Photovoltaic cleaning device

Abstract

The utility model discloses a photovoltaic cleaning device, a photovoltaic assembly comprises at least two rows of photovoltaic units, a gap is arranged between the at least two rows of photovoltaic units, a main beam is arranged below the gap, and the photovoltaic cleaning device comprises a cleaning main body, two displacement sensors and a controller; the two displacement sensors are correspondingly arranged on the two sides of the sweeping body in the width direction and located above the gap, and the distance between the displacement sensors and the main beam is measured to be a preset distance; and the controller is electrically connected with each displacement sensor and receives a detection signal of each displacement sensor, and when the distance measured by at least one displacement sensor is inconsistent with a preset distance, the controller controls the sweeping body to perform action adjustment. According to the photovoltaic cleaning device, the inclination state of the cleaning body can be judged and adjusted, and deviation correction is achieved.

Description

Technical Field

[0001] The utility model relates to a photovoltaic cleaning device, belonging to the technical field of photovoltaics. Background Art

[0002] In order to improve the power generation efficiency of the photovoltaic system, photovoltaic cleaning equipment is used to clean the dust on the photovoltaic modules. The photovoltaic cleaning equipment moves from one end of the photovoltaic module to the other end to complete the cleaning of a row of photovoltaic panels. However, the existing photovoltaic cleaning equipment will deviate when running on the photovoltaic module, causing the photovoltaic cleaning equipment to collide with the photovoltaic module, affecting the normal operation of the photovoltaic cleaning equipment. Utility Model Content

[0003] The utility model aims to provide a photovoltaic cleaning device, which can judge the tilt state of the cleaning body and make adjustments.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A photovoltaic cleaning device is used to clean a photovoltaic assembly, wherein the photovoltaic assembly includes at least two rows of photovoltaic units, a gap is provided between the at least two rows of photovoltaic units, and a main beam is provided below the gap, comprising:

[0006] Clean the subject;

[0007] Two displacement sensors, the two displacement sensors are correspondingly arranged on both sides of the cleaning body in the width direction and located above the gap, and the distance between the displacement sensors and the main beam is measured to be a predetermined distance; and

[0008] A controller is electrically connected to each of the displacement sensors and receives a detection signal from each of the displacement sensors. When the distance measured by at least one of the displacement sensors is inconsistent with the predetermined distance, the controller controls the cleaning body to adjust its motion.

[0009] As a further improved technical solution of the utility model, the displacement sensor is a photoelectric displacement sensor. When the measurement signal of the photoelectric displacement sensor passes through the gap, the main beam blocks the measurement signal, so that the displacement sensor measures the predetermined distance.

[0010] As a further improved technical solution of the utility model, the two displacement sensors are respectively a first displacement sensor and a second displacement sensor, the cleaning body includes a first side and a second side, the first displacement sensor is arranged on the first side, the second displacement sensor is arranged on the second side, the distance between the first displacement sensor and the main beam is measured as a first predetermined distance, the distance between the second displacement sensor and the main beam is measured as a second predetermined distance, and the first predetermined distance is equal to the second predetermined distance.

[0011] As a further improved technical solution of the present utility model, the distance between the first displacement sensor and the second displacement sensor is greater than the distance between the first side and the second side.

[0012] As a further improved technical solution of the utility model, the cleaning body includes a first walking wheel, a first driving mechanism connected to the first walking wheel, a second walking wheel and a second driving mechanism connected to the second walking wheel, the first walking wheel and the second walking wheel are respectively arranged at both ends of the length direction of the cleaning body,

[0013] When the first side of the cleaning body moves forward, when the first displacement sensor first feeds back that the measured distance is less than the first predetermined distance, the controller controls the second drive mechanism to reduce the walking speed of the second walking wheel or controls the first drive mechanism to increase the walking speed of the first walking wheel; when the second displacement sensor first feeds back that the measured distance is less than the second predetermined distance, the controller controls the second drive mechanism to increase the walking speed of the second walking wheel or controls the first drive mechanism to reduce the walking speed of the first walking wheel;

