and the solar support 61. These data can be used to adjust the position of the transport body 3 to ensure that the cleaning device 2 can accurately dock with the solar support 61; the distance sensor and laser radar can be used to measure the distance between the transport body 3 and the support 1, as well as the relative position in three-dimensional space, to assist the transport body 3 to move into position relative to the support 1.

[0143] In addition, for the alignment of the main body 31 and the main body fixing part, the data provided by the sensor can be used to monitor the position change of the main body 31 and make real-time adjustments to ensure stability and safety during the cleaning operation. A similar sensor configuration is also applicable to the alignment of the mobile part 32 with the first fixing part and the second fixing part to ensure the correct locking of the mobile part 32.

[0144] Based on the above, it is preferred that not only the transport body 3 is equipped with sensors, but also the corresponding sensor components are integrated into the structures such as the solar bracket 61, the support part 1 and the fixing part to achieve precise alignment and coordinated work.

[0145] In a specific implementation, when the transport body 3 needs to dock with the solar support 61, the visual sensor and the tilt sensor on the solar support 61 detect the position deviation, and the system automatically adjusts the position of the transport body 3 until the sensor data shows that the alignment is complete. Similarly, when the transport body 3 needs to dock with the support 1, the data of the position sensor and the tilt sensor on the support 1 are used to fine-tune the position of the transport body 3 to ensure accurate docking.

[0146] In one embodiment, Figures 13 to 15 As shown, the transmission part is a synchronous belt 421, the main body 31 includes a support frame, the main body 31 is used to dock the cleaning device 2, and the main body 31 can be provided with a bracket structure 33 shown in the figure to ensure the docking height of the cleaning device 2 and the solar bracket 61.

[0147] As shown in the figure, the synchronous belt 421 is connected to the main body 31 and the moving part 32 respectively, and the second locking mechanism includes a first locking end 4231 and a second locking end 4232. The first locking end 4231 is arranged on the moving part 32, and the second locking end 4232 is arranged on the second fixed part. It should be noted that the second fixed part is integrated into the support part 1 in the figure, and the second locking end 4232 is also located on the support part 1. However, as mentioned above, the second fixed part can also be independently arranged on the ground or at other positions. In those cases, the setting position or form of the second locking end 4232 will be changed accordingly, and these changes should also be included in the protection scope of this application.

[0148] Please refer to the attached Figures 13 to 16 When the moving part 32 (with a first locking end 4231 fixedly provided) on the synchronous belt 421 is successfully docked and locked with the support part 1 (with a second locking end 4232 fixedly provided), the moving part 32 and the support part 1 are relatively fixed. At this time, the moving part 32 as a whole cannot move, but the synchronous belt 421 is still driven by the second driving member 422 and continues to operate. The operation of the synchronous belt 421 applies a force to the moving part 32, but because the moving part 32 is locked by the locking mechanism, the force cannot push the moving part 32, but is transmitted to the main body 31, so that the main body 31 can move along the layout direction of the support part 1, while the moving part 32 remains in place, so that the main body 31 can move forward or backward on the support part 1.

[0149] When the first locking end 4231 of the movable part 32 on the synchronous belt 421 is not docked or locked with the second locking end 4232 of the support part 1, the movable part 32 can move freely. At this time, the position of the movable part 32 relative to the main body part 31 and the support part 1 changes, that is, the movable part 32 moves forward or backward under the drive of the synchronous belt 421.

[0150] At the same time, optionally, in order to improve the docking accuracy and efficiency, sensors are provided on the main body 31. These sensors can be contact or non-contact, and are mainly used to monitor the motion state of the mobile part 32 in real time to ensure its accurate position. It can be understood that the data collected by the sensor is transmitted to the control system, and the system processes these data through an algorithm to determine the real-time position and movement state of the mobile part 32. For example, based on the data provided by the sensor, the control system can calculate the displacement of the mobile part 32 relative to the starting position, and then deduce the distance that the mobile part 32 or the main body 31 can move or has moved.

