Roof photovoltaic cleaning system

Abstract

This invention belongs to the field of photovoltaic panel cleaning technology and discloses a rooftop photovoltaic cleaning system. The rooftop photovoltaic cleaning system includes a boundary protection unit, a cable tray unit, a transposition guide rail unit, a transfer vehicle, and a photovoltaic cleaning robot. The boundary protection unit is located at the far outer edge of the photovoltaic module, and the cable tray unit is located at the near outer edge of the photovoltaic module. The transposition guide rail unit is located on the side of the cable tray unit away from the photovoltaic module and extends along the lateral laying direction of the photovoltaic module. The transfer vehicle is mounted on the transposition guide rail unit and can move back and forth along the extension direction of the transposition guide rail unit. The photovoltaic cleaning robot can move back and forth between the transfer vehicle and the photovoltaic module via the cable tray unit. This invention reduces the number of photovoltaic cleaning robots used, expands the operable area of ​​the photovoltaic cleaning robots, and reduces the cost of photovoltaic cleaning.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, and more particularly to a rooftop photovoltaic cleaning system. Background Technology

[0002] Photovoltaic modules are power generation devices that generate direct current under sunlight. They are mainly composed of solar cell modules. Because there are foreign objects such as dust and bird droppings on the surface of rooftop photovoltaic power stations, they need to be cleaned and maintained regularly. Due to the huge area of ​​rooftop photovoltaic power stations, manual cleaning is costly.

[0003] In large-scale photovoltaic power plants, automated photovoltaic cleaning robots are commonly used to clean dust, bird droppings, and other dirt from the surface of photovoltaic modules.

[0004] However, photovoltaic cleaning robots can only move on interconnected photovoltaic module arrays, and cannot move to unconnected photovoltaic module arrays. In the existing technology, for photovoltaic panel arrays arranged in rows, one photovoltaic cleaning robot is often configured on each row of photovoltaic arrays, which increases the cost of photovoltaic cleaning. Summary of the Invention

[0005] The purpose of this invention is to provide a rooftop photovoltaic cleaning system that reduces the number of photovoltaic cleaning robots required, expands the working area of ​​photovoltaic cleaning robots, and reduces the cost of photovoltaic cleaning.

[0006] To achieve this objective, the present invention adopts the following technical solution: A rooftop photovoltaic cleaning system for cleaning photovoltaic modules, the rooftop photovoltaic cleaning system comprising: A boundary protection unit is disposed at the far outer edge of the photovoltaic module; A bridge unit is disposed at the near-end outer edge of the photovoltaic module; A transposition guide rail unit is disposed on the side of the bridge unit away from the photovoltaic module and extends along the lateral laying direction of the photovoltaic module; A transfer vehicle, which is mounted on the transposition guide rail unit and can move back and forth along the extension direction of the transposition guide rail unit; A photovoltaic cleaning robot is used to clean the photovoltaic modules. The photovoltaic cleaning robot can travel back and forth between the transfer vehicle and the photovoltaic modules via the bridge unit.

[0007] As an optional solution for a rooftop photovoltaic cleaning system, the photovoltaic cleaning robot includes a body, a roller brush, a scraper, a first photovoltaic power generation panel, and two sets of first walking mechanisms. The two sets of first walking mechanisms are respectively located at the left and right ends of the body. The roller brush is rotatably mounted on the bottom of the body. The scraper is fixedly mounted on the bottom of the body and located on one side of the roller brush. The first photovoltaic power generation panel is mounted on the top of the body.

[0008] As an optional solution for the rooftop photovoltaic cleaning system, the rooftop photovoltaic cleaning system also includes: The deviation correction trigger unit includes a first guide rail and a second guide rail connected to each other. The first guide rail extends along the longitudinal laying direction of the photovoltaic module, and the extension direction of the second guide rail is the same as the tilt direction of the bridge unit. At least one set of the walking mechanism is provided with four first proximity sensors at its bottom. The four first proximity sensors are arranged in a rectangular distribution. After the photovoltaic cleaning robot leaves the transfer vehicle, two of the first proximity sensors are located on one side of the deviation correction trigger unit, and the other two are located on the other side of the deviation correction trigger unit. When any one of the first proximity sensors detects the deviation correction trigger unit, the photovoltaic cleaning robot enters the deviation correction mode.

