Rail photovoltaic ferry vehicle assembly and photovoltaic assembly cleaning device

Abstract

The utility model discloses a rail photovoltaic ferry vehicle assembly and a photovoltaic assembly cleaning device, and the rail photovoltaic ferry vehicle assembly comprises a rail which is provided with a plurality of positioning points along the extending direction of the rail; the photovoltaic ferry vehicle can move along the track; and the first detection assemblies are installed on the photovoltaic ferry vehicle, the first detection assemblies can detect the positioning points, the number of the first detection assemblies is at least two, the first detection assemblies are arranged in the extending direction of the track, and the first detection assemblies can be triggered synchronously or at intervals of first preset duration. The at least two first detection assemblies are arranged on the photovoltaic ferry vehicle, the positioning points are arranged on the track, the first detection assemblies can detect the positioning points, and the position of the photovoltaic ferry vehicle can be determined according to the positions of the positioning points; and mutual calibration between the first detection assemblies is utilized, so that the positioning accuracy of the position of the photovoltaic ferry vehicle is improved, and the connection accuracy and stability of the cleaning robot installed on the photovoltaic ferry vehicle and the photovoltaic assembly are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic assembly cleaning, in particular to a rail photovoltaic shuttle assembly and a photovoltaic assembly cleaning device. Background Art

[0002] When photovoltaic modules are operated outdoors for a long time, dust in the air will continue to accumulate on the surface of the photovoltaic modules, affecting the power generation efficiency of the photovoltaic modules. In order to avoid affecting the power generation efficiency of the photovoltaic modules, the surface of the photovoltaic modules needs to be cleaned.

[0003] At present, photovoltaic power stations mostly use photovoltaic cleaning products to perform photovoltaic module cleaning work, such as photovoltaic cleaning shuttles and photovoltaic intelligent cleaning robots. Among them, the photovoltaic cleaning shuttle is a device used to transport the photovoltaic intelligent cleaning robot to the required location, and the photovoltaic intelligent cleaning robot is used to clean the photovoltaic modules.

[0004] The rail-mounted shuttle bus is the mainstream configuration of the current photovoltaic cleaning shuttle bus. It can solve the efficiency problem in short-row photovoltaic cleaning and has important application value in the field of photovoltaic cleaning.

[0005] Since the shuttle bus mainly operates in outdoor unmanned scenarios, when realizing the connection function between the photovoltaic intelligent cleaning robot and the photovoltaic panel, in order to improve the connection stability, the shuttle bus is required to have basic functions such as positioning and stall recognition. For some scenarios that require higher docking accuracy, the shuttle bus is also required to have a speed measurement function.

[0006] Therefore, how to provide a rail photovoltaic shuttle assembly to improve the stability of connection with photovoltaic modules is a technical problem that technical personnel need to solve urgently. Utility Model Content

[0007] In view of this, the utility model provides a rail photovoltaic shuttle assembly to improve the stability of connection with the photovoltaic assembly. In addition, the utility model also provides a photovoltaic assembly cleaning device having the rail photovoltaic shuttle assembly.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] A rail photovoltaic shuttle assembly, comprising:

[0010] A track, wherein a plurality of positioning points are arranged on the track along the extending direction of the track;

[0011] A photovoltaic shuttle vehicle, the photovoltaic shuttle vehicle being able to move along the track;

[0012] A first detection component is installed on the photovoltaic shuttle bus, and the first detection component can detect the positioning point. There are at least two first detection components, which are arranged along the extension direction of the track, and the first detection components can be triggered synchronously or at intervals of a first preset time.

[0013] Preferably, the above-mentioned rail photovoltaic shuttle assembly further includes:

[0014] A calibration sheet is arranged on the track and used to shield the positioning point at a preset position, and the distance between adjacent calibration sheets is greater than the distance between adjacent first detection components.

[0015] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the first detection assembly includes a first sensor.