[0151] Different from the above-mentioned embodiment, the power device includes a third transmission belt 431 and a third driving member. The third transmission belt 431 is arranged to be entirely or partially surrounded relative to the transfer body 3 in the length direction, and the third driving member is connected to the third transmission belt 431 to drive the third transmission belt 431 to operate, thereby realizing the displacement of the transfer body 3.

[0152] Please refer to the attached manual for details. Fig.17 In one implementation form, the third transmission belt 431 may be a continuous endless belt, similar to a crawler belt, which can contact the support portion 1 to generate friction and push the transfer body 3 to move along the support portion 1. At the same time, auxiliary wheels or similar auxiliary support structures are provided on the path of the third transmission belt 431. These auxiliary support structures can support the third transmission belt 431 to prevent excessive deformation during operation. In other words, they help maintain the correct tension of the third transmission belt 431 and reduce the risk of wear and failure caused by sagging or over-stretching of the transmission belt.

[0153] In another implementation form, Figures 18 to 20 As shown, the third transmission belt 431 is designed as an annular belt, which is characterized in that at least one protrusion 432 is provided on the belt, and the protrusion 432 conflicts with the support part 1 when the third transmission belt 431 is running. At the same time, after the conflict, the third transmission belt 431 continues to run, and the conflict between the protrusion 432 and the support part 1 generates a reaction force, which pushes the transfer body 3 to move along the support part 1, so that the transfer body 3 can move forward or backward. In a more preferred solution, a contact part 14 that cooperates with the protrusion 432 can also be provided on the support part 1 to improve the transmission efficiency and stability.

[0154] It should be noted that in the cleaning system of the present invention, in order to improve the moving efficiency of the transfer body 3 and reduce the idling time of the third transmission belt 431, the distance between the support parts 1 and the number and position of the protrusions 432 set on the third transmission belt 431 can be accurately calculated during the design for optimization, so that the third transmission belt 431 can interact with the support part 1 more efficiently during operation, thereby reducing ineffective operation and improving overall work efficiency.

[0155] Specifically, first, measure and record the distance between each support part 1 in the solar power station 6 (it can also be directly obtained based on the actual construction data without further measurement). These data will be used to calculate the required operating cycle of the third transmission belt 431 and the position of the protrusion 432; based on the distance between the support parts 1 and the moving speed of the transfer body 3, calculate the optimal number and position of the protrusion 432 on the third transmission belt 431.

[0156] In addition, unlike the above-mentioned embodiment, Fig.21 As shown, the power device includes a transmission rod 441 and a fourth driving member, and the fourth driving member is connected to the transmission rod 441 to drive the transmission rod 441 to rotate forward or reverse, so that the transmission rod 441 can change its relative position with the support part 1 when rotating, and each rotation of the transmission rod 441 can be effectively converted into a linear movement of the transfer body 3, thereby pushing the transfer body 3 forward or backward.

[0157] In one embodiment, Figure 3 As shown, the transport body 3 is provided with a bracket structure 33 for supporting the cleaning device 2 to ensure its stability and safety during movement.

[0158] In practical applications, the bracket structure 33 can be designed as a frame with multiple adjustment points, which allow the bracket structure 33 to be adjusted according to the size of the cleaning device 2. During operation, when the cleaning device 2 needs to be replaced or maintained, the bracket structure 33 can quickly release the cleaning device 2 without complicated operations.

[0159] Optional, such as Fig.10 As shown, the cleaning system is also provided with a bracket locking mechanism or a bracket docking structure 51, which can lock or dock the bracket structure 33 and the solar bracket 61 (photovoltaic component 62) when the cleaning equipment 2 moves from the bracket structure 33 to the photovoltaic component 62, or from the photovoltaic component 62 to the bracket structure 33, so as to ensure the stability and reliability of the operation process of the cleaning equipment 2.

[0160] Furthermore, the bracket structure 33 has an adjustment component 331, which can adjust the angle, height, distance between the bracket 61 and the solar bracket 61 according to the docking end position of the solar bracket 61, thereby ensuring the correct docking of the cleaning device 2 relative to the solar bracket 61, and improving the flexibility and adaptability of the cleaning operation. For example, lifting belts are provided at both ends of the bracket structure 33, and these lifting belts can be expanded or retracted to achieve the lifting and lowering and position adjustment of the cleaning device 2; in addition, the control of the lifting belts can be manual or automatic, and can be adjusted according to actual needs.