[0009] As an optional solution for the rooftop photovoltaic cleaning system, each group of the first walking mechanism is equipped with a first limit switch on both the front and rear sides, and the left and right ends of the boundary protection unit are respectively equipped with a first trigger baffle. When any of the first limit switches contacts the first trigger baffle, the photovoltaic cleaning robot stops moving forward and returns.

[0010] As an optional solution for the rooftop photovoltaic cleaning system, the transfer vehicle includes a carrying platform, a second walking mechanism, and a third guide rail. The second walking mechanism is located at the bottom of the carrying platform and moves along the transfer guide rail unit. The two third guide rails are respectively located at the left and right ends of the carrying platform. When the photovoltaic cleaning robot walks to the carrying platform, two of the first proximity sensors are located on one side of the third guide rail, and the other two of the first proximity sensors are located on the other side of the third guide rail. When any one of the first proximity sensors detects the third guide rail, the photovoltaic cleaning robot enters the correction mode.

[0011] As an optional solution for the rooftop photovoltaic cleaning system, the transfer vehicle also includes a second photovoltaic panel, which is mounted on top of the support platform. When the photovoltaic cleaning robot is on the transfer vehicle, the second photovoltaic panel is located within the working surface of the roller brush and the scraper, enabling the photovoltaic cleaning robot to clean the second photovoltaic panel. A cantilever bracket is provided on the rear side of the support platform, and a brush is provided on the front side of the cantilever bracket. When the photovoltaic cleaning robot moves on and off the transfer vehicle, the brush can contact and scrape away foreign objects on the first photovoltaic panel.

[0012] As an optional solution for the rooftop photovoltaic cleaning system, the carrying platform is equipped with second trigger baffles on the left and right ends at the rear. When the photovoltaic cleaning robot retracts to the transfer vehicle, the first limit switch of the photovoltaic cleaning robot contacts the second trigger baffle, and the photovoltaic cleaning robot stops moving and enters the parking mode.

[0013] As an optional solution for the rooftop photovoltaic cleaning system, the support platform is equipped with first telescopic components with baffles at both ends of the front side; a second limit switch is also provided on the rear side of the support platform. When the first walking mechanism contacts the second limit switch, the first telescopic component drives the baffle to rise and prevent the photovoltaic cleaning robot from falling off the support platform; a third limit switch is also provided on the front side of the support platform. When the first walking mechanism contacts the third limit switch a second time, the first telescopic component drives the baffle to fall and release the photovoltaic cleaning robot.

[0014] As an optional solution for the rooftop photovoltaic cleaning system, a baffle is provided on the rear side of the transposition guide rail unit, and a second proximity sensor is provided on the rear side of the carrying platform. When the second proximity sensor detects the baffle, the transfer vehicle moves to the corresponding photovoltaic module. A second telescopic component with a positioning pin is provided at the bottom of the carrying platform, and a positioning plate with a socket is provided on the front side of the transposition guide rail unit. The second telescopic component drives the positioning pin to be inserted into the socket.

[0015] As an optional solution for the rooftop photovoltaic cleaning system, mounting brackets are respectively provided at the left and right ends of the bottom of the support platform. A fourth limit switch and a third proximity sensor are provided on the mounting brackets. Blocking beams are respectively provided at the boundaries of the left and right ends of the transposition guide rail unit. When the fourth limit switch contacts the blocking beam or the third proximity sensor detects the blocking beam, the transfer vehicle stops moving. Guide wheels are respectively provided on the front and rear sides of the bottom of the support platform, and the guide wheels abut against the side beams of the transposition guide rail unit.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: The rooftop photovoltaic (PV) cleaning system provided by this invention features a boundary protection unit at the far outer edge of the PV modules to prevent the PV cleaning robot from falling off during cleaning. A bridge unit is located at the near outer edge of the PV modules, and a transposition guide rail unit is positioned on the side of the bridge unit away from the PV modules and extends along the lateral laying direction of the PV modules. Since the bridge unit is located between the PV modules and the transposition guide rail unit, it acts as a path transfer, facilitating the movement of the PV cleaning robot between the transport vehicle and the PV modules. The transport vehicle is mounted on the transposition guide rail unit and can move along its extension direction. The PV cleaning robot, used to clean the PV modules, can travel back and forth between the transport vehicle and the PV modules via the bridge unit. Because the transport vehicle can move along the transposition guide rail unit, the PV cleaning robot can be transferred from the location of a cleaned PV module to the location of a module to be cleaned. This eliminates the need for a separate PV cleaning robot per row of PV modules, enabling the PV cleaning robot to operate across PV modules, reducing the number of PV cleaning robots required, expanding the operable area of ​​the PV cleaning robot, and lowering the cost of PV cleaning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0018] Figure 1 This is a first-view assembly diagram of the rooftop photovoltaic cleaning system in an embodiment of the present invention; Figure 2 This is a second-view assembly diagram of the rooftop photovoltaic cleaning system in an embodiment of the present invention; Figure 3 This is a first-view structural diagram of the photovoltaic cleaning robot in an embodiment of the present invention; Figure 4 This is a second-view explosion diagram of the photovoltaic cleaning robot in an embodiment of the present invention; Figure 5 This is a first-view structural schematic diagram of the transfer vehicle in an embodiment of the present invention; Figure 6 This is a schematic diagram of the transfer vehicle from a second perspective in an embodiment of the present invention; Figure 7 This is a schematic diagram of the transposition guide rail unit in an embodiment of the present invention.