[0014] When the second side of the cleaning body moves forward, when the first displacement sensor first feeds back that the measured distance is less than the first predetermined distance, the controller controls the second drive mechanism to increase the walking speed of the second walking wheel or controls the first drive mechanism to reduce the walking speed of the first walking wheel; when the second displacement sensor first feeds back that the measured distance is less than the second predetermined distance, the controller controls the second drive mechanism to reduce the walking speed of the second walking wheel or controls the first drive mechanism to increase the walking speed of the first walking wheel;

[0015] When the distance measured by the first displacement sensor is greater than the first predetermined distance or the distance measured by the second displacement sensor is greater than the second predetermined distance, the controller determines that the cleaning body has run to the end of the photovoltaic assembly.

[0016] As a further improved technical solution of the utility model, the photovoltaic cleaning device includes a first support and a second support, the first support includes a first connecting part and a first supporting part, the second support includes a second connecting part and a second supporting part, the first connecting part is connected to the first side of the cleaning body, the second connecting part is connected to the second side of the cleaning body, the first supporting part is bent relative to the first connecting part and extends in a direction away from the first side, the second supporting part is bent relative to the second connecting part and extends in a direction away from the second side, the first displacement sensor is connected to the first supporting part, and the second displacement sensor is connected to the second supporting part.

[0017] As a further improved technical solution of the present invention, the cleaning body includes a frame and a shell, the controller is installed in the space between the frame and the shell, and the frame includes the first side and the second side.

[0018] As a further improved technical solution of the utility model, the photovoltaic cleaning device includes a photovoltaic panel and a battery, the photovoltaic panel is connected to the battery, the battery can supply power to the cleaning body, the photovoltaic panel is connected to the frame and the photoelectric conversion area of ​​the photovoltaic panel faces outward.

[0019] As a further improved technical solution of the utility model, the cleaning body includes a first auxiliary walking wheel and a second auxiliary walking wheel, the first auxiliary walking wheel is connected to one of the first walking wheels through a first connecting rod, and the second auxiliary walking wheel is connected to the other first walking wheel through a second connecting rod, and the first auxiliary walking wheel and the second auxiliary walking wheel both travel along the photovoltaic component and cross the gap.

[0020] As a further improved technical solution of the utility model, the cleaning body includes a first guide wheel and a second guide wheel, the axis of the first guide wheel is perpendicular to the axis of the first walking wheel, and the axis of the second guide wheel is perpendicular to the axis of the second walking wheel.

[0021] Compared with the prior art, the beneficial effect of the utility model is that: the utility model arranges two displacement sensors on both sides of the cleaning body respectively. When the distance measured by at least one displacement sensor is inconsistent with the predetermined distance, the controller controls the cleaning body to adjust its action to achieve deviation correction and prevent the cleaning body from getting stuck. It can also determine whether the cleaning body has run to the end of the photovoltaic module, and the controller controls the cleaning body to stop moving or move in the opposite direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of the photovoltaic cleaning device and photovoltaic assembly of the utility model;

[0023] Figure 2 yes Figure 1 A magnified schematic diagram of the middle A area;

[0024] Figure 3 yes Figure 1 A top view of

[0025] Figure 4 yes Figure 1 A three-dimensional schematic diagram of the photovoltaic cleaning device;

[0026] Figure 5 yes Figure 4 A magnified schematic diagram of the middle B area;

[0027] Figure 6 yes Figure 4 Another angle stereoscopic diagram;

[0028] Figure 7 yes Figure 6 Enlarged schematic diagram of the middle C area;

[0029] Figure 8 yes Figure 4 Bottom view of

[0030] Fig. 9 yes Figure 8 The enlarged schematic diagram of the D area in the middle;

[0031] Fig.10 yes Figure 8 Enlarged schematic diagram of the middle E area;

[0032] Fig.11 This is a block diagram of the control system of the utility model. DETAILED DESCRIPTION

[0033] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are recorded in the claims of the present invention.

