Photovoltaic panel cleaning system

Abstract

The invention provides a photovoltaic panel cleaning system which comprises a cleaning device, a first walking mechanism, a second walking mechanism, a telescopic frame and a control module. Wherein the first walking mechanism and the second walking mechanism are arranged at the two ends of the photovoltaic panel respectively and are oppositely arranged in the width direction of the photovoltaic panel, and the cleaning device is arranged between the first walking mechanism and the second walking mechanism; the telescopic frame is arranged between the first walking mechanism and the sweeping device, and the control module is used for adjusting the stroke difference between the first walking mechanism and the second walking mechanism according to the telescopic amount change of the telescopic frame until the telescopic amount of the telescopic frame is smaller than a second preset amount when the telescopic amount of the telescopic frame is larger than the first preset amount; the second preset quantity is smaller than the first preset quantity. According to the photovoltaic panel cleaning system disclosed by the invention, automatic deviation correction of the cleaning device by the control module is realized, and the problem that the cleaning device is inclined and stuck is avoided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of photovoltaic panel cleaning, and in particular to a photovoltaic panel cleaning system. Background Art

[0002] Photovoltaic power generation, as a clean energy source, is widely used worldwide. However, due to long-term exposure to outdoor environments, photovoltaic panels are prone to accumulating pollutants such as dust, sand, fallen leaves, and snow on their surfaces, seriously affecting their photoelectric conversion efficiency. Currently, there is a photovoltaic panel cleaning device that travels along the length of the panel and cleans the surface. However, due to structural differences at both ends, the device is prone to tilting and getting stuck during travel, which not only affects cleaning efficiency but also increases cleaning costs. Summary of the Invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, an object of the present disclosure is to provide a photovoltaic panel cleaning system.

[0005] To achieve the above-mentioned objectives, the present disclosure provides a photovoltaic panel cleaning system, comprising: a cleaning device, a first walking mechanism, a second walking mechanism, a telescopic frame and a control module; wherein, the first walking mechanism and the second walking mechanism are respectively arranged at both ends of the photovoltaic panel and are relatively arranged along the width direction of the photovoltaic panel, the cleaning device is arranged between the first walking mechanism and the second walking mechanism, and the cleaning device is used to clean the surface of the photovoltaic panel, and the first walking mechanism and the second walking mechanism are used for the cleaning device to move along the length direction of the photovoltaic panel; the telescopic frame is arranged between the first walking mechanism and the cleaning device, and the control module is used to adjust the stroke difference between the first walking mechanism and the second walking mechanism according to the change in the telescopic amount of the telescopic frame when the telescopic amount of the telescopic frame is greater than a first preset amount, until the telescopic amount of the telescopic frame is less than a second preset amount, wherein the second preset amount is less than the first preset amount.

[0006] Optionally, the control module is used to control the first walking mechanism to stop moving and control the second walking mechanism to continue moving when the extension amount of the telescopic frame is greater than a first preset amount; if the extension amount of the telescopic frame continues to increase, control the first walking mechanism to move and control the second walking mechanism to stop moving until the extension amount of the telescopic frame is less than a second preset amount; if the extension amount of the telescopic frame begins to decrease, control the first walking mechanism to continue to stop moving and control the second walking mechanism to continue moving until the extension amount of the telescopic frame is less than the second preset amount.

[0007] Optionally, the control module is used to control the first walking mechanism to reduce the stroke and control the second walking mechanism to increase the stroke when the extension and extension amount of the telescopic frame is greater than a first preset amount; if the extension and extension amount of the telescopic frame continues to increase, control the first walking mechanism to increase the stroke and control the second walking mechanism to reduce the stroke until the extension and extension amount of the telescopic frame is less than a second preset amount; if the extension and extension amount of the telescopic frame starts to decrease, control the first walking mechanism to continue to reduce the stroke and control the second walking mechanism to continue to increase the stroke until the extension and extension amount of the telescopic frame is less than the second preset amount.

[0008] Optionally, the system further includes: a first transmitting module, a second transmitting module and multiple receiving modules; wherein, the first transmitting module is arranged on the first walking mechanism, and the first transmitting module is used to transmit a first positioning signal, the second transmitting module is arranged on the second walking mechanism, and the second transmitting module is used to transmit a second positioning signal, multiple receiving modules are spaced apart along the length direction of the photovoltaic panel, and the receiving module is used to receive the first positioning signal and the second positioning signal, and the signal output end of the receiving module is connected to the signal input end of the control module; the control module is used to obtain the first position of the first walking mechanism in the length direction of the photovoltaic panel and the second position of the second walking mechanism in the length direction of the photovoltaic panel based on the first positioning signal strength and the second positioning signal strength received by the receiving module and the position of the receiving module, and, when the deviation value between the first position and the second position is greater than a first preset value, adjust the stroke difference between the first walking mechanism and the second walking mechanism until the deviation value between the first position and the second position is less than a second preset value, wherein the second preset value is less than the first preset value.