[0016] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the first detection assembly also includes: a first counter integrated in the first sensor and used to count the number of times the first sensor is triggered.

[0017] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the first detection assembly further includes: a first calculation module integrated in the first sensor,

[0018] The first calculation module is connected to the first counter, and calculates the position and the travel speed of the photovoltaic shuttle vehicle according to the number of times the first sensor is triggered.

[0019] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the first detection assembly further comprises: a first alarm device which is integrated with the first sensor and issues an alarm when the state of the first sensor remains unchanged within a second preset time period.

[0020] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the positioning points are positioning holes opened on the track and are evenly arranged along the extension direction of the track.

[0021] Preferably, in the above-mentioned photovoltaic rail shuttle assembly, the photovoltaic shuttle comprises:

[0022] A vehicle body frame, wherein the vehicle body frame is provided with the first detection component and a roller capable of rotating along the track;

[0023] A lifting frame is installed on the vehicle body frame and can be lifted and lowered relative to the vehicle body frame. The lifting frame is used to install a cleaning robot, and a second detection component for detecting the lifting position of the lifting frame is installed on the lifting frame.

[0024] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the lifting frame includes:

[0025] a first connecting rod assembly, one end of which is movable along the vehicle body frame;

[0026] a second connecting rod assembly, one end of which is hinged to the vehicle body frame, and the second connecting rod assembly is hinged to the first connecting rod assembly;

[0027] A telescopic rod, one end of which is connected to the first connecting rod assembly, and the other end of which is connected to the second connecting rod assembly, for driving the first connecting rod assembly and the second connecting rod assembly to rotate relative to each other around a hinge point between the two; the second detection assembly is mounted on the telescopic rod.

[0028] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the second detection assembly includes:

[0029] a second sensor, the second sensor being fixed to the telescopic end of the telescopic rod;

[0030] A positioning plate, one end of which is fixedly connected to the second connecting rod assembly, and the positioning plate has a positioning assembly arranged along the telescopic direction of the telescopic rod, and the second sensor can detect the positioning assembly.

[0031] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the positioning assembly includes:

[0032] A first positioning hole, wherein the first positioning hole is located in the middle of the length direction of the positioning plate;

[0033] The second positioning holes are located at two ends of the positioning plate in the length direction, and the distance between adjacent first positioning holes is greater than the distance between adjacent second positioning holes.

[0034] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the second detection assembly further includes: a second counter integrated in the second sensor and used to count the number of times the second sensor is triggered.

[0035] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the second detection assembly further includes: a second calculation module which is integrated with the second sensor and calculates the telescopic length of the telescopic rod according to the number of times the second sensor is triggered.

[0036] Preferably, in the above-mentioned rail photovoltaic shuttle assembly, the second detection assembly further comprises: a second alarm device which is integrated in the second sensor and which issues an alarm when the state of the second sensor remains unchanged within a third preset time period.

[0037] A photovoltaic assembly cleaning device comprises a cleaning robot and a rail photovoltaic shuttle assembly as described in any one of the above items.

[0038] The utility model discloses a rail-mounted photovoltaic shuttle assembly. At least two first detection assemblies are arranged on the photovoltaic shuttle, and positioning points are arranged on the track. The first detection assemblies can detect the positioning points. The position of the photovoltaic shuttle can be determined according to the positions of the positioning points. The first detection assemblies are calibrated with each other to improve the accuracy of the positioning of the photovoltaic shuttle, thereby improving the accuracy and stability of the connection between the cleaning robot installed on the photovoltaic shuttle and the photovoltaic assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a structural schematic diagram of a rail photovoltaic shuttle assembly disclosed in an embodiment of the utility model;

[0041] Figure 2 for Figure 1 A partial enlarged view of the

[0042] Figure 3 for Figure 1 A partial enlarged view of the

[0043] Figure 4 for Figure 3 Schematic diagram of the structure in the other direction. DETAILED DESCRIPTION

[0044] The utility model discloses a rail photovoltaic shuttle assembly to improve the stability of connection with a photovoltaic assembly. In addition, the utility model also discloses a photovoltaic assembly cleaning device having the rail photovoltaic shuttle assembly.