[0034] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0035] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0036] Please refer to Figures 1 to 11 As shown, the utility model discloses a photovoltaic cleaning device for cleaning a photovoltaic module 10, wherein the photovoltaic module 10 includes at least two rows of photovoltaic units 101, and a gap 102 is provided between the at least two rows of photovoltaic units 101. A main beam 20 is provided below the gap 102, i.e., the top surface 201 of the main beam 20 faces the gap 102.

[0037] See also Figures 2 to 8 The photovoltaic cleaning device includes a cleaning body 1, two displacement sensors 2 and a controller 3. The cleaning body 1 moves along the length direction of the gap 102 on the photovoltaic module 10 to clean the photovoltaic module 10. The two displacement sensors 2 are correspondingly arranged on both sides of the width direction W of the cleaning body 1 and are located above the gap 102. Both displacement sensors 2 face the gap 102. The distance between the displacement sensor 2 and the main beam 20 is measured as a predetermined distance. The controller 3 is electrically connected to each displacement sensor 2 and receives the detection signal of each displacement sensor 2. When the distance measured by at least one displacement sensor 2 is inconsistent with the predetermined distance, the controller 3 controls the cleaning body 1 to adjust the action, such as correcting the cleaning body 1. In addition to correcting the adjustment, it can also be determined whether the cleaning body 1 has run to the end of the photovoltaic module 10. In this embodiment, the distance between the displacement sensor 2 and the top surface 201 of the main beam 20 measured through the gap 102 is a predetermined distance.

[0038] See also Figure 8 The cleaning body 1 includes a frame 11 and a shell 12, the controller 3 is installed in the space between the frame 11 and the shell 12, the frame 11 includes a first side 111 and a second side 112, and the two displacement sensors 2 are correspondingly arranged on the first side 111 and the second side 112.

[0039] Continue to see Figure 8 The cleaning body 1 includes a first running wheel 13, a first driving mechanism 14 connected to the first running wheel 13, a second running wheel 15, a second driving mechanism 16 connected to the second running wheel 15, a first guide wheel 191 and a second guide wheel 192. The first running wheel 13 and the second running wheel 15 are respectively arranged at both ends of the length direction L of the cleaning body 1. Fig. 9 and Fig.10 The first driving mechanism 14 and the second driving mechanism 16 are both connected to the frame 11. The first driving mechanism 14 includes a first motor 141 and a first gear assembly. The second driving mechanism 16 includes a second motor 161 and a second gear assembly. The first motor 141 drives the first gear assembly to rotate, and the first gear assembly drives the first walking wheel 13 to rotate. The second motor 161 drives the second gear assembly to rotate, and the second gear assembly drives the second walking wheel 15 to rotate, so that the cleaning body 1 can walk along the photovoltaic assembly 10. The first motor 141 and the second motor 161 are both electrically connected to the controller 3. The structures of the first gear assembly and the second gear assembly are both prior art and are not described here.

[0040] The axis of the first guide wheel 191 is perpendicular to the axis of the first running wheel 13, and the axis of the second guide wheel 192 is perpendicular to the axis of the second running wheel 15. During the operation of the cleaning body 1, the first guide wheel 191 and the second guide wheel 192 roll along the side of the photovoltaic module 10 respectively, and play a role in limiting and guiding the operation of the cleaning body 1.

[0041] See also Figure 8 The cleaning body 1 further includes a first auxiliary walking wheel 171 and a second auxiliary walking wheel 172. Two first walking wheels 13 and two second walking wheels 15 are provided. The first auxiliary walking wheel 171 is connected to one of the first walking wheels 13 through a first connecting rod 181, and the second auxiliary walking wheel 172 is connected to the other first walking wheel 13 through a second connecting rod 182, so that the first auxiliary walking wheel 171 and the second auxiliary walking wheel 172 both walk along the photovoltaic module 10 and cross the gap 102. Along the width direction W of the cleaning body 1, the first auxiliary walking wheel 171 and the second auxiliary walking wheel 172 are located between the first side 111 and the second side 112, and the two displacement sensors 2 are located outside the first side 111 and the second side 112, that is, the first auxiliary walking wheel 171 and the second auxiliary walking wheel 172 will not block the two displacement sensors 2.