[0019] Figure label: 1. Boundary protection unit; 2. Cable tray unit; 3. Transposition guide rail unit; 4. Transfer vehicle; 5. Photovoltaic cleaning robot; 6. Correction trigger unit; 61. First guide rail component; 62. Second guide rail component; 7. Photovoltaic module; 11. First trigger baffle; 31. Baffle plate; 32. Positioning plate; 321. Insertion hole; 33. Blocking beam; 34. Side beam; 35. Reinforcing beam; 41. Supporting platform; 42. Second traveling mechanism; 43. Third guide rail; 44. Second photovoltaic panel; 45. Cantilever bracket; 46. Brush; 47. Second trigger baffle; 48. First telescopic assembly; 481. Baffle; 49. Second limit switch; 410. Third limit switch; 411. Second proximity sensor; 412. Second telescopic assembly; 413. Positioning pin; 414. Fourth limit switch; 415. Third proximity sensor; 416. Guide wheel; 51. Body; 52. Roller brush; 53. Scraper blade; 54. First photovoltaic power generation panel; 55. First walking mechanism; 56. First proximity sensor; 57. First limit switch. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] Most existing rooftop solar cleaning solutions adopt a one-to-one configuration: for rows of neatly arranged solar panel arrays, a dedicated solar cleaning robot is often installed on each row of independent solar panels to cover the cleaning needs of all arrays. However, this configuration method directly leads to a significant increase in the number of cleaning robots required for the entire power plant, and the initial equipment procurement cost increases exponentially.

[0025] To reduce the number of photovoltaic (PV) cleaning robots used, expand their operational area, and lower the cost of PV cleaning, this embodiment provides a rooftop PV cleaning system, which is described below in conjunction with... Figures 1 to 7 The specific content of this embodiment will be described in detail.

[0026] The rooftop photovoltaic cleaning system provided in this embodiment is used to clean photovoltaic modules 7. The rooftop photovoltaic cleaning system includes a boundary protection unit 1, a cable tray unit 2, a transposition guide rail unit 3, a transfer vehicle 4, and a photovoltaic cleaning robot 5. The boundary protection unit 1 is located at the far outer edge of the photovoltaic module 7 and is continuously laid along the outer edge of the entire row of photovoltaic modules 7. Its height is slightly higher than the tempered glass surface of the photovoltaic module 7, so as not to obstruct sunlight from reaching the solar cells. The cable tray unit 2 is located at the near outer edge of the photovoltaic module 7. The two ends of the cable tray unit 2 are precisely aligned with the edge of the photovoltaic module 7 and the carrying platform 41 of the transfer vehicle 4, respectively, forming a continuous transition path. The transposition guide rail unit 3 is located on the side of the cable tray unit 2 away from the photovoltaic module 7 and extends along the lateral laying direction of the photovoltaic module 7. The transposition guide rail unit 3 can adopt a modular splicing design, and the laying length can be flexibly adjusted according to the actual layout length of the rooftop photovoltaic array to adapt to different scales of rooftop power station scenarios. The transfer vehicle 4 is set on the transposition guide rail unit 3 and can move along the extension direction of the transposition guide rail unit 3. The photovoltaic cleaning robot 5 is used to clean the photovoltaic module 7. The photovoltaic cleaning robot 5 can travel back and forth between the transfer vehicle 4 and the photovoltaic module 7 via the bridge unit 2.