[0009] Optionally, the first walking mechanism comprises a first walking frame, a plurality of first walking wheels and a first driving motor, the telescopic frame is arranged at the first end of the cleaning device, the first walking frame and the telescopic frame are rotationally connected, the first walking wheels are rotationally arranged on the first walking frame, the first walking wheels and the first end in the width direction of the photovoltaic panel are rollingly connected, the signal input end of the first driving motor is connected with the signal output end of the control module, and the power output end of the first driving motor is connected with the power input end of the first walking wheels; the second walking mechanism comprises a second walking frame, a plurality of second walking wheels and a second driving motor, the second walking frame is rotationally connected with the second end of the cleaning device, the second walking wheels are rotationally arranged on the second walking frame, the second walking wheels and the second end in the width direction of the photovoltaic panel are rollingly connected, the signal input end of the second driving motor is connected with the signal output end of the control module, and the power output end of the second driving motor is connected with the power input end of the second walking wheels; wherein, the control module is used for controlling the torque of the first driving motor to be greater than the torque of the second driving motor when the height of the first end in the width direction of the photovoltaic panel is greater than the height of the second end, and adjusting the torque ratio between the first driving motor and the second driving motor according to the inclination angle of the photovoltaic panel; and when the height of the second end in the width direction of the photovoltaic panel is greater than the height of the first end, the torque of the second driving motor is controlled to be greater than the torque of the first driving motor, and the torque ratio between the first driving motor and the second driving motor is adjusted according to the inclination angle of the photovoltaic panel.

[0010] Optionally, the cleaning device comprises a cleaning frame, the cleaning frame is arranged between the first walking mechanism and the second walking mechanism, and the telescopic frame is arranged between the first walking mechanism and the cleaning frame; a first spiral brush, the first spiral brush is rotationally arranged on the cleaning frame, and the first spiral brush abuts against the surface of the photovoltaic panel; a second spiral brush, the second spiral brush is rotationally arranged on the cleaning frame, and the second spiral brush abuts against the surface of the photovoltaic panel; a driving mechanism, the signal input end of the driving mechanism is connected with the signal output end of the control module, and the power output end of the driving mechanism is connected with the power input end of the first spiral brush and the power input end of the second spiral brush respectively, and the driving mechanism is used for driving the first spiral brush and the second spiral brush to rotate synchronously; wherein, the rotation directions of the first spiral brush and the second spiral brush are opposite and the spiral conveying directions are the same.

[0011] Optionally, the cleaning device also includes: a vibration frame, which is arranged on the cleaning frame, and the first spiral brush and the second spiral brush are respectively rotatably arranged on the vibration frame, and the driving mechanism is arranged on the vibration frame; a vibration mechanism, which is arranged on the vibration frame, and the signal input end of the vibration mechanism is connected to the signal output end of the control module, and the vibration mechanism is used to drive the vibration mechanism to vibrate.

[0012] Optionally, the cleaning device further includes: a vibration damping mechanism, which is arranged between the vibration frame and the cleaning frame, and is used for vibration reduction between the vibration frame and the cleaning frame.

[0013] Optionally, the system also includes: an alarm module, the signal input end of the alarm module is connected to the signal output end of the control module, and the control module is used to control the first walking mechanism and the second walking mechanism to stop walking when the telescopic amount of the telescopic frame is greater than a first preset amount and lasts for a preset time, and to control the alarm module to issue an alarm message.

[0014] Optionally, the control module includes: a collection unit, which is used to collect the telescopic amount of the telescopic frame; a control unit, wherein the signal input end of the control unit is connected to the signal output end of the collection unit, and the control unit is used to adjust the stroke difference between the first walking mechanism and the second walking mechanism according to the change in the telescopic amount of the telescopic frame when the telescopic amount of the telescopic frame is greater than a first preset amount, until the telescopic amount of the telescopic frame is less than a second preset amount; a monitoring center, wherein the communication end of the monitoring center is connected to the communication end of the control unit.

[0015] The technical solution provided by the present disclosure may have the following beneficial effects:

[0016] When the telescopic amount of the telescopic frame is greater than the first preset amount, the control module adjusts the stroke difference between the first walking mechanism and the second walking mechanism according to the change in the telescopic amount of the telescopic frame, until the telescopic amount of the telescopic frame is less than the second preset amount. In this way, the control module automatically corrects the cleaning device, avoiding the problem of the cleaning device tilting and getting stuck, which not only improves the cleaning efficiency of the photovoltaic panel, but also reduces the cleaning cost of the photovoltaic panel.

[0017] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 is a structural schematic diagram of a photovoltaic panel cleaning system according to an embodiment of the present disclosure;

[0020] Figure 2 is a structural schematic diagram of a receiving module in a photovoltaic panel cleaning system according to an embodiment of the present disclosure;

[0021] Figure 3 is a structural schematic diagram of a cleaning device in a photovoltaic panel cleaning system according to an embodiment of the present disclosure;

[0022] As shown in the figure: 1, cleaning device, 11, cleaning frame, 12, first spiral brush, 13, second spiral brush, 14, driving mechanism, 15, vibrating frame, 16, vibrating mechanism, 17, damping mechanism;

[0023] 2, first walking mechanism, 3, second walking mechanism, 4, telescopic frame, 5, first transmitting module, 6, second transmitting module, 7, receiving module;

[0024] 100, photovoltaic panel. DETAILED DESCRIPTION

[0025] The embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present disclosure, and cannot be understood as a limitation of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0026] As Figure 1 shown, the present disclosure proposes a photovoltaic panel 100 cleaning system, which comprises a cleaning device 1, a first walking mechanism 2, a second walking mechanism 3, a telescopic frame 4 and a control module (not shown in the figure). Wherein the first walking mechanism 2 and the second walking mechanism 3 are respectively arranged at both ends of the photovoltaic panel 100 and oppositely arranged along the width direction of the photovoltaic panel 100, the cleaning device 1 is arranged between the first walking mechanism 2 and the second walking mechanism 3, and the cleaning device 1 is used for cleaning the surface of the photovoltaic panel 100, and the first walking mechanism 2 and the second walking mechanism 3 are used for walking of the cleaning device 1 along the length direction of the photovoltaic panel 100, the telescopic frame 4 is arranged between the first walking mechanism 2 and the cleaning device 1, and the control module is used for adjusting the stroke difference of the first walking mechanism 2 and the second walking mechanism 3 according to the telescopic amount change of the telescopic frame 4 when the telescopic amount of the telescopic frame 4 is greater than a first preset amount, until the telescopic amount of the telescopic frame 4 is less than a second preset amount, wherein the second preset amount is less than the first preset amount.