[0042] In some embodiments, the displacement sensor 2 is a photoelectric displacement sensor. When the measurement signal of the photoelectric displacement sensor passes through the gap 102, the main beam 20 blocks the measurement signal, so that the displacement sensor 2 measures the predetermined distance.

[0043] See also Figure 4The two displacement sensors 2 are respectively a first displacement sensor 2a and a second displacement sensor 2b. The first displacement sensor 2a is arranged on the first side 111, and the second displacement sensor 2b is arranged on the second side 112. The first displacement sensor 2a measures that the distance between it and the main beam 20 is a first predetermined distance, and the second displacement sensor 2b measures that the distance between it and the main beam 20 is a second predetermined distance. The first predetermined distance is equal to the second predetermined distance.

[0044] When the first side 111 of the cleaning body 1 moves forward (to the left), when the first displacement sensor 2a first feeds back that the measured distance is less than the first predetermined distance, at this time, the cleaning body 1 tilts to the right, and the controller 3 controls the second drive mechanism 16 to reduce the walking speed of the second walking wheel 15 or controls the first drive mechanism 14 to increase the walking speed of the first walking wheel 13, so as to adjust the running state of the cleaning body 1 to prevent the machine from getting stuck; when the second displacement sensor 2b first feeds back that the measured distance is less than the second predetermined distance, at this time, the cleaning body 1 tilts to the left, and the controller 3 controls the second drive mechanism 16 to increase the walking speed of the second walking wheel 15 or controls the first drive mechanism 14 to reduce the walking speed of the first walking wheel 13, so as to adjust the running state of the cleaning body 1 to prevent the machine from getting stuck.

[0045] When the second side 112 of the cleaning body 1 moves forward (to the right), when the first displacement sensor 2a first feeds back that the measured distance is less than the first predetermined distance, at this time, the cleaning body 1 tilts to the right, and the controller 3 controls the second drive mechanism 16 to increase the walking speed of the second walking wheel 15 or controls the first drive mechanism 14 to reduce the walking speed of the first walking wheel 13, so as to adjust the running state of the cleaning body 1 to prevent the machine from getting stuck; when the second displacement sensor 2b first feeds back that the measured distance is less than the second predetermined distance, at this time, the cleaning body 1 tilts to the left, and the controller 3 controls the second drive mechanism 16 to reduce the walking speed of the second walking wheel 15 or controls the first drive mechanism 14 to increase the walking speed of the first walking wheel 13, so as to adjust the running state of the cleaning body 1 to prevent the machine from getting stuck.

[0046] In this embodiment, the distance between the first displacement sensor 2a and the second displacement sensor 2b is greater than the distance between the first side 111 and the second side 112 , that is, the first displacement sensor 2a is located outside the first side 111 , and the second displacement sensor 2b is located outside the second side 112 .

[0047] Since the first displacement sensor 2a is located outside the first side 111 and the second displacement sensor 2b is located outside the second side 112, when the walking wheel of the cleaning body 1 runs to the end of the photovoltaic component 10, the first displacement sensor 2a or the second displacement sensor 2b has extended out of the photovoltaic component 10. At this time, the distance measured by the first displacement sensor 2a or the second displacement sensor 2b is the distance to the ground, the distance measured by the first displacement sensor 2a is greater than the first predetermined distance or the distance measured by the second displacement sensor 2 is greater than the second predetermined distance. The controller 3 determines that the cleaning body 1 runs to the end of the photovoltaic component 10 according to the feedback value of the first displacement sensor 2a or the second displacement sensor 2b. After that, the controller 3 can control the cleaning body 1 to stop moving or move in the opposite direction.