[0027] In this embodiment of the rooftop photovoltaic cleaning system, the bridge unit 2, located between the photovoltaic module 7 and the transposition guide rail unit 3, plays a crucial role in path transfer, filling the height difference and gap between the photovoltaic module 7 and the platform of the transfer vehicle 4. This completely eliminates obstacles for the photovoltaic cleaning robot 5 when moving between two different work carriers, assisting the photovoltaic cleaning robot 5 in completing a smooth transfer across platforms. Secondly, the added boundary protection unit 1 is equivalent to setting a physical limit at the far outer edge of the photovoltaic module 7, avoiding the risk of the photovoltaic cleaning robot 5 accidentally falling from the far outer edge during the cleaning process of the photovoltaic module 7, and greatly improving the safety of the robot's long-term autonomous operation. Since the transfer vehicle 4 can move autonomously along the transposition guide rail unit 3, it can carry the photovoltaic cleaning robot 5 from the position of the photovoltaic module 7 that has been cleaned to the position of the next new photovoltaic module 7 to be cleaned. After a precise docking, the robot can drive into the new array to carry out cleaning operations. This rooftop photovoltaic cleaning system completely breaks the limitation of the traditional solution that "each row of photovoltaic arrays must be equipped with a dedicated cleaning robot". With just one or a few photovoltaic cleaning robots, it can cover all the independent photovoltaic module arrays in the entire power station, truly realizing the continuous operation of the photovoltaic cleaning robot across different photovoltaic module arrays.

[0028] Specifically, the photovoltaic cleaning robot 5 includes a body 51, a roller brush 52, a scraper 53, a first photovoltaic panel 54, and two sets of first walking mechanisms 55. The two sets of first walking mechanisms 55 are symmetrically arranged at the left and right ends of the body 51, respectively. The roller brush 52 is rotatably mounted at the bottom of the body 51, and the scraper 53 is fixedly mounted at the bottom of the body 51 and located on one side of the roller brush 52. The first photovoltaic panel 54 is mounted at the top of the body 51. For example, firstly, the roller brush 52 has multiple sets of spiral bristles distributed on it, which continuously clean the surface of the photovoltaic module 7 by rotating. Secondly, the scraper 53 follows behind the roller brush 52. The scraper 53 is made of rubber of suitable hardness. During operation, the lower edge of the scraper 53 can adhere to the surface of the photovoltaic module 7 and scrape up dust and debris from the surface of the photovoltaic module 7, further improving the cleaning effect. Furthermore, the two sets of first walking mechanisms 55 can be independently controlled and each is equipped with an independent drive motor. By controlling the difference in forward speed between the two sets of first walking mechanisms 55, the forward direction of the photovoltaic cleaning robot 5 can be corrected through differential steering. By adding a first photovoltaic power generation panel 54 to the top of the body 51, the robot can absorb sunlight in real time to generate electricity while cleaning, directly powering all electrical components of the photovoltaic cleaning robot 5, such as drive motors and sensors. Excess electricity can be stored in the built-in energy storage battery, fully realizing the self-charging function of the photovoltaic cleaning robot 5. It does not need to frequently return to the charging station to recharge, extending the robot's continuous autonomous operation time and completely eliminating the constraints of external power cords. This simplifies the wiring costs of the entire cleaning system and further expands the coverage area of ​​a single robot.

[0029] Furthermore, the rooftop photovoltaic cleaning system also includes a correction trigger unit 6, which includes a first guide rail 61 and a second guide rail 62 connected to each other. The first guide rail 61 extends along the longitudinal laying direction of the photovoltaic module 7, and the extension direction of the second guide rail 62 is the same as the tilt direction of the bridge unit 2. Four first proximity sensors 56 are provided at the bottom of the body 51. The four first proximity sensors 56 are arranged in a rectangular pattern. After the photovoltaic cleaning robot 5 leaves the transfer vehicle 4, two of the first proximity sensors 56 are located on one side of the correction trigger unit 6, and the other two first proximity sensors 56 are located on the other side of the correction trigger unit 6. When any of the first proximity sensors 56 detects the correction trigger unit 6, the photovoltaic cleaning robot 5 enters the correction mode. Four first sensors form two sets of detection points on both sides of the guide rail. As long as any one of the first proximity sensors 56 detects the guide rail component of the correction trigger unit 6, the robot will immediately determine that the body has deviated and automatically enter the preset correction mode. This completely avoids the problem of missed detection in the traditional single sensor solution where the robot deviates slightly without being detected, thus improving the timeliness and reliability of the detection response.