[0027] It can be understood that, since the cleaning device 1 is arranged between the first walking mechanism 2 and the second walking mechanism 3, the cleaning device 1 can walk along the length direction of the photovoltaic panel 100 by using the first walking mechanism 2 and the second walking mechanism 3, so as to realize the overall cleaning of the photovoltaic panel 100, and further ensure the high power generation efficiency of the photovoltaic panel 100. Moreover, since the telescopic frame 4 is arranged between the first walking mechanism 2 and the cleaning device 1, when the first walking mechanism 2 and the second walking mechanism 3 are out of synchronization in stroke, the telescopic frame 4 can be lengthened, so as to facilitate the control module to correct the cleaning device 1 according to the telescopic amount of the telescopic frame 4.

[0028] Specifically, when the telescopic amount of the telescopic frame 4 is greater than the first preset amount, the control module adjusts the stroke difference between the first walking mechanism 2 and the second walking mechanism 3 according to the telescopic amount change of the telescopic frame 4, until the telescopic amount of the telescopic frame 4 is less than the second preset amount, thereby realizing the automatic correction of the cleaning device 1 by the control module, avoiding the problem of the cleaning device 1 being stuck due to inclination, improving the high cleaning efficiency of the photovoltaic panel 100, and reducing the cleaning cost of the photovoltaic panel 100.

[0029] It should be noted that, in the normal cleaning process, along the width direction of the photovoltaic panel 100, the first walking mechanism 2 is opposite to the second walking mechanism 3, and the telescopic frame 4 is in a normal telescopic state, and when the first walking mechanism 2 and the second walking mechanism 3 are out of synchronization, the cleaning device 1 is inclined, and then the telescopic frame 4 is lengthened, so that the inclination degree of the cleaning device 1 can be accurately judged according to the telescopic amount of the telescopic frame 4.

[0030] The cleaning device 1 is used for cleaning the surface of the photovoltaic panel 100, and the specific type of the cleaning device 1 can be set according to actual needs, which is not limited. For example, the cleaning device 1 passes over the surface of the photovoltaic panel 100 by using a brush to realize the cleaning of dust and the like on the photovoltaic panel 100.

[0031] The first walking mechanism 2 and the second walking mechanism 3 are used for the cleaning device 1 to walk along the length direction of the photovoltaic panel 100, the first walking mechanism 2 and the second walking mechanism 3 are arranged at two ends in the width direction of the photovoltaic panel 100, and are supported and walked by the frame of the photovoltaic panel 100. The specific type of the first walking mechanism 2 and the second walking mechanism 3 can be set according to actual needs, which is not limited. Since the friction forces on the paths of the first walking mechanism 2 and the second walking mechanism 3 are different, the mechanical structures are different, and the like, the first walking mechanism 2 and the second walking mechanism 3 can be out of synchronization, and further cause the cleaning device 1 to be stuck due to inclination.

[0032] The telescopic frame 4 is used to characterize the tilting state of the cleaning device 1. The specific type of the telescopic frame 4 can be set according to actual needs and is not limited to this. For example, the telescopic frame 4 includes an outer cylinder and an inner cylinder. The outer cylinder is slidably mounted on the inner cylinder, and the outer cylinder is connected to the cleaning device 1, and the inner cylinder is connected to the first walking mechanism 2.

[0033] The control module is used to automatically correct the tilt problem of the cleaning device 1 according to the extension and contraction amount of the telescopic frame 4. The specific type of the control module can be set according to actual needs and is not limited to this.

[0034] In some embodiments, the control module is configured to control the first traveling mechanism 2 to stop moving and the second traveling mechanism 3 to continue moving when the extension and contraction amount of the telescopic frame 4 exceeds a first preset amount. If the extension and contraction amount of the telescopic frame 4 continues to increase, the first traveling mechanism 2 is controlled to continue moving and the second traveling mechanism 3 is controlled to stop moving until the extension and contraction amount of the telescopic frame 4 is less than a second preset amount. If the extension and contraction amount of the telescopic frame 4 begins to decrease, the first traveling mechanism 2 is controlled to continue to stop moving and the second traveling mechanism 3 is controlled to continue moving until the extension and contraction amount of the telescopic frame 4 is less than the second preset amount.

[0035] It can be understood that when the extension amount of the telescopic frame 4 is greater than the first preset amount, it indicates that the cleaning device 1 has a tilt problem. First, the first walking mechanism 2 is controlled to stop moving, and the second walking mechanism 3 is controlled to continue moving, so as to judge the tilt direction of the cleaning device 1 according to the change in the extension amount of the telescopic frame 4.