[0045] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0046] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0047] At present, photovoltaic power stations mostly use photovoltaic cleaning products to perform photovoltaic module cleaning work, such as photovoltaic cleaning shuttles and photovoltaic intelligent cleaning robots. Among them, the photovoltaic cleaning shuttle is a device used to transport the photovoltaic intelligent cleaning robot to the required location, and the photovoltaic intelligent cleaning robot is used to clean the photovoltaic modules.

[0048] The rail-mounted shuttle bus is the mainstream configuration of the current photovoltaic cleaning shuttle bus. It can solve the efficiency problem in short-row photovoltaic cleaning and has important application value in the field of photovoltaic cleaning.

[0049] Since the shuttle bus mainly operates in outdoor unmanned scenarios, when realizing the connection function between the photovoltaic intelligent cleaning robot and the photovoltaic panel, in order to improve the connection stability, the shuttle bus is required to have basic functions such as positioning and stall recognition. For some scenarios that require higher docking accuracy, the shuttle bus is also required to have a speed measurement function.

[0050] Based on the above purpose, combined with Figure 1 and Figure 2 As shown, the rail photovoltaic shuttle assembly disclosed in the present application includes: a track 1, a photovoltaic shuttle 2 and a first detection assembly 3.

[0051] The track 1 is laid on the installation space where the photovoltaic components are located, including but not limited to being laid on the ground. The extension direction of the track 1 can be planned according to the placement of the photovoltaic components and is not specifically limited here.

[0052] In some embodiments, the track 1 includes but is not limited to C-shaped steel, U-shaped steel, angle steel or other steel materials. Of course, the material of the track 1 is not limited to steel and may also be other materials.

[0053] A plurality of positioning points 101 are arranged on the track 1 along the extension direction of the track, and the shapes and sizes of the positioning points 101 can be arranged according to different needs. In some embodiments, the positioning points 101 can be positioning holes opened on the track 1, including but not limited to waist-shaped holes.

[0054] The photovoltaic shuttle 2 can move along the track 1. The shape and structure of the photovoltaic shuttle 2 can be adjusted according to different needs, as long as it can be installed with a cleaning robot (not shown in the figure) and can drive the cleaning robot to move along the track 1 to transport the cleaning robot to the photovoltaic module for cleaning.

[0055] The first detection component 3 is installed on the photovoltaic shuttle 2 and moves along the track 1 with the photovoltaic shuttle 2. During the movement of the photovoltaic shuttle 2, the first detection component 3 can detect the positioning point 101, so that the position of the photovoltaic shuttle 2 can be determined according to the number of positioning points 101 detected, thereby achieving the purpose of positioning the photovoltaic shuttle 2.

[0056] In some embodiments, at least two first detection components 3 are set, and the first detection components 3 are arranged along the extension direction of the track, and the first detection components can be triggered synchronously or at intervals of a first preset time length. By detecting the positioning point 101 by at least two first detection components 3, the accuracy of the detection can be improved, and the detection times of the first detection components 3 can be calibrated with each other, thereby improving the accuracy of the positioning of the photovoltaic shuttle bus 2.

[0057] It should be noted that the first preset time length can be set according to different needs. Optionally, the first preset time length is less than the time length between two adjacent times when the first detection component 3 is triggered.

[0058] Based on the above analysis, in the present application, at least two first detection components 3 are set on the photovoltaic shuttle bus 2, and a positioning point 101 is set on the track 1. The first detection component 3 can detect the positioning point 101. The position of the photovoltaic shuttle bus 2 can be determined according to the position of the positioning point 101, and the first detection components 3 can be calibrated with each other to improve the accuracy of the positioning of the photovoltaic shuttle bus 2, thereby improving the accuracy and stability of the connection between the cleaning robot installed on the photovoltaic shuttle bus 2 and the photovoltaic components.