[0030] Furthermore, each group of first walking mechanisms 55 is equipped with a first limit switch 57 on both the front and rear sides, and a first trigger baffle 11 is provided at each of the left and right ends of the boundary protection unit 1. When any first limit switch 57 contacts the first trigger baffle 11, the photovoltaic cleaning robot 5 stops moving forward and returns. By arranging and adding first limit switches 57 around the photovoltaic cleaning robot 5, as long as the robot touches the first trigger baffle 11 of the boundary in any direction during its movement, the system can immediately determine that the robot has reached the preset boundary position of the photovoltaic module 7, completely preventing the robot from rushing out of the photovoltaic module 7 and falling, and greatly reducing the risk of equipment damage and maintenance safety hazards during high-altitude rooftop operations.

[0031] Furthermore, the transfer vehicle 4 includes a carrying platform 41, a second walking mechanism 42, and third guide rails 43. The second walking mechanism 42 is located at the bottom of the carrying platform 41 and moves along the transfer guide rail unit 3 for transferring the photovoltaic cleaning robot 5. Two third guide rails 43 are respectively located at the left and right ends of the carrying platform 41. When the photovoltaic cleaning robot 5 moves from the bridge unit 2 into the carrying platform 41 of the transfer vehicle 4, the four first proximity sensors 56, which are rectangularly distributed at the bottom of the robot body 51, will naturally straddle the sides of one of the third guide rails 43: two of the first proximity sensors 56 are located on one side of the third guide rail 43, and the other two are located on the other side. When any one of the first proximity sensors 56 detects the third guide rail 43, the photovoltaic cleaning robot 5 enters a correction mode. By adding the third guide rails 43, the photovoltaic cleaning robot 5 can be guided to move accurately forward and backward on the transfer vehicle 4.

[0032] Furthermore, the transfer vehicle 4 also includes a second photovoltaic panel 44, which is located on top of the support platform 41. When the photovoltaic cleaning robot 5 is on the transfer vehicle 4, the second photovoltaic panel 44 is located within the working surface of the roller brush 52 and the scraper 53, and the photovoltaic cleaning robot 5 can clean the second photovoltaic panel 44. A cantilever bracket 45 is provided on the rear side of the support platform 41, and a brush 46 is provided on the front side of the cantilever bracket 45. When the photovoltaic cleaning robot 5 gets on and off the transfer vehicle 4, the brush 46 can contact and scrape off foreign objects on the first photovoltaic panel 54, ensuring the cleanliness of the first photovoltaic panel 54 and the second photovoltaic panel 44, and avoiding affecting its own power generation efficiency.

[0033] Furthermore, the left and right ends of the rear side of the carrying platform 41 are respectively provided with second trigger baffles 47. When the photovoltaic cleaning robot 5 retracts to the transfer vehicle 4, the first limit switch 57 of the photovoltaic cleaning robot 5 contacts the second trigger baffle 47, the photovoltaic cleaning robot 5 stops moving and enters the parking mode, so that the photovoltaic cleaning robot 5 moves smoothly to the transfer vehicle 4.

[0034] Furthermore, the support platform 41 is equipped with first telescopic components 48 with baffles 481 at its left and right ends on the front side; a second limit switch 49 is also provided on the rear side of the support platform 41. When the first walking mechanism 55 contacts the second limit switch 49, the first telescopic components 48 drive the baffles 481 to rise and prevent the photovoltaic cleaning robot 5 from falling off the support platform 41. A third limit switch 410 is also provided on the front side of the support platform 41. When the first walking mechanism 55 contacts the third limit switch 410 for the second time (when the photovoltaic cleaning robot 5 moves onto the transfer vehicle 4, the first walking mechanism 55 contacts the third limit switch 410 for the first time), the first... (The telescopic component 48 is always in the retracted state). The first telescopic component 48 drives the baffle 481 to descend and release the photovoltaic cleaning robot 5.