[0161] In addition, based on the above-mentioned embodiment, it should be noted that the cleaning device 2 can actively or passively generate relative movement between the transport body 3 and the solar support 61 .

[0162] In the active mobile mode, the cleaning device 2 is equipped with a power module, which can be electric or pneumatic, enabling it to move autonomously between the transport body 3 and the solar support 61. The power module includes but is not limited to a wheel drive system, a track system or a crawling mechanism, and necessary sensors and control systems to ensure that the cleaning device 2 can accurately navigate and perform cleaning tasks.

[0163] More specifically, the control system of the cleaning equipment 2 itself controls the power module to drive the cleaning equipment 2 to and fro between the transport body 3 and the solar support 61 according to a preset path or real-time instructions. The navigation system can use GPS, visual navigation system or laser navigation system, etc., to ensure the precise positioning and path planning of the cleaning equipment 2.

[0164] In passive mobile mode, such as Fig.12 As shown, the cleaning system is equipped with a mechanical arm 52 and a mechanical gripper 53 for grabbing and transferring the cleaning device 2. The mechanical arm 52 is installed on the transport body 3, grabs the cleaning device 2 as needed and places it at the location of the cleaning operation, and the operation of the mechanical arm 52 can be manual or automatic. In the automatic mode, the mechanical arm 52 performs the grabbing and placing actions through a preset program or remote control of the operator.

[0165] It can be understood that the active movement mode provides the cleaning device 2 with autonomous operation capability, which is suitable for large-scale or continuous cleaning operations; the passive movement mode provides higher operation accuracy and control capability, which is suitable for cleaning operations that require precise placement.

[0166] More specifically, the efficient cooperation of the mechanical arm 52 and the mechanical gripper 53 can be achieved by integrating auxiliary devices. These auxiliary devices include but are not limited to cameras, angle sensors and gyroscopes, and the auxiliary devices can be set at suitable locations including but not limited to the mechanical arm 52, the mechanical gripper 53, the transport body 3 (such as the bracket structure 33), etc., to achieve accurate image recognition and position recognition.

[0167] Among them, the camera can capture images of the cleaning device 2 and the surrounding environment to provide visual data for image recognition. Through the deep learning algorithm, the camera can identify the grasping posture of the cleaning device 2 and the shape and position of the target object; the angle sensor can measure the joint angle of the robot arm 52 to ensure the precise positioning and motion control of the robot arm when performing tasks; the gyroscope can measure the angular velocity and angular acceleration of the robot arm 52, providing real-time data on the posture of the robot arm, enhancing the stability and response speed of the system.

[0168] Based on the above embodiments, in the design of the cleaning system of the present invention, the position states of components such as the bracket structure 33 or the robotic arm 52 of the transport body 3 correspond to the position states of the solar bracket 61, ensuring that the cleaning equipment 2 can be correctly docked to the bracket.

[0169] In one embodiment, the transport body 3 has a built-in control system that stores the preset position information of the solar bracket 61, including key parameters such as height and angle. When the transport body 3 moves to the target bracket row, the system automatically adjusts the bracket structure 33 or the mechanical arm 52 to the appropriate lifting position according to the preset information to achieve precise docking with the bracket.

[0170] In addition, the interaction can also be carried out through a communication system. For example, for a solar rack 61 with a communication function, the transport body 3 is equipped with a communication module to exchange data with the communication module on the rack to achieve real-time interactive correspondence of the position status of both parties. This communication can be achieved through a wireless network, a local area network or a direct cable connection to ensure accurate positioning and synchronous operation between the rack and the transport body.

[0171] Alternatively, active identification can be performed through an identification module, which is arranged on the transport body 3 and can actively identify the position status of the solar bracket 61. This can be achieved through a visual recognition system, a laser radar (LIDAR) or other sensor technology. The data obtained by the identification module is fed back to the control system, and the position of the bracket structure 33 or the robotic arm 52 is adjusted accordingly to ensure the correct docking of the cleaning equipment 2. Through the application of the above-mentioned technology, the cleaning system can achieve precise alignment of the transport body 3 and the solar bracket 61 in a complex solar power station environment, improve the efficiency of the cleaning operation, and reduce the risk of equipment collision or damage.