[0059] In some embodiments, there are two first detection components 3, and the distances between adjacent positioning points 101 are the same, that is, the positioning points 101 are evenly arranged along the extension direction of the track 1, and the distance between adjacent positioning points 101 is s. In combination with this arrangement, during the positioning of the photovoltaic shuttle vehicle 2:

[0060] During the operation of the photovoltaic shuttle bus 2, each time the first detection component 3 is triggered, it means that the photovoltaic shuttle bus 2 has moved a distance s. According to the number of times n that the first detection component 3 is triggered, the distance L moved by the photovoltaic shuttle bus 2 relative to the origin at this moment can be obtained. L=n*s, and it can be obtained which positioning point 101 the photovoltaic shuttle bus 2 is near after starting from the origin.

[0061] It should be noted that the base point in some embodiments may be the starting position of the photovoltaic shuttle bus 2 or a set position on the photovoltaic shuttle bus 2 .

[0062] The above method realizes the rough positioning of the photovoltaic shuttle bus 2, but it cannot accurately obtain the precise position of the photovoltaic shuttle bus 2, and it needs to be determined in conjunction with fine positioning. Specifically, according to the speed v of the photovoltaic shuttle bus 2 during movement and the running time t of the photovoltaic shuttle bus 2, the position of the photovoltaic shuttle bus 2 relative to the origin is calculated using the formula v*t.

[0063] Since the photovoltaic shuttle bus 2 works outdoors, the first detection component 3 may be affected by the external environment. In order to improve the accuracy of positioning the photovoltaic shuttle bus 2, the rail photovoltaic shuttle bus component in some embodiments also includes a calibration plate 102, and the calibration plate 102 is arranged on the track 1 to block the positioning point 101 at a preset position, and the distance between adjacent calibration plates 102 is greater than the distance between adjacent first detection components 3.

[0064] Optionally, the check piece 102 includes but is not limited to being fixed to the track 1 by screws. In some embodiments, the check piece 102 is an L-shaped plate, wherein one plate is fixed to the side of the track 1, and the other plate is used to cover a positioning point 101. The distance between adjacent check pieces 102 can be set according to different needs. When the external environment is more complex, the distance between the check pieces 102 can be reduced to increase the number of times the first detection component 3 is checked, reduce the accumulation of false triggering or under-triggering of the first detection component 3, and thus improve the accuracy of detection.

[0065] During the calibration process, when one of the first detection components 3 moves to the calibration plate 102, the first detection component 3 cannot sense the positioning point 101, so the first detection component 3 cannot be triggered; and the adjacent first detection component 3 is triggered because it has not moved to the calibration plate 102. In this process, the distance that the photovoltaic shuttle 2 moves from the base point can be obtained based on the number of times the untriggered first detection component 3 has been triggered from the base point to the distance between the adjacent positioning points 101, and whether there is an error can be determined based on this distance and the distance from the calibration plate 102 to the base point, thereby achieving the purpose of calibrating the actual position of the photovoltaic shuttle 2.

[0066] For ease of understanding, this article takes two first detection components 3 as an example and defines: along the moving direction of the photovoltaic shuttle vehicle 2, the first detection component 3 located in the front is the front detection component, and the first detection component 3 located in the rear is the rear detection component.

[0067] When the current detection component is not triggered and the rear detection component is triggered normally, the distance L1 moved by the photovoltaic shuttle 2 from the base point can be obtained according to the number of times n that the front detection component is triggered from the base point to not being triggered, where L1=n*s; compare the difference between the distance H1 and L1 from the calibration piece 102 to the base point. If H1 is equal to L1, and it is determined that the actual position of the photovoltaic shuttle 2 is the same as the calculated position, there is no error in the actual position of the photovoltaic shuttle 2.