[0035] Furthermore, a baffle 31 is provided on the rear side of the transposition guide rail unit 3, and a second proximity sensor 411 is provided on the rear side of the carrying platform 41. When the second proximity sensor 411 detects the baffle 31, the transfer vehicle 4 moves to the corresponding photovoltaic module 7. A second telescopic component 412 with a positioning pin 413 is provided at the bottom of the carrying platform 41, and a positioning plate 32 with a socket 321 is provided on the front side of the transposition guide rail unit 3. The second telescopic component 412 drives the positioning pin 413 to be inserted into the socket 321. When the second proximity sensor 411 successfully detects the baffle 31, and the system confirms that the transfer vehicle 4 has arrived at the preset stopping position, the main control system immediately issues an extension command to the second telescopic component 412, which drives the positioning pin 413 to be smoothly inserted into the corresponding socket 321. The rigid mechanical insertion structure completely locks the relative position of the transfer vehicle 4 on the transposition guide rail unit 3, completely eliminating the risk of positional deviation caused by external wind disturbances and improving the safety of the photovoltaic cleaning robot during the cross-module transfer process.

[0036] Furthermore, mounting brackets are respectively provided at the left and right ends of the bottom of the support platform 41. A fourth limit switch 414 and a third proximity sensor 415 are installed on the mounting brackets. Blocking beams 33 are respectively provided at the boundaries of the left and right ends of the transposition guide rail unit 3. When the fourth limit switch 414 contacts the blocking beam 33 or the third proximity sensor 415 detects the blocking beam 33, the transfer vehicle 4 stops moving. Guide wheels 416 are respectively provided on the front and rear sides of the bottom of the support platform 41, and the guide wheels 416 abut against the side beams 34 of the transposition guide rail unit 3. By adding the fourth limit switch 414 and the third proximity sensor 415, the blocking beams 33 at both ends can trigger the fourth limit switch 414 and the third proximity sensor 415, thereby indicating that the transfer vehicle 4 has reached the left or right boundary of the transposition guide rail unit 3. By adding the guide wheels 416, when the transfer vehicle 4 moves, the guide wheels 416 can roll and rub against the side beams 34 of the transposition guide rail unit 3, guiding the transfer vehicle 4 to move only within the range between the two side beams 34 of the transposition guide rail unit 3. Furthermore, multiple reinforcing beams 35 are connected to the bottom of the two side beams 34 to improve the structural strength of the transposition guide rail unit 3.

[0037] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A rooftop photovoltaic cleaning system for cleaning photovoltaic modules (7), characterized in that, The rooftop photovoltaic cleaning system includes: Boundary protection unit (1), the boundary protection unit (1) is disposed at the far outer edge of the photovoltaic module (7); A bridge unit (2) is disposed at the near-end outer edge of the photovoltaic module (7); The transposition guide rail unit (3) is disposed on the side of the bridge unit (2) away from the photovoltaic module (7) and extends along the lateral laying direction of the photovoltaic module (7); The transfer vehicle (4) is mounted on the transposition guide rail unit (3) and can move back and forth along the extension direction of the transposition guide rail unit (3). A photovoltaic cleaning robot (5) is used to clean the photovoltaic module (7). The photovoltaic cleaning robot (5) can travel back and forth between the transfer vehicle (4) and the photovoltaic module (7) through the bridge unit (2).

2. The rooftop photovoltaic cleaning system according to claim 1, characterized in that, The photovoltaic cleaning robot (5) includes a body (51), a roller brush (52), a scraper (53), a first photovoltaic power generation panel (54), and two sets of first walking mechanisms (55). The two sets of first walking mechanisms (55) are respectively located at the left and right ends of the body (51). The roller brush (52) is rotatably located at the bottom of the body (51). The scraper (53) is fixedly located at the bottom of the body (51) and located on one side of the roller brush (52). The first photovoltaic power generation panel (54) is located at the top of the body (51).

3. The rooftop photovoltaic cleaning system according to claim 2, characterized in that, The rooftop photovoltaic cleaning system also includes: The correction trigger unit (6) includes a first guide rail (61) and a second guide rail (62) connected to each other. The first guide rail (61) extends along the longitudinal laying direction of the photovoltaic module (7), and the extension direction of the second guide rail (62) is the same as the tilt direction of the bridge unit (2). Four first proximity sensors (56) are provided at the bottom of the body (51). The four first proximity sensors (56) are arranged in a rectangular shape. After the photovoltaic cleaning robot (5) leaves the transfer vehicle (4), two of the first proximity sensors (56) are located on one side of the correction trigger unit (6), and the other two first proximity sensors (56) are located on the other side of the correction trigger unit (6). When any one of the first proximity sensors (56) detects the correction trigger unit (6), the photovoltaic cleaning robot (5) enters the correction mode.