[0036] Specifically, if the extension and retraction amount of the telescopic frame 4 continues to increase, it is judged that the stroke of the first walking mechanism 2 is smaller than that of the second walking mechanism 3. Conversely, it can also be said that the stroke of the second walking mechanism 3 is larger than that of the first walking mechanism 2. Therefore, the first walking mechanism 2 is controlled to move, and the second walking mechanism 3 is controlled to stop moving, thereby increasing the stroke of the first walking mechanism 2 and reducing the stroke of the second walking mechanism 3, until the extension and retraction amount of the telescopic frame 4 is less than the second preset amount, thereby realizing the correction of the cleaning device 1.

[0037] If the extension and retraction amount of the telescopic frame 4 begins to decrease, it is judged that the stroke of the first walking mechanism 2 is larger than that of the second walking mechanism 3. Conversely, it can also be said that the stroke of the second walking mechanism 3 is smaller than that of the first walking mechanism 2. Therefore, the first walking mechanism 2 is controlled to continue to stop moving, and the second walking mechanism 3 is controlled to continue moving, thereby reducing the stroke of the first walking mechanism 2 and increasing the stroke of the second walking mechanism 3, until the extension and retraction amount of the telescopic frame 4 is less than the second preset amount, thereby realizing the correction of the cleaning device 1.

[0038] In some embodiments, the control module is configured to control the first traveling mechanism 2 to decrease the stroke and control the second traveling mechanism 3 to increase the stroke when the telescopic amount of the telescopic frame 4 is greater than the first preset amount. If the telescopic amount of the telescopic frame 4 continues to increase, the control module is configured to control the first traveling mechanism 2 to increase the stroke and control the second traveling mechanism 3 to decrease the stroke until the telescopic amount of the telescopic frame 4 is less than the second preset amount. If the telescopic amount of the telescopic frame 4 starts to decrease, the control module is configured to control the first traveling mechanism 2 to continue to decrease the stroke and control the second traveling mechanism 3 to continue to increase the stroke until the telescopic amount of the telescopic frame 4 is less than the second preset amount.

[0039] It can be understood that when the telescopic amount of the telescopic frame 4 is greater than the first preset amount, it indicates that the cleaning device 1 has a tilt problem. First, the control module is configured to control the first traveling mechanism 2 to decrease the stroke and control the second traveling mechanism 3 to increase the stroke, so as to determine the tilt direction of the cleaning device 1 according to the change of the telescopic amount of the telescopic frame 4.

[0040] Specifically, if the telescopic amount of the telescopic frame 4 continues to increase, it is determined that the stroke of the first traveling mechanism 2 is smaller relative to the second traveling mechanism 3, or in other words, the stroke of the second traveling mechanism 3 is larger relative to the first traveling mechanism 2. Therefore, the control module is configured to control the first traveling mechanism 2 to increase the stroke and control the second traveling mechanism 3 to decrease the stroke, so as to increase the stroke of the first traveling mechanism 2 and decrease the stroke of the second traveling mechanism 3 until the telescopic amount of the telescopic frame 4 is less than the second preset amount, thereby realizing the correction of the cleaning device 1.

[0041] If the telescopic amount of the telescopic frame 4 starts to decrease, it is determined that the stroke of the first traveling mechanism 2 is larger relative to the second traveling mechanism 3, or in other words, the stroke of the second traveling mechanism 3 is smaller relative to the first traveling mechanism 2. Therefore, the control module is configured to control the first traveling mechanism 2 to continue to decrease the stroke and control the second traveling mechanism 3 to continue to increase the stroke, so as to decrease the stroke of the first traveling mechanism 2 and increase the stroke of the second traveling mechanism 3 until the telescopic amount of the telescopic frame 4 is less than the second preset amount, thereby realizing the correction of the cleaning device 1.

[0042] As Figure 2As shown, in some embodiments, the system further comprises: a first emitting module 5, a second emitting module 6 and a plurality of receiving modules 7. Wherein, the first emitting module 5 is arranged on the first walking mechanism 2, and the first emitting module 5 is used for emitting a first positioning signal; the second emitting module 6 is arranged on the second walking mechanism 3, and the second emitting module 6 is used for emitting a second positioning signal; the plurality of receiving modules 7 are distributed along the length direction of the photovoltaic panel 100 at intervals, and the receiving module 7 is used for receiving the first positioning signal and the second positioning signal; the signal output end of the receiving module 7 is connected with the signal input end of the control module; the control module is used for obtaining the first position of the first walking mechanism 2 in the length direction of the photovoltaic panel 100 and the second position of the second walking mechanism 3 in the length direction of the photovoltaic panel 100 according to the first positioning signal strength and the second positioning signal strength received by the receiving module 7 and the position of the receiving module 7, and adjusting the stroke difference of the first walking mechanism 2 and the second walking mechanism 3 when the deviation value of the first position and the second position is greater than a first preset value until the deviation value of the first position and the second position is less than a second preset value, wherein the second preset value is less than the first preset value.

[0043] It can be understood that, since the first emitting module 5 is arranged on the first walking mechanism 2, and the second emitting module 6 is arranged on the second walking mechanism 3, and the plurality of receiving modules 7 are distributed along the length direction of the photovoltaic panel 100 at intervals, and the signal output end of the receiving module 7 is connected with the signal input end of the control module, so that when the first walking mechanism 2 and the second walking mechanism 3 drive the cleaning device 1 to walk to the receiving module 7, the receiving module 7 can receive the first positioning signal emitted by the first emitting module 5 and the second positioning signal emitted by the second emitting module 6, and can send the received first positioning signal and second positioning signal to the control module.