[0172] It should be noted that for fixed brackets, the system mainly relies on preset position information for position adjustment and docking. For tracking brackets, in addition to preset position information, real-time communication and active recognition of the recognition module may be more required to adapt to the dynamic position changes of the bracket.

[0173] In one embodiment, according to another aspect of the present application, the present application further provides a charging system, which is intended to provide a stable and efficient power supply for the cleaning system applied to the solar power station 6 in the above content, wherein the system includes at least one first power supply module responsible for supplying power to the cleaning equipment 2 to ensure that it has continuous energy support when performing tasks.

[0174] Specifically, the first power supply module has a variety of settings. For example, the first power supply module is set on the transport body 3, so that the cleaning device 2 can be charged while following the transport body 3, which improves the flexibility of charging; or, the first power supply module is a conventional power supply device set in the solar power station 6, such as a power supply connected to the power grid or a central battery energy storage system in the power station. The cleaning device 2 obtains power from these conventional power supply devices by wired or wireless means (for example, by inductive charging). In this way, the cleaning device 2 uses the existing power infrastructure in the power station to reduce dependence on the transport body 3; or, the first power supply module is a solar panel set on the solar bracket 61, which uses the natural energy of the solar power station 6, improves energy utilization efficiency, and may reduce the demand for external electricity. It should also be noted that the power of the photovoltaic module can be directly stored in the battery of the cleaning device 2, or distributed to the transport body 3 or other equipment through the energy management system.

[0175] In a specific embodiment, the cleaning device 2 can select the most suitable power supply module for charging according to the current location and energy demand. For example, when the cleaning device 2 is located near the solar bracket 61, it can use the photovoltaic components installed on the bracket for fast charging; when the cleaning device 2 needs to move a long distance in the power station, it can obtain power from the power supply module on the transport body 3 or the conventional power supply equipment in the power station.

[0176] Based on the above, in one embodiment, the charging system can also supply power to the power device in the above cleaning system. In one case, the cleaning device 2 and the power device share a first power supply module. This design simplifies the complexity of the system, reduces the number of power supply components required, and improves energy efficiency. Of course, in another case, the charging system also includes at least one second power supply module specially designed for the power device, so that the power device has an independent power source and is not affected by the power demand of the cleaning device 2.

[0177] In one embodiment, according to one aspect of the present application, the present application further provides a docking system, which includes at least one docking platform for docking or transferring the cleaning device 2 in the above embodiment.

[0178] The platform can be designed to be fixed and installed on the ground or structure of the solar power station 6, or it can be designed to be mobile and installed on the transport body 3 to facilitate movement between different working areas. It can be understood that the main function of the docking platform is to provide a safe docking point or transfer point for the cleaning equipment 2, so that it can dock after completing the task or when maintenance is required.

[0179] Furthermore, a power supply module can be integrated in the docking platform. When the cleaning device 2 is docked on the platform, it can directly obtain power from the docking platform. This power supply module can be an AC or DC power socket, or a wireless charging device, such as an induction charging plate, to provide a convenient charging method for the cleaning device 2 (such as a cleaning robot). At the same time, similar to the charging system in the above content, in this docking system, a corresponding power supply module can also be set in the solar power station 6 or the solar bracket 61 to ensure that the cleaning device 2 can obtain the necessary power supply.

[0180] In one embodiment, according to one aspect of the present application, the present application also provides a cleaning method for cleaning a ground-mounted solar power station, such as Fig. 22 As shown, the steps include:

[0181] Step S1: setting at least two discontinuous support parts along a preset path in a solar power station.

[0182] Step S2, controlling the transfer body equipped with the cleaning device to move relative to the support portion so as to move between different rows of solar racks in the solar power station, so that the cleaning device can perform row-changing cleaning.