[0048] join Figures 4 to 7 The photovoltaic cleaning device includes a first support 4 and a second support 5. The first support 4 includes a first connection portion 41 and a first support portion 42. The second support 5 includes a second connection portion 51 and a second support portion 52. The first connection portion 41 is connected to the first side 111 of the cleaning body 1, and the second connection portion 51 is connected to the second side 112 of the cleaning body 1. Specifically, the first support portion 42 is bent relative to the first connection portion 41 and extends in a direction away from the first side 111. The second support portion 52 is bent relative to the second connection portion 51 and extends in a direction away from the second side 112. The first displacement sensor 2a is connected to the first support portion 42, and the second displacement sensor 2b is connected to the second support portion 52.

[0049] See also Figure 8 The photovoltaic cleaning device includes a photovoltaic panel 6 and a battery 7. The photovoltaic panel 6 is fixed to the frame body 11 and the photoelectric conversion area of ​​the photovoltaic panel 6 faces outward. The photovoltaic panel 6 is electrically connected to the battery 7. The battery 7 can store electrical energy and supply power to the cleaning body 1 through the battery 7 to achieve self-power supply.

[0050] The photovoltaic cleaning device includes a brush 8 , which is electrically connected to one of the first driving mechanism 14 or the second driving mechanism 16 to achieve rotation of the brush 8 , thereby cleaning the surface of the photovoltaic component 10 .

[0051] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of the present invention should be based on the technical personnel in the relevant technical field. Although the present invention has been described in detail in this specification with reference to the above implementation modes, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or make equivalent substitutions to the present invention, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A photovoltaic cleaning device for cleaning a photovoltaic module (10), wherein the photovoltaic module (10) comprises at least two rows of photovoltaic units (101), a gap (102) is provided between the at least two rows of photovoltaic units (101), a main beam (20) is provided below the gap (102), and the device is characterized in that: include: Cleaning the main body (1); Two displacement sensors (2), the two displacement sensors (2) being arranged correspondingly on both sides of the cleaning body (1) in a width direction (W) and located above the gap (102), the distance between the displacement sensor (2) and the main beam (20) being measured as a predetermined distance; as well as A controller (3) is electrically connected to each of the displacement sensors (2) and receives a detection signal from each of the displacement sensors (2); when the distance measured by at least one of the displacement sensors (2) is inconsistent with the predetermined distance, the controller (3) controls the cleaning body (1) to adjust its movement.

2. The photovoltaic cleaning device according to claim 1, characterized in that: The displacement sensor (2) is a photoelectric displacement sensor. When a measurement signal of the photoelectric displacement sensor passes through the gap (102), the main beam (20) blocks the measurement signal, so that the displacement sensor (2) measures a predetermined distance.

3. The photovoltaic cleaning device according to claim 1, characterized in that: The two displacement sensors (2) are respectively a first displacement sensor (2a) and a second displacement sensor (2b); the cleaning body (1) comprises a first side (111) and a second side (112); the first displacement sensor (2a) is arranged on the first side (111); the second displacement sensor (2b) is arranged on the second side (112); the distance between the first displacement sensor (2a) and the main beam (20) is measured as a first predetermined distance; the distance between the second displacement sensor (2b) and the main beam (20) is measured as a second predetermined distance; the first predetermined distance is equal to the second predetermined distance.

4. The photovoltaic cleaning device according to claim 3, characterized in that: The distance between the first displacement sensor (2a) and the second displacement sensor (2b) is greater than the distance between the first side (111) and the second side (112).