[0044] Based on this, the control module obtains the first position of the first walking mechanism 2 in the length direction of the photovoltaic panel 100 and the second position of the second walking mechanism 3 in the length direction of the photovoltaic panel 100 according to the first positioning signal strength and the second positioning signal strength received by the receiving module 7 and the position of the receiving module 7, and adjusts the stroke difference of the first walking mechanism 2 and the second walking mechanism 3 when the deviation value of the first position and the second position is greater than a first preset value until the deviation value of the first position and the second position is less than a second preset value, thereby realizing the deviation correction of the cleaning device 1.

[0045] In addition, based on the inclination deviation correction mode of the telescopic support 4 and the inclination deviation correction mode formed by the first emitting module 5, the second emitting module 6 and the plurality of receiving modules 7, the double deviation correction of the cleaning device 1 is realized, and the stable operation of the cleaning device 1 is further ensured.

[0046] It should be noted that the control module can determine the distance between the receiving module 7 and the first transmitting module 5 and the second transmitting module 6 based on the first positioning signal strength and the second positioning signal strength received by the receiving module 7, and, combined with the position of the receiving module 7 relative to the photovoltaic panel 100, it can accurately calculate the first position of the first transmitting module 5 and the second position of the second transmitting module 6, and when the first position (in the length direction of the photovoltaic panel 100) and the second position (in the length direction of the photovoltaic panel 100) are the same, the cleaning device 1 is in normal operating state, and when the first position and the second position are different, the cleaning device 1 tends to be tilted or is in a tilted state.

[0047] The first transmitting module 5, the second transmitting module 6 and the multiple receiving modules 7 are used to utilize the reception and transmission of signals to realize the judgment of the tilt state of the cleaning device 1. The specific types of the first transmitting module 5, the second transmitting module 6 and the multiple receiving modules 7 can be set according to actual needs and are not limited to this. For example, the first transmitting module 5 and the second transmitting module 6 can be UWB tags, and the receiving module 7 can be a UWB base station; the first transmitting module 5 and the second transmitting module 6 can be RFID tags, and the receiving module 7 can be an RFID reader.

[0048] In some embodiments, the first walking mechanism 2 includes: a first walking frame, multiple first walking wheels and a first drive motor, the telescopic frame 4 is arranged at the first end of the cleaning device 1, and the first walking frame and the telescopic frame 4 are rotatably connected, the first walking wheel is rotatably arranged on the first walking frame, the first walking wheel and the first end in the width direction of the photovoltaic panel 100 are rollingly connected, the signal input end of the first drive motor is connected to the signal output end of the control module, and the power output end of the first drive motor is connected to the power input end of the first walking wheel; the second walking mechanism 3 includes: a second walking frame, multiple second walking wheels and a second drive motor, the second walking frame and the second end of the cleaning device 1 are rotatably connected, the second walking wheel is rotatably arranged on the second walking frame, the second walking wheel and the second end in the width direction of the photovoltaic panel 100 are rollingly connected, the signal input end of the second drive motor is connected to the signal output end of the control module, and the power output end of the second drive motor is connected to the power input end of the second walking wheel.

[0049] Among them, the control module is used to control the torque of the first drive motor to be greater than the torque of the second drive motor when the height of the first end in the width direction of the photovoltaic panel 100 is greater than the height of the second end, and adjust the torque ratio between the first drive motor and the second drive motor according to the inclination angle of the photovoltaic panel 100; and when the height of the second end in the width direction of the photovoltaic panel 100 is greater than the height of the first end, control the torque of the second drive motor to be greater than the torque of the first drive motor, and adjust the torque ratio between the first drive motor and the second drive motor according to the inclination angle of the photovoltaic panel 100.

[0050] It can be understood that the control module controls the first drive motor to drive the rotation of multiple first walking wheels, thereby realizing the walking of the first walking frame and the first end of the cleaning device 1 connected to the first walking frame, and the control module controls the second drive motor to drive the rotation of multiple second walking wheels, thereby realizing the walking of the second walking frame and the second end of the cleaning device 1 connected to the second walking frame.

[0051] Moreover, when the height of the first end in the width direction of the photovoltaic panel 100 is greater than the height of the second end, it means that more weight of the cleaning device 1 falls on the first walking mechanism 2. Therefore, the control module controls the torque of the first drive motor to be greater than the torque of the second drive motor, and adjusts the torque ratio between the first drive motor and the second drive motor according to the inclination angle of the photovoltaic panel 100, thereby ensuring that the first walking mechanism 2 and the second walking mechanism 3 can still move synchronously under different loads.

[0052] When the height of the second end in the width direction of the photovoltaic panel 100 is greater than the height of the first end, it means that more weight of the cleaning device 1 falls on the second walking mechanism 3. Therefore, the torque of the second drive motor is controlled to be greater than the torque of the first drive motor, and the torque ratio between the first drive motor and the second drive motor is adjusted according to the inclination angle of the photovoltaic panel 100, so as to ensure that the first walking mechanism 2 and the second walking mechanism 3 can still move synchronously under different loads.

[0053] It should be noted that the first walking frame, multiple first walking wheels and the first drive motor are used for the walking of the first end of the cleaning device 1 on the first end of the photovoltaic panel 100. The specific types of the first walking frame, multiple first walking wheels and the first drive motor can be set according to actual needs and are not limited to this. For example, the first walking frame is a frame structure, and the relationship with the rotation arrangement of the telescopic frame 4 enables the cleaning device 1 to adapt to a smaller inclination angle to avoid problems such as jamming; some of the first walking wheels can walk on the top of the photovoltaic panel 100 frame, some of the first walking wheels can walk on the side of the photovoltaic panel 100 frame, and some of the first walking wheels can be used as limiting wheels to prevent the cleaning device 1 from detaching.