[0183] In step S1, the support part provides a stable moving path and a stop point for the transport body of the cleaning equipment. It should be noted that the setting of the preset path can be optimized according to the layout of the solar power station and the arrangement of the solar racks to achieve efficient movement and shuttle of the cleaning equipment between different rows of solar racks.

[0184] For example, Fig.11 As shown, the preset path can be located at the edge or middle of the solar power station, so that the transport body can move at the end or middle section of the solar rack, increasing the flexibility and adaptability of the path. On the other hand, the preset path is not necessarily a straight line, and can be adjusted according to the length of each row of solar racks, the terrain conditions of the power station, and the needs of the cleaning operation. The path can be designed as a curve, a broken line, or other shapes suitable for the layout of the power station to optimize the movement efficiency of the cleaning equipment.

[0185] In addition, in step S2, the transporting body carries the cleaning equipment and starts to move from a preset starting position or current position. The starting position can be any support part in the solar power station, or a specific charging station, maintenance station, etc.

[0186] In one embodiment, more specifically, the step S2 of causing the transport body carrying the cleaning device to be displaced relative to the support portion to move between different rows of solar racks in the solar power station so that the cleaning device can perform row-changing cleaning includes the following two situations:

[0187] Step S2.1, control the transport body to move from one row of solar racks to the next row of solar racks for row change cleaning. This step is to enable the transport body to carry the cleaning equipment and move from one row of solar racks to the next row of solar racks for continuous cleaning operations.

[0188] It can be understood that the transfer body starts from the current row of solar brackets and is driven by a power device to move along a preset path to the next row of solar brackets. After reaching the new row, the cleaning equipment on the transfer body starts to perform cleaning operations to remove dust and dirt on the photovoltaic components. After cleaning is completed, the transfer body moves to the next row again and repeats the cleaning process.

[0189] Step S2.2, control the transport body to move from one row of solar racks to another preset row of solar racks in a movement mode spanning one row or more than one row, for cross-row targeted cleaning.

[0190] Relative to the above, this step is used to enable the transport body to cross one or more rows of solar racks and move directly to the preset row for cleaning when targeted cleaning is required. It is more suitable for focusing on cleaning specific areas or responding quickly when dirt is found to accumulate in a specific row of photovoltaic modules.

[0191] In one embodiment, the present application also provides a transfer device for cleaning a ground-based solar power station, comprising a mobile body having a power module, which may be electric, hydraulic or pneumatic, and may provide power for the mobile body, so that the mobile body may move based on a support part within the solar power station, wherein the number of the support parts is at least two and they are discontinuously arranged; further, the mobile body may carry a cleaning module, so that the cleaning module may move synchronously with the movement of the mobile body, thereby cleaning the equipment within the solar power station through the cleaning module.

[0192] It should be noted that the design principle of the transfer device in this embodiment is similar to the transfer body 3 mentioned above, and the coordinated work of the mobile body, the support part, and the cleaning module is also similar to the coordinated work of the transfer body 3, the support part 1, and the cleaning equipment 2 in the cleaning system mentioned above. For example, the mobile body moves to the support part under the drive of the power module, and the cleaning module then starts working. After completing the cleaning task, the mobile body moves to the next support part, which will not be repeated here.

[0193] In this embodiment, the mobile body is a core component, and its design concept is independent of the support part and the cleaning module. It can be understood that under normal circumstances, the mobile body, the support part, and the cleaning module are all produced independently, and then the support part is arranged in the target power station. The setting of the mobile body and the cleaning module allows the mobile body to be produced by different manufacturers or factories, which is convenient for large-scale production and quality control. For example, the mobile body usually includes a chassis, a power system, a control system, and a possible navigation system, and these components work together to achieve efficient movement between the support parts.

[0194] In summary, the independently designed mobile body in this embodiment provides an efficient and reliable cleaning solution for a solar power station, and its flexibility and adaptability enable the transfer device to be widely used in different solar power station environments.

[0195] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application, and these improvements and modifications should also be regarded as the protection scope of the present application.

