Photovoltaic cleaning robot and photovoltaic system

Abstract

The utility model discloses a photovoltaic cleaning robot and a photovoltaic system, the photovoltaic cleaning robot comprises a frame, and a cleaning member, a walking wheel and a guide wheel which are arranged on the frame, the cleaning member cleans the upper surface of a photovoltaic module, the walking wheel walks along the upper surface of the photovoltaic module, the guide wheel walks along the side surface of the photovoltaic module, and the photovoltaic module is arranged on the frame. The photovoltaic cleaning robot further comprises a rotating mechanism and a sensor, the rotating mechanism is rotatably installed on the rack around the rotating center of the rotating mechanism, the sensor is fixedly installed on the rotating mechanism, and the sensor detects in the advancing direction of the photovoltaic cleaning robot and is used for detecting whether objects exist in the advancing direction of the photovoltaic cleaning robot or not and detecting the distance between the objects. According to the photovoltaic cleaning robot and the photovoltaic system, simple structure arrangement is adopted, the problem that the photovoltaic cleaning robot cannot pass through adjacent supports or is clamped due to angle difference is solved, and adaptability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of solar photovoltaic power generation, in particular to a photovoltaic cleaning robot and a photovoltaic system. Background Art

[0002] Dust on the surface of photovoltaic modules will reduce power generation, and the cleanliness of photovoltaic modules is crucial to power generation. At present, when using cleaning equipment to clean photovoltaic modules, if the next fixed bracket collapses or the tracking bracket does not run to the cleaning angle, the cleaning equipment will be stuck on the bridge and cannot pass until the power is exhausted or the fault light is on.

[0003] Therefore, it is necessary to provide a new photovoltaic cleaning robot and photovoltaic system to solve the above problems. Utility Model Content

[0004] The utility model aims to provide a photovoltaic cleaning robot and a photovoltaic system which can judge the angle of the next photovoltaic bracket to prevent the robot from being stuck on the bridge.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A photovoltaic cleaning robot comprises a frame and a cleaning member, a running wheel and a guide wheel arranged on the frame, wherein the cleaning member cleans the upper surface of a photovoltaic module, the running wheel runs along the upper surface of the photovoltaic module, and the guide wheel runs along the side surface of the photovoltaic module;

[0007] The photovoltaic cleaning robot also includes a rotating mechanism and a sensor. The rotating mechanism is rotatably mounted on the frame around its rotation center. The sensor is fixedly mounted on the rotating mechanism. The sensor detects in the direction of travel of the photovoltaic cleaning robot to detect whether there is an object in the direction of travel of the photovoltaic cleaning robot and the distance between the object and the sensor.

[0008] As a further improved technical solution of the utility model, the rotating mechanism and the sensor are symmetrically installed on both sides of the photovoltaic cleaning robot along the width direction as a group; in the direction of travel of the photovoltaic cleaning robot, the rotating mechanism and the sensor are started and the detection work is started.

[0009] As a further improved technical solution of the utility model, the rotating mechanism includes a rotating assembly and a mounting plate, the mounting plate is mounted on the frame through the rotating assembly, the sensor is fixedly mounted on the mounting plate, and the rotating assembly controls the mounting plate to drive the sensor to rotate around the rotating assembly.

[0010] As a further improved technical solution of the utility model, the photovoltaic cleaning robot includes a photovoltaic panel, which is installed on the upper part of the frame and supplies power to the photovoltaic cleaning robot, and the photoelectric conversion area of ​​the photovoltaic panel faces outward.

[0011] As a further improved technical solution of the utility model, the photovoltaic cleaning robot also includes an anti-slip structure, and the two anti-slip structures are arranged at both ends of the frame along the length direction and are arranged opposite to each other. In the height direction, the vertical distance between the anti-slip structure and the walking wheel is greater than the thickness of the photovoltaic component.

[0012] In order to achieve the above purpose, the utility model also adopts the following technical solutions:

[0013] A photovoltaic system, comprising: a photovoltaic support, a photovoltaic module, a photovoltaic cleaning robot as described in any one of the above, and a control center, wherein the photovoltaic module is mounted on the photovoltaic support, the photovoltaic cleaning robot cleans the upper surface of the photovoltaic module, and the control center controls the photovoltaic cleaning robot;

[0014] The rotating mechanism drives the sensor to rotate, and the sensor measures all distance values ​​during the rotation process and feeds back to the control center. The control center calculates the angle of the next photovoltaic bracket based on the distance value and the rotation angle of the rotating mechanism corresponding to the distance value and determines whether it can pass.

[0015] As a further improved technical solution of the utility model, the control center compares all the distance values, selects the two smallest distance values ​​c and d, and the rotation angles corresponding to the two smallest distance values ​​c and d are A and B respectively;

[0016] The control center calculates the angle difference α between the next photovoltaic bracket and the current photovoltaic bracket based on the two smallest distance values ​​c and d and the corresponding rotation angles A and B, and compares the calculated angle difference α with the angle difference β that the photovoltaic cleaning robot can pass through the two photovoltaic brackets.

[0017] As a further improved technical solution of the utility model, the photovoltaic cleaning robot is provided with at least two sensors, and the distances between the two sensors and the rotation center of the rotating mechanism are a and b respectively.

[0018] As a further improved technical solution of the utility model, the angle difference α between the next photovoltaic bracket and the current photovoltaic bracket is calculated according to the following formula:

[0019]

[0020] in,

[0021] As a further improved technical solution of the utility model, when the photovoltaic cleaning robot is provided with a sensor, the control center controls the rotating mechanism to rotate 360° around its rotation center, and the sensor measures all distance values ​​during the rotation process, selects the two smallest distance values, and calculates the angle difference between the next photovoltaic bracket and the current photovoltaic bracket in combination with the rotation angle corresponding to the rotating mechanism.

[0022] Compared with the prior art, the photovoltaic cleaning robot and photovoltaic system of the utility model have the following beneficial effects: by setting a rotating mechanism and a sensor on the photovoltaic cleaning robot, the sensor can detect whether there is an object in the direction of the photovoltaic cleaning robot to prevent collision; when the photovoltaic cleaning robot travels to the end of the current photovoltaic bracket and needs to enter the next photovoltaic bracket, the rotating mechanism is controlled to drive the sensor to rotate and the sensor feedbacks the measured distance value, and the actual angle of the next photovoltaic bracket can be calculated based on the distance value, rotation angle and other numerical values, so as to determine whether it can pass. The photovoltaic cleaning robot and photovoltaic system adopt a simple structural setting, which solves the problems of the photovoltaic cleaning robot being unable