[0054] The second walking frame, multiple second walking wheels and the second drive motor are used for the second end of the cleaning device 1 to walk on the second end of the photovoltaic panel 100. The specific types of the second walking frame, multiple second walking wheels and the second drive motor can be set according to actual needs and are not limited to this. For example, the second walking frame is a frame structure, and the relationship with the rotation arrangement of the second end of the cleaning device 1 enables the cleaning device 1 to adapt to a smaller inclination angle to avoid problems such as jamming; some of the second walking wheels can walk on the top of the photovoltaic panel 100 frame, some of the second walking wheels can walk on the side of the photovoltaic panel 100 frame, and some of the second walking wheels can be used as limiting wheels to prevent the cleaning device 1 from detaching.

[0055] like Figure 3 As shown, in some embodiments, the cleaning device 1 includes: a cleaning frame 11, a first spiral brush 12, a second spiral brush 13, and a driving mechanism 14. The cleaning frame 11 is arranged between the first walking mechanism 2 and the second walking mechanism 3, and the telescopic frame 4 is arranged between the first walking mechanism 2 and the cleaning frame 11. The first spiral brush 12 is rotatably arranged on the cleaning frame 11, and the first spiral brush 12 abuts the surface of the photovoltaic panel 100. The second spiral brush 13 is rotatably arranged on the cleaning frame 11, and the second spiral brush 13 abuts the surface of the photovoltaic panel 100. The signal input end of the driving mechanism 14 is connected to the signal output end of the control module, and the power output end of the driving mechanism 14 is respectively connected to the power input end of the first spiral brush 12 and the power input end of the second spiral brush 13. The driving mechanism 14 is used to drive the first spiral brush 12 and the second spiral brush 13 to rotate synchronously. The first spiral brush 12 and the second spiral brush 13 rotate in opposite directions and have the same spiral conveying direction.

[0056] It can be understood that since the first spiral brush 12 is rotatably set on the cleaning frame 11, and the second spiral brush 13 is rotatably set on the cleaning frame 11, the signal input end of the driving mechanism 14 is connected to the signal output end of the control module, and the power output end of the driving mechanism 14 is respectively connected to the power input end of the first spiral brush 12 and the power input end of the second spiral brush 13, so that the control module can control the action of the driving mechanism 14 to drive the first spiral brush 12 and the second spiral brush 13 to rotate, thereby realizing surface cleaning of the photovoltaic panel 100. At the same time, since the rotation directions of the first spiral brush 12 and the second spiral brush 13 are opposite and the spiral conveying directions are the same, the first spiral brush 12 and the second spiral brush 13 can offset each other's unidirectional torque generated during the rotation process, thereby reducing the impact on the first walking mechanism 2 and the second walking mechanism 3, and ensuring the stable walking of the cleaning device 1.

[0057] It should be noted that the cleaning frame 11 is used to carry the first spiral brush 12, the second spiral brush 13 and the driving mechanism 14. The specific type of the cleaning frame 11 can be set according to actual needs and is not limited to this.

[0058] The first spiral brush 12 and the second spiral brush 13 are used to clean the photovoltaic panel 100 by rotating the brushes. The specific types of the first spiral brush 12 and the second spiral brush 13 can be set according to actual needs and are not limited to this. For example, the first spiral brush 12 and the second spiral brush 13 are both roller structures, and a plurality of spirally distributed brushes are arranged on the surface thereof. The first spiral brush 12 and the second spiral brush 13 can achieve synchronous reverse rotation by using transmission parts such as gears.

[0059] The specific type of the driving mechanism 14 can be set according to actual needs and is not limited thereto. For example, the driving mechanism 14 can be a driving motor or the like.

[0060] like Figure 3 As shown, in some embodiments, the cleaning device 1 further includes: a vibration frame 15 and a vibration mechanism 16, the vibration frame 15 is arranged on the cleaning frame 11, and the first spiral brush 12 and the second spiral brush 13 are respectively rotatably arranged on the vibration frame 15, the driving mechanism 14 is arranged on the vibration frame 15, the vibration mechanism 16 is arranged on the vibration frame 15, and the signal input end of the vibration mechanism 16 is connected to the signal output end of the control module, and the vibration mechanism 16 is used to drive the vibration mechanism 16 to vibrate.

[0061] It can be understood that since the first spiral brush 12, the second spiral brush 13 and the driving mechanism 14 are respectively arranged on the vibration frame 15, and the vibration mechanism 16 is set on the vibration frame 15, the signal input end of the vibration mechanism 16 is connected to the signal output end of the control module, so that the control module can drive the vibration mechanism 16 to vibrate, thereby driving the first spiral brush 12 and the second spiral brush 13 to vibrate, which can not only enhance the cleaning effect during the cleaning process, but also realize the self-cleaning of the first spiral brush 12 and the second spiral brush 13 after resetting.

[0062] It should be noted that the vibration mechanism 16 is used to vibrate the vibration frame 15 to achieve enhanced effects and self-cleaning of the first spiral brush 12 and the second spiral brush 13. The specific type of the vibration mechanism 16 can be set according to actual needs and is not limited to this. For example, the vibration mechanism 16 can be a vibration motor.

[0063] like Figure 3 As shown, in some embodiments, the cleaning device 1 further includes: a vibration reduction mechanism 17, which is arranged between the vibration frame 15 and the cleaning frame 11, and is used to reduce vibration between the vibration frame 15 and the cleaning frame 11.