Claims

1. A cleaning system for a ground-based solar power station, wherein at least two rows of solar racks are arranged in the solar power station, and photovoltaic modules are installed on the solar racks, characterized in that: include: at least two discontinuous support portions, the support portions being arranged along a preset path within the solar power station; Cleaning equipment for cleaning photovoltaic modules on solar racks in solar power plants; A transport body, used to carry or load the cleaning device, comprising a power device, so as to drive the transport body to move relative to the support part through the power device, thereby realizing the movement of the transport body in the solar power station; The transport body carries the cleaning device to move between different rows of solar racks, so that the cleaning device can clean the photovoltaic components on different rows of solar racks.

2. The cleaning system according to claim 1, characterized in that The number of the support parts is at least three, and the length of the transfer body is at least equal to the total length formed by any three adjacent support parts on the preset path.

3. The cleaning system according to claim 1, characterized in that The support portion is provided with a sliding groove or a rolling portion adapted to the transfer body to assist in the sliding of the transfer body; and / or, The mating surface of the support portion relative to the transfer body is provided with lubricating material to reduce friction between the support portion and the transfer body.

4. The cleaning system according to claim 1, characterized in that: The support portion is provided with a limiting portion, which abuts against the side wall and / or at least a part of the top surface and / or at least a part of the bottom surface of the transfer body to prevent the transfer body from tipping over or deflecting.

5. The cleaning system according to claim 1, characterized in that: The transport body comprises a main body and a moving part, the main body is used to dock with the support part to determine the moving track of the transport body, and the cleaning device can be loaded on the main body or the moving part; The power device is arranged on the main body and / or the moving part, so that at least the moving part can move relative to the main body under the drive of the power device.

6. The cleaning system according to claim 5, characterized in that The cleaning system further comprises at least one body fixing portion, wherein the body fixing portion and the body portion are correspondingly provided with locking components for limiting the displacement of the body portion; and / or, The cleaning system further includes a second positioning module, which is disposed at one or more of the main body, the moving part, the supporting part, and the cleaning device, and is used for assisting the positioning of the component.

7. The cleaning system according to claim 5, characterized in that The power device comprises a first transmission belt and a first driving member, wherein the first transmission belt is arranged on the main body and has a plurality of matching holes along its length direction; The first driving member is disposed on the moving part, and includes a driving gear and a driving motor connected thereto. When the driving motor is running, the driving gear drives the moving part to move relative to the main body. The cleaning system comprises a first fixed part, the movable part and the first fixed part are respectively provided with a first locking mechanism matched with each other, and when the movable part and the first fixed part are locked by the first locking mechanism, the main body can move relative to the supporting part under the driving action of the first driving member; When the moving portion and the first fixing portion are not locked by the first locking mechanism, the moving portion can move relative to the main body portion or the supporting portion under the driving action of the first driving member.

8. The cleaning system according to claim 5, characterized in that The power device includes a transmission member and a second driving member, wherein the transmission member connects the main body and the moving part, and the transmission member is connected to the second driving member so as to drive the transmission member to move through the second driving member; The cleaning system has a second fixed part, and the movable part and the second fixed part are respectively provided with a second locking mechanism matched with each other. When the movable part and the second fixed part are locked by the second locking mechanism, the main body can move under the driving action of the transmission member; When the moving part and the second fixing part are not locked by the second locking mechanism, the moving part can move relative to the main body under the driving action of the transmission member.

9. The cleaning system according to claim 8, characterized in that The transmission member is a synchronous belt, the main body is used to receive the cleaning device, and the synchronous belt is respectively connected to the main body and the moving part; The second locking mechanism includes a first locking end and a second locking end, the first locking end is arranged on the movable part, and the second locking end is arranged on the second fixed part. When the first locking end and the second locking end are connected with each other, the position of the movable part is fixed, so that the main body can move during the operation of the synchronous belt.

10. The cleaning system according to claim 1, characterized in that The power device includes a third transmission belt and a third driving member. The third transmission belt is arranged to be entirely or partially surrounded relative to the transfer body in the length direction. The third driving member is connected to the third transmission belt to drive the third transmission belt to operate, thereby forming a displacement of the transfer body relative to the support part.

11. The cleaning system according to claim 1, characterized in that The power device includes a transmission rod and a fourth driving member, wherein the fourth driving member is connected to the transmission rod to drive the transmission rod to rotate forward or reverse, so that when the transmission rod rotates, the relative position of the transmission rod and the support part changes to push the transfer body to move relative to the support part.

12. The cleaning system according to claim 1, characterized in that The transport body is provided with a bracket structure, and the bracket structure is used to support the cleaning equipment; and / or, The transfer body is provided with a first positioning module, and the transfer body can be positioned relative to at least one of the positioning ends on the solar bracket, the positioning ends in the solar power station, the positioning ends on the cleaning equipment, and the positioning ends on the support part through the first positioning module, so as to assist the transfer body to dock to a preset position.

13. The cleaning system according to claim 1, characterized in that The number of the cleaning devices is at least two, and during the movement of the transport body, different cleaning devices can move between different rows of solar racks as the transport body moves.

14. The cleaning system according to claim 1, characterized in that The cleaning device can actively or passively generate relative movement between the transport body and the solar support.

15. The cleaning system according to claim 14, characterized in that The cleaning device has a power module for driving the cleaning device to and fro between the transport body and the solar support.

16. The cleaning system according to claim 14, characterized in that The cleaning system is provided with a mechanical arm and a mechanical gripper for grasping the cleaning equipment and controlling the transfer of the cleaning equipment between the transporting body and the solar support.

17. The cleaning system according to claim 1, characterized in that The transfer body has at least one end portion on one side provided with a guide portion inclined upward.

18. The cleaning system according to claim 17, characterized in that The width of the guide portion gradually decreases along a direction from the middle portion of the transfer body to the end portion where the guide portion is located.

19. The cleaning system according to claim 1, characterized in that At least one of the support parts is fixed to the ground; and / or, At least one of the support parts is fixed to a solar bracket in the solar power station.

20. A charging system, characterized in that: A cleaning system for use in any one of claims 1 to 19, comprising: A first power supply module, wherein the first power supply module is used to supply power to the cleaning device.

21. The charging system according to claim 20, characterized in that: The first power supply module is arranged on the transport body; Or, the first power supply module is a conventional power supply device arranged in the solar power station; Alternatively, the first power supply module is a solar panel disposed on the solar support.

22. The charging system according to claim 20 or 21, characterized in that: The cleaning device and the power device share the first power supply module; Alternatively, the charging system further includes a second power supply module for supplying power to the power device.

23. A docking system, characterized in that: A cleaning device for use in a cleaning system according to any one of claims 1 to 19, comprising: The docking platform is arranged at a preset position of the solar power station or the transfer body, and is used for the docking and / or transfer of the cleaning equipment.

24. The docking system according to claim 23, characterized in that: The docking platform is provided with a power supply module for supplying power to the cleaning equipment; and / or, The solar power station is provided with a power supply module for supplying power to the cleaning equipment; and / or, The solar support is provided with a power supply module for supplying power to the cleaning equipment.

25. A cleaning method, characterized in that: The cleaning system according to any one of claims 1 to 19 is used for cleaning a ground-based solar power station, comprising the steps of: Step (1): arranging at least two discontinuous support portions along a preset path in the solar power station; Step (2): Control the transfer body equipped with the cleaning equipment to move relative to the support portion so as to move between different rows of solar racks in the solar power station, so that the cleaning equipment can perform row-changing cleaning.

26. The cleaning method according to claim 25, characterized in that The step (2) comprises: Controlling the transfer body to move from one row of solar racks to the next row of solar racks for sequential row replacement and cleaning; or, The transfer body is controlled to move from one row of solar supports to another preset row of solar supports in a movement mode spanning one row or more than one row, so as to be used for targeted cleaning across rows.

27. A transfer device, used for cleaning ground-based solar power plants, characterized in that: include: A mobile body, wherein the mobile body has a power module, and the power module can provide power for the mobile body, so that the mobile body can move based on two or more discontinuous support parts in the solar power station; The mobile body can carry the cleaning module, so that the cleaning module can move synchronously with the movement of the mobile body, so that the equipment in the solar power station can be cleaned by the cleaning module.

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