[0068] In some embodiments, the calibration plates 102 are evenly arranged along the track 1, and the distance between adjacent calibration plates 102 is H2, that is, the track 1 is divided into multiple areas by the calibration plates 102. The running speed of the photovoltaic shuttle 2 can be calculated based on the running time t1 of the photovoltaic shuttle 2 between two adjacent calibration plates 102 and the distance H2 between the two calibration plates 102, combined with the formula: v=H2 / t1, and the speed can be used as the reference speed, which is approximately the running speed of the next area.

[0069] See also Figure 2 As shown, in some embodiments of the present application, the first detection component 3 includes: a first sensor 302 and a first bracket 301 .

[0070] The first bracket 301 is an L-shaped plate, one side plate of which is fitted and connected to the photovoltaic shuttle vehicle 2, and the other side plate is fixed with the first sensor 302, and the side plate is parallel to the track 1.

[0071] The first sensor 302 includes but is not limited to a light sensor. When the light sensor detects a positioning point, the first sensor 302 is triggered.

[0072] In order to realize automatic detection and calculation, the first detection component 3 in some embodiments also includes: a first counter (not shown in the figure) integrated in the first sensor 302 and used to calculate the number of times the first sensor 302 is triggered. The first counter can realize automatic statistics of the number of times the first sensor 302 is triggered.

[0073] Using the first calculator to count the number of times can reduce the labor intensity, and integrating the first counter with the first sensor 302 can reduce the number of components and reduce costs.

[0074] In addition, the first detection component 3 in the present application also includes a first calculation module (not shown in the figure) integrated in the first sensor 302, and the first calculation module is connected to the first counter, and calculates the position and driving speed of the photovoltaic shuttle bus 2 according to the number of times the first sensor is triggered.

[0075] Specifically, a formula may be provided in the first calculation module: L=n*s, wherein s is the distance between adjacent positioning points 101, n is the number of times the first detection component 3 is triggered, and L is the distance the photovoltaic shuttle vehicle 2 moves relative to the origin.

[0076] In addition, the first calculation module is also provided with a formula: v=H2 / t1, wherein v is the running speed of the photovoltaic shuttle 2, t1 is the running time of the photovoltaic shuttle 2 between two adjacent calibration plates 102, and H2 is the distance between adjacent calibration plates 102.

[0077] By setting up the first calculation module, automatic calculation can be realized, further reducing the labor intensity, and the result calculated by the first calculation module can be directly displayed on the human-computer interaction interface. The first calculation module is integrated with the first sensor 302, which can reduce the number of components, reduce installation costs, and improve assembly efficiency.

[0078] Those skilled in the art can understand that the first calculation module can also be integrated into the control system of the rail photovoltaic shuttle assembly.

[0079] During the normal operation of the photovoltaic shuttle bus 2, the first sensor 302 will be triggered at preset time intervals. When the first sensor 302 is not triggered for more than the preset time or is always triggered, it means that the photovoltaic shuttle bus 2 is in a stuck state, that is, the transportation of the cleaning robot cannot be achieved.

[0080] In order to remind the user through the detection of the first sensor 302, the first detection component 3 in some embodiments further includes: a first alarm device which is integrated in the first sensor 302 and issues an alarm when the state of the first sensor 302 remains unchanged within a second preset time period.

[0081] It should be noted that the second preset time length is the time length between two adjacent triggering times of the first sensor 302 during normal operation.

[0082] The above structure can realize the positioning, position calibration, speed measurement and jam detection of the photovoltaic shuttle bus 2.

[0083] In addition, combined Figure 1 , Figure 3 and Figure 4 As shown, the photovoltaic shuttle vehicle 2 disclosed in the embodiment of the present application includes: a vehicle body frame 201, a lifting frame and rollers 204.

[0084] The vehicle frame 201 is provided with a first detection assembly 3 and a roller 204 that can rotate along the track 1. In some embodiments, the vehicle frame 201 has a rectangular base, and has rollers 204 on opposite sides, each corresponding to a track 1, for ensuring that the vehicle frame 201 rolls along the track 1.