[0064] It can be understood that since the vibration damping mechanism 17 is arranged between the vibration frame 15 and the cleaning frame 11, the vibration damping mechanism 17 can achieve vibration reduction between the vibration frame 15 and the cleaning frame 11, thereby reducing the impact on the first walking mechanism 2, the second walking mechanism 3 and the photovoltaic panel 100 while achieving the vibration of the first spiral brush 12 and the second spiral brush 13.

[0065] It should be noted that the vibration reduction mechanism 17 is used to reduce vibration between the vibration frame 15 and the cleaning frame 11. The specific type of the vibration reduction mechanism 17 can be set according to actual needs and is not limited to this. For example, the vibration reduction mechanism 17 may include a spring, a damper, etc.

[0066] In some embodiments, the system also includes: an alarm module, the signal input end of the alarm module is connected to the signal output end of the control module, and the control module is used to control the first walking mechanism 2 and the second walking mechanism 3 to stop walking when the telescopic amount of the telescopic frame 4 is greater than the first preset amount and lasts for a preset time, and to control the alarm module to issue an alarm message.

[0067] It can be understood that when the telescopic amount of the telescopic frame 4 is greater than the first preset amount and lasts for the preset time, it means that the automatic correction of the control module fails and there is a major problem in the operation of the cleaning device 1. Therefore, the control module controls the first walking mechanism 2 and the second walking mechanism 3 to stop walking, thereby avoiding further expansion of the problem, and controls the alarm module to issue an alarm message, thereby prompting the operator to deal with it in time.

[0068] It should be noted that the alarm module is used to issue alarm information. The specific type of the alarm module can be set according to actual needs and is not limited to this. For example, the alarm module can be an audible and visual alarm, a sound alarm, a light alarm, etc.

[0069] In some embodiments, the control module includes: a collection unit, a control unit and a monitoring center, the collection unit is used to collect the telescopic amount of the telescopic frame 4, the signal input end of the control unit is connected to the signal output end of the collection unit, and the control unit is used to adjust the stroke difference between the first walking mechanism 2 and the second walking mechanism 3 according to the change in the telescopic amount of the telescopic frame 4 when the telescopic amount of the telescopic frame 4 is greater than the first preset amount, until the telescopic amount of the telescopic frame 4 is less than the second preset amount, and the communication end of the monitoring center is connected to the communication end of the control unit.

[0070] It can be understood that by utilizing the collection of the collection unit, the control unit can obtain the telescopic amount information of the telescopic frame 4, thereby realizing automatic correction of the cleaning device 1 based on the telescopic amount information of the telescopic frame 4, and by utilizing the monitoring of the monitoring center, the use of the control unit is more flexible and convenient.

[0071] It should be noted that the acquisition unit is used to acquire the telescopic amount of the telescopic frame 4. The specific type of the acquisition unit can be set according to actual needs and is not limited to this. For example, the acquisition unit can be a distance sensor, a displacement sensor, etc.

[0072] The specific type of the control unit can be set according to actual needs and is not limited to this. For example, the control unit can be a PLC controller.

[0073] The specific type of the monitoring center can be set according to actual needs and is not limited to this. For example, the monitoring center can be a computer, etc.

[0074] In the description of the present disclosure, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0075] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.

[0076] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0077] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A photovoltaic panel cleaning system, characterized in that: include: Cleaning device, first traveling mechanism, second traveling mechanism, telescopic frame and control module; The first walking mechanism and the second walking mechanism are respectively arranged at both ends of the photovoltaic panel and are arranged opposite to each other along the width direction of the photovoltaic panel. The cleaning device is arranged between the first walking mechanism and the second walking mechanism, and the cleaning device is used to clean the surface of the photovoltaic panel. In addition, the first walking mechanism and the second walking mechanism are used for the cleaning device to move along the length direction of the photovoltaic panel. The telescopic frame is arranged between the first walking mechanism and the cleaning device, and the control module is used to adjust the stroke difference between the first walking mechanism and the second walking mechanism according to the change of the telescopic amount of the telescopic frame when the telescopic amount of the telescopic frame is greater than a first preset amount, until the telescopic amount of the telescopic frame is less than a second preset amount, wherein the second preset amount is less than the first preset amount.

2. The photovoltaic panel cleaning system according to claim 1, characterized in that: The control module is configured to control the first traveling mechanism to stop traveling and control the second traveling mechanism to continue traveling when the telescopic amount of the telescopic frame is greater than a first preset amount; If the extension amount of the telescopic frame continues to increase, the first traveling mechanism is controlled to move, and the second traveling mechanism is controlled to stop moving, until the extension amount of the telescopic frame is less than a second preset amount; If the extension amount of the telescopic frame begins to decrease, the first traveling mechanism is controlled to continue to stop moving, and the second traveling mechanism is controlled to continue moving, until the extension amount of the telescopic frame is less than a second preset amount.

3. The photovoltaic panel cleaning system according to claim 1, characterized in that: The control module is configured to control the first traveling mechanism to reduce the stroke and control the second traveling mechanism to increase the stroke when the telescopic amount of the telescopic frame is greater than a first preset amount; If the extension amount of the telescopic frame continues to increase, the first traveling mechanism is controlled to increase the stroke, and the second traveling mechanism is controlled to decrease the stroke, until the extension amount of the telescopic frame is less than a second preset amount; If the extension amount of the telescopic frame begins to decrease, the first traveling mechanism is controlled to continue to reduce the stroke, and the second traveling mechanism is controlled to continue to increase the stroke, until the extension amount of the telescopic frame is less than a second preset amount.