5. The photovoltaic cleaning device according to claim 3, characterized in that: The cleaning body (1) comprises a first running wheel (13), a first driving mechanism (14) connected to the first running wheel (13), a second running wheel (15) and a second driving mechanism (16) connected to the second running wheel (15), wherein the first running wheel (13) and the second running wheel (15) are respectively arranged at two ends of the cleaning body (1) in a length direction (L). When the first side (111) of the cleaning body (1) moves forward, when the first displacement sensor (2a) first feedbacks that the measured distance is less than the first predetermined distance, the controller (3) controls the second drive mechanism (16) to reduce the travel speed of the second travel wheel (15) or controls the first drive mechanism (14) to increase the travel speed of the first travel wheel (13); when the second displacement sensor (2b) first feedbacks that the measured distance is less than the second predetermined distance, the controller (3) controls the second drive mechanism (16) to increase the travel speed of the second travel wheel (15) or controls the first drive mechanism (14) to reduce the travel speed of the first travel wheel (13); When the second side (112) of the cleaning body (1) moves forward, when the first displacement sensor (2a) first feedbacks that the measured distance is less than the first predetermined distance, the controller (3) controls the second drive mechanism (16) to increase the walking speed of the second walking wheel (15) or controls the first drive mechanism (14) to reduce the walking speed of the first walking wheel (13); when the second displacement sensor (2b) first feedbacks that the measured distance is less than the second predetermined distance, the controller (3) controls the second drive mechanism (16) to reduce the walking speed of the second walking wheel (15) or controls the first drive mechanism (14) to increase the walking speed of the first walking wheel (13); When the distance measured by the first displacement sensor (2a) is greater than a first predetermined distance or the distance measured by the second displacement sensor (2b) is greater than a second predetermined distance, the controller (3) determines that the cleaning body (1) has run to the end of the photovoltaic assembly (10).

6. The photovoltaic cleaning device according to claim 4, characterized in that: The photovoltaic cleaning device comprises a first support (4) and a second support (5), wherein the first support (4) comprises a first connecting portion (41) and a first supporting portion (42), and the second support (5) comprises a second connecting portion (51) and a second supporting portion (52), wherein the first connecting portion (41) is connected to the first side (111) of the cleaning body (1), and the second connecting portion (51) is connected to the second side (112) of the cleaning body (1), the first supporting portion (42) is bent relative to the first connecting portion (41) and extends in a direction away from the first side (111), and the second supporting portion (52) is bent relative to the second connecting portion (51) and extends in a direction away from the second side (112), the first displacement sensor (2a) is connected to the first supporting portion (42), and the second displacement sensor (2b) is connected to the second supporting portion (52).

7. The photovoltaic cleaning device according to claim 3, characterized in that: The cleaning body (1) comprises a frame (11) and a shell (12); the controller (3) is installed in a space between the frame (11) and the shell (12); the frame (11) comprises the first side (111) and the second side (112).

8. The photovoltaic cleaning device according to claim 7, characterized in that: The photovoltaic cleaning device comprises a photovoltaic panel (6) and a battery (7), wherein the photovoltaic panel (6) is connected to the battery (7), the battery (7) is capable of supplying power to the cleaning body (1), and the photovoltaic panel (6) is connected to the frame (11), and the photoelectric conversion region of the photovoltaic panel (6) faces outward.

9. The photovoltaic cleaning device according to claim 5, characterized in that: The cleaning body (1) comprises a first auxiliary walking wheel (171) and a second auxiliary walking wheel (172); the first auxiliary walking wheel (171) is connected to one of the first walking wheels (13) via a first connecting rod (181); the second auxiliary walking wheel (172) is connected to another of the first walking wheels (13) via a second connecting rod (182); the first auxiliary walking wheel (171) and the second auxiliary walking wheel (172) both travel along the photovoltaic module (10) and cross the gap (102).

10. The photovoltaic cleaning device according to claim 9, characterized in that: The cleaning body (1) comprises a first guide wheel (191) and a second guide wheel (192), wherein the axis of the first guide wheel (191) is perpendicular to the axis of the first running wheel (13), and the axis of the second guide wheel (192) is perpendicular to the axis of the second running wheel (15).

Images