[0085] The lifting frame is installed on the vehicle frame 201 and can be lifted and lowered relative to the vehicle frame 201. The lifting frame is used to install the cleaning robot. In some embodiments, the lifting frame includes but is not limited to a scissor structure.

[0086] In order to improve the accuracy and stability of the connection between the cleaning robot and the photovoltaic module, a second detection component 4 for detecting the lifting position of the lifting frame is installed on the lifting frame.

[0087] In some embodiments, the lifting frame includes: a first connecting rod assembly 202 , a second connecting rod assembly 205 and a telescopic rod 203 .

[0088] One end of the first link assembly 202 can move along the vehicle frame 201. In some embodiments, a slider is installed at the end of the first link assembly 202, and a slide groove is installed on the vehicle frame 201. The slider can slide along the slide groove. In some embodiments, the first link assembly 202 is a rectangular frame, and both ends of the first link assembly 202 in the width direction are slidably connected to the vehicle frame 201.

[0089] The first end of the second link assembly 205 is hinged to the vehicle frame 201, including but not limited to being connected by a hinge. In some embodiments, the second link assembly 205 is a rectangular frame, and both ends of the second link assembly 205 in the width direction are hinged to the vehicle frame 201. The length of the second link assembly 205 is less than the length of the first link assembly 202.

[0090] In some embodiments, the second link assembly 205 is hinged to the first link assembly 202 , for example, the second end of the second link assembly 205 is hinged to the middle position of the first link assembly 202 to form a cross scissors structure.

[0091] One end of the telescopic rod 203 is connected to the first connecting rod assembly 202, and the other end is connected to the second connecting rod assembly 205, and is used to push the first connecting rod assembly 202 and the second connecting rod assembly 205 to rotate relative to each other around the hinge point O'. During the relative rotation of the first connecting rod assembly 202 and the second connecting rod assembly 205, the distance from the hinge point O' to the vehicle frame 201 can be changed, thereby changing the height of the cleaning robot.

[0092] In some embodiments, the first end of the telescopic rod 203 is connected to the cross bar of the first connecting rod assembly 202 close to the vehicle frame 201, and the second end of the telescopic rod 203 is connected to the cross bar of the second connecting rod assembly 205 close to the cleaning robot. Specifically, the second end of the telescopic rod 203 is hinged to the articulated seat 206 on the second connecting rod assembly 205.

[0093] Based on the structure of the lifting frame described above, the second detection component 4 in the present application includes a second sensor 402 and a positioning plate 403 .

[0094] The second sensor 402 is fixed to the telescopic end of the telescopic rod 203 through the clamp 401; one end of the positioning plate 403 is fixedly connected to the second connecting rod assembly 205, and specifically, the positioning plate 403 is fixedly connected to the hinge seat 206. The positioning plate 403 has a positioning assembly 404 arranged along the telescopic direction of the telescopic rod 203, and the second sensor 402 can detect the positioning assembly 404.

[0095] Since the second sensor 402 is connected to the telescopic end of the telescopic rod 203 , the second sensor 402 can move relative to the positioning plate 403 during the telescopic process of the telescopic rod 203 .

[0096] In some embodiments, the second sensor 402 is a light sensor, and the positioning component 404 is a positioning hole, which includes but is not limited to a waist-shaped hole along the extending direction of the positioning plate 403 .

[0097] The positioning assembly 404 in the embodiment of the present application includes: a first positioning hole and a second positioning hole.

[0098] The first positioning holes are located in the middle of the length direction of the positioning plate 403 ; the second positioning holes are located at both ends of the length direction of the positioning plate 403 , and the distance between adjacent first positioning holes is greater than the distance between adjacent second positioning holes.

[0099] By setting the distance between the first positioning holes and the distance between the second positioning holes to be different, when the second sensor 402 moves to the middle position of the positioning plate 403, the duration between two adjacent triggers is longer; when it moves to the two end positions of the positioning plate 403, the duration between two adjacent triggers becomes shorter.