4. The rooftop photovoltaic cleaning system according to claim 3, characterized in that, Each of the first walking mechanisms (55) is provided with a first limit switch (57) on both the front and rear sides. The boundary protection unit (1) is provided with a first trigger baffle (11) on both the left and right ends. When any of the first limit switches (57) contacts the first trigger baffle (11), the photovoltaic cleaning robot (5) stops moving forward and returns.

5. The rooftop photovoltaic cleaning system according to claim 4, characterized in that, The transfer vehicle (4) includes a carrying platform (41), a second walking mechanism (42), and a third guide rail (43). The second walking mechanism (42) is located at the bottom of the carrying platform (41) and moves along the transposition guide rail unit (3). The two third guide rails (43) are respectively located at the left and right ends of the carrying platform (41). When the photovoltaic cleaning robot (5) walks to the carrying platform (41), two of the first proximity sensors (56) are located on one side of the third guide rail (43), and the other two first proximity sensors (56) are located on the other side of the third guide rail (43). When any one of the first proximity sensors (56) detects the third guide rail (43), the photovoltaic cleaning robot (5) enters the correction mode.

6. The rooftop photovoltaic cleaning system according to claim 5, characterized in that, The transfer vehicle (4) also includes a second photovoltaic power generation panel (44), which is located on the top of the support platform (41). When the photovoltaic cleaning robot (5) is on the transfer vehicle (4), the second photovoltaic power generation panel (44) is located within the working surface of the roller brush (52) and the scraper (53). The photovoltaic cleaning robot (5) can clean the second photovoltaic power generation panel (44). A cantilever bracket (45) is provided on the rear side of the support platform (41), and a brush (46) is provided on the front side of the cantilever bracket (45). When the photovoltaic cleaning robot (5) moves up and down the transfer vehicle (4), the brush (46) can contact and scrape off foreign objects on the first photovoltaic power generation panel (54).

7. The rooftop photovoltaic cleaning system according to claim 6, characterized in that, The carrying platform (41) is provided with second trigger baffles (47) on the left and right ends of the rear side. When the photovoltaic cleaning robot (5) retracts to the transfer vehicle (4), the first limit switch (57) of the photovoltaic cleaning robot (5) contacts the second trigger baffle (47), and the photovoltaic cleaning robot (5) stops moving and enters the parking mode.

8. The rooftop photovoltaic cleaning system according to claim 7, characterized in that, The support platform (41) has first telescopic components (48) with baffles (481) at its left and right ends on the front side; a second limit switch (49) is also provided on the rear side of the support platform (41). When the first walking mechanism (55) contacts the second limit switch (49), the first telescopic component (48) drives the baffle (481) to rise and prevent the photovoltaic cleaning robot (5) from falling off the support platform (41); a third limit switch (410) is also provided on the front side of the support platform (41). When the first walking mechanism (55) contacts the third limit switch (410) for the second time, the first telescopic component (48) drives the baffle (481) to fall and release the photovoltaic cleaning robot (5).

9. The rooftop photovoltaic cleaning system according to any one of claims 5-8, characterized in that, A baffle (31) is provided on the rear side of the transposition guide rail unit (3), and a second proximity sensor (411) is provided on the rear side of the bearing platform (41). When the second proximity sensor (411) detects the baffle (31), the transfer vehicle (4) moves to the corresponding photovoltaic module (7). A second telescopic component (412) with a positioning pin (413) is provided at the bottom of the bearing platform (41), and a positioning plate (32) with a socket (321) is provided on the front side of the transposition guide rail unit (3). The second telescopic component (412) drives the positioning pin (413) to be inserted into the socket (321).

10. The rooftop photovoltaic cleaning system according to claim 9, characterized in that, Mounting brackets are provided at the left and right ends of the bottom of the bearing platform (41), and a fourth limit switch (414) and a third proximity sensor (415) are provided on the mounting brackets. A blocking beam (33) is provided at the left and right ends of the transposition guide rail unit (3). When the fourth limit switch (414) contacts the blocking beam (33) or the third proximity sensor (415) detects the blocking beam (33), the transfer car (4) stops moving. Guide wheels (416) are provided at the front and rear sides of the bottom of the bearing platform (41), and the guide wheels (416) abut against the side beam (34) of the transposition guide rail unit (3).

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