4. The photovoltaic panel cleaning system according to claim 1, characterized in that: The system further comprises: a first transmitting module, a second transmitting module and a plurality of receiving modules; The first transmitting module is provided on the first traveling mechanism and is used to transmit a first positioning signal; the second transmitting module is provided on the second traveling mechanism and is used to transmit a second positioning signal; a plurality of receiving modules are spaced apart along the length direction of the photovoltaic panel and are used to receive the first positioning signal and the second positioning signal; and a signal output end of the receiving module is connected to a signal input end of the control module; The control module is used to obtain the first position of the first walking mechanism in the length direction of the photovoltaic panel and the second position of the second walking mechanism in the length direction of the photovoltaic panel based on the first positioning signal strength and the second positioning signal strength received by the receiving module and the position of the receiving module, and, when the deviation value between the first position and the second position is greater than a first preset value, adjust the stroke difference between the first walking mechanism and the second walking mechanism until the deviation value between the first position and the second position is less than a second preset value, wherein the second preset value is less than the first preset value.

5. The photovoltaic panel cleaning system according to claim 1, characterized in that: The first walking mechanism includes: a first walking frame, a plurality of first walking wheels and a first driving motor, the telescopic frame is arranged at the first end of the cleaning device, and the first walking frame and the telescopic frame are rotatably connected, the first walking wheel is rotatably arranged on the first walking frame, the first walking wheel is rollingly connected to the first end of the photovoltaic panel in the width direction, the signal input end of the first driving motor is connected to the signal output end of the control module, and the power output end of the first driving motor is connected to the power input end of the first walking wheel; The second traveling mechanism includes: a second traveling frame, a plurality of second traveling wheels and a second driving motor, the second traveling frame is rotatably connected to the second end of the cleaning device, the second traveling wheel is rotatably provided on the second traveling frame, the second traveling wheel is rollingly connected to the second end in the width direction of the photovoltaic panel, the signal input end of the second driving motor is connected to the signal output end of the control module, and the power output end of the second driving motor is connected to the power input end of the second traveling wheel; The control module is configured to control the torque of the first drive motor to be greater than the torque of the second drive motor when the height of the first end in the width direction of the photovoltaic panel is greater than the height of the second end, and to adjust the torque ratio between the first drive motor and the second drive motor according to the inclination angle of the photovoltaic panel; Furthermore, when the height of the second end in the width direction of the photovoltaic panel is greater than the height of the first end, the torque of the second drive motor is controlled to be greater than the torque of the first drive motor, and the torque ratio between the first drive motor and the second drive motor is adjusted according to the inclination angle of the photovoltaic panel.

6. The photovoltaic panel cleaning system according to claim 1, characterized in that: The cleaning device comprises: a cleaning frame, the cleaning frame being arranged between the first traveling mechanism and the second traveling mechanism, and the telescopic frame being arranged between the first traveling mechanism and the cleaning frame; a first spiral brush, wherein the first spiral brush is rotatably disposed on the cleaning frame and abuts against the surface of the photovoltaic panel; a second spiral brush, the second spiral brush being rotatably disposed on the cleaning frame and abutting against the surface of the photovoltaic panel; a driving mechanism, wherein a signal input end of the driving mechanism is connected to a signal output end of the control module, and a power output end of the driving mechanism is connected to a power input end of the first spiral brush and a power input end of the second spiral brush, respectively, and the driving mechanism is used to drive the first spiral brush and the second spiral brush to rotate synchronously; Wherein, the first spiral brush and the second spiral brush have opposite rotation directions and the same spiral conveying direction.

7. The photovoltaic panel cleaning system according to claim 6, characterized in that: The cleaning device also includes: a vibration frame, the vibration frame being arranged on the cleaning frame, the first spiral brush and the second spiral brush being rotatably arranged on the vibration frame respectively, and the driving mechanism being arranged on the vibration frame; The vibration mechanism is arranged on the vibration frame, and the signal input end of the vibration mechanism is connected to the signal output end of the control module, and the vibration mechanism is used to drive the vibration mechanism to vibrate.

8. The photovoltaic panel cleaning system according to claim 7, characterized in that: The cleaning device also includes: A vibration reduction mechanism is provided between the vibration frame and the cleaning frame, and is used for reducing vibration between the vibration frame and the cleaning frame.

9. The photovoltaic panel cleaning system according to claim 1, characterized in that: The system further comprises: An alarm module, wherein the signal input end of the alarm module is connected to the signal output end of the control module, and the control module is used to control the first walking mechanism and the second walking mechanism to stop walking when the telescopic amount of the telescopic frame is greater than a first preset amount and lasts for a preset time, and to control the alarm module to issue an alarm message.

10. The photovoltaic panel cleaning system according to claim 1, characterized in that: The control module includes: A collection unit, the collection unit is used to collect the expansion and contraction amount of the telescopic frame; a control unit, wherein a signal input terminal of the control unit is connected to a signal output terminal of the acquisition unit, and the control unit is configured to adjust a stroke difference between the first traveling mechanism and the second traveling mechanism according to a change in the telescopic amount of the telescopic frame, when the telescopic amount of the telescopic frame is greater than a first preset amount, until the telescopic amount of the telescopic frame is less than a second preset amount; A monitoring center, wherein a communication terminal of the monitoring center is connected to a communication terminal of the control unit.

Images