[0100] In some embodiments, the distances between the first positioning holes are the same, and the distances between the second positioning holes are the same.

[0101] It should be noted that, during the movement of the second sensor 402 relative to the positioning plate 403, the position of the second sensor 402 can be obtained according to the number of triggers, so as to realize the positioning of the height of the cleaning robot. For the specific calculation, please refer to the above-mentioned positioning calculation method of the photovoltaic shuttle 2 on the track 1, which will not be repeated here.

[0102] Similarly, the moving speed of the second sensor 402 can refer to the calculation method of the running speed of the photovoltaic shuttle 2 on the track 1, which will not be repeated here.

[0103] Based on the above calculations, the second detection component 4 disclosed in the present application also includes: a second counter integrated in the second sensor 402, for calculating the number of times the second sensor 402 is triggered; a second calculation module integrated in the second sensor 402, and calculating the telescopic length of the telescopic rod 203 according to the number of times the second sensor 402 is triggered; a second alarm device integrated in the second sensor 402, and issuing an alarm when the state of the second sensor 402 remains unchanged within a third preset time length.

[0104] It should be noted that the second calculation module has a built-in formula for calculating the moving distance of the second sensor 402 and the moving speed of the second sensor 402 .

[0105] During normal operation of the second sensor 402, the duration of triggering in cooperation with the first positioning hole is set to the third preset duration; and the duration of triggering in cooperation with the second positioning hole is set to the fourth preset time, and the third preset duration is greater than the fourth preset duration.

[0106] The user can determine whether the telescopic rod 203 is fully extended based on the triggering duration of the second sensor 402. When the second sensor 402 is not triggered within the third preset time, or the second sensor 402 is always in the triggered state, it is determined that the state of the telescopic rod 203 has not changed, and the cleaning robot is blocked, i.e. stuck.

[0107] In some embodiments, the distance between the first positioning holes is set to s1, the distance between the first positioning holes at both ends is s2, and the second sensor 402 is triggered N times in the process of moving from the first positioning hole at one end to the first positioning hole at the other end. The actual position of the second sensor 402 can be calibrated by comparing the sizes of N*s1 and s2. Specifically, when the two are equal (which can be understood as being almost the same), the actual position of the second sensor 402 is the same as the calculated position, thereby realizing the detection of whether there is a problem with the positioning component 404 of the positioning plate 403.

[0108] The second detection component 4 disclosed in the present application can realize the positioning of the lifting height of the lifting frame, the detection of the lifting speed and the detection of jamming, and has a simple structure and low cost.

[0109] In summary, in this application, the first detection component 3 is used to realize the position positioning and movement speed calculation of the photovoltaic shuttle 2 on the track 1, and can check the accuracy of the moving position of the photovoltaic shuttle 2 on the track 1 and detect the jamming during the movement. In addition, the second detection component 4 is used to detect the lifting position and lifting speed of the lifting frame, realize the accurate detection of the position of the cleaning robot, and ensure the accuracy and stability of the connection between the cleaning robot and the photovoltaic component.

[0110] In addition, the present application also discloses a photovoltaic module cleaning device, which includes a cleaning robot and the rail photovoltaic shuttle assembly disclosed in the above embodiments. Therefore, the photovoltaic module cleaning device having the rail photovoltaic shuttle assembly also has all the above-mentioned technical effects, which will not be described one by one here.

[0111] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0112] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rail photovoltaic shuttle assembly, characterized in that: include: A track, wherein a plurality of positioning points are arranged on the track along the extending direction of the track; A photovoltaic shuttle vehicle, the photovoltaic shuttle vehicle being able to move along the track; A first detection component is installed on the photovoltaic shuttle bus, and the first detection component can detect the positioning point. There are at least two first detection components, which are arranged along the extension direction of the track, and the first detection components can be triggered synchronously or at intervals of a first preset time.

2. The photovoltaic rail shuttle assembly according to claim 1, characterized in that: Also includes: A calibration sheet is arranged on the track and used to shield the positioning point at a preset position, and the distance between adjacent calibration sheets is greater than the distance between adjacent first detection components.

3. The rail photovoltaic shuttle assembly according to claim 1, characterized in that: The first detection component includes a first sensor.

4. The rail photovoltaic shuttle assembly according to claim 3, characterized in that: The first detection component also includes: a first counter integrated in the first sensor and used to count the number of times the first sensor is triggered.

5. The rail photovoltaic shuttle assembly according to claim 4, characterized in that: The first detection component further includes: a first computing module integrated in the first sensor, The first calculation module is connected to the first counter, and calculates the position and the travel speed of the photovoltaic shuttle vehicle according to the number of times the first sensor is triggered.

6. The rail photovoltaic shuttle assembly according to claim 4, characterized in that: The first detection component also includes: a first alarm device which is integrated with the first sensor and generates an alarm when the state of the first sensor remains unchanged within a second preset time period.

7. The rail photovoltaic shuttle assembly according to any one of claims 1 to 6, characterized in that: The positioning points are positioning holes opened on the track and are evenly arranged along the extension direction of the track.

8. The rail photovoltaic shuttle assembly according to any one of claims 1 to 6, characterized in that: The photovoltaic shuttle bus comprises: A vehicle body frame, wherein the vehicle body frame is provided with the first detection component and a roller capable of rotating along the track; A lifting frame is installed on the vehicle body frame and can be lifted and lowered relative to the vehicle body frame. The lifting frame is used to install a cleaning robot, and a second detection component for detecting the lifting position of the lifting frame is installed on the lifting frame.

9. The rail photovoltaic shuttle assembly according to claim 8, characterized in that: The lifting frame comprises: a first connecting rod assembly, one end of which is movable along the vehicle body frame; a second connecting rod assembly, one end of which is hinged to the vehicle body frame, and the second connecting rod assembly is hinged to the first connecting rod assembly; A telescopic rod, one end of which is connected to the first connecting rod assembly, and the other end of which is connected to the second connecting rod assembly, for driving the first connecting rod assembly and the second connecting rod assembly to rotate relative to each other around a hinge point between the two; the second detection assembly is mounted on the telescopic rod.

10. The rail photovoltaic shuttle assembly according to claim 9, characterized in that: The second detection component comprises: a second sensor, the second sensor being fixed to the telescopic end of the telescopic rod; A positioning plate, one end of which is fixedly connected to the second connecting rod assembly, and the positioning plate has a positioning assembly arranged along the telescopic direction of the telescopic rod, and the second sensor can detect the positioning assembly.

11. The rail photovoltaic shuttle assembly according to claim 10, characterized in that: The positioning component comprises: A first positioning hole, wherein the first positioning hole is located in the middle of the length direction of the positioning plate; The second positioning holes are located at two ends of the positioning plate in the length direction, and the distance between adjacent first positioning holes is greater than the distance between adjacent second positioning holes.

12. The rail photovoltaic shuttle assembly according to claim 10, characterized in that: The second detection component also includes: a second counter integrated in the second sensor and used to count the number of times the second sensor is triggered.

13. The rail photovoltaic shuttle assembly according to claim 12, characterized in that: The second detection component further includes: a second calculation module which is integrated with the second sensor and calculates the telescopic length of the telescopic rod according to the number of times the second sensor is triggered.

14. The rail photovoltaic shuttle assembly according to claim 12 or 13, characterized in that: The second detection component also includes: a second alarm device which is integrated in the second sensor and generates an alarm when the state of the second sensor remains unchanged within a third preset time period.

15. A photovoltaic module cleaning device, characterized in that: It comprises a cleaning robot and a rail photovoltaic shuttle assembly as described in any one of claims 1 to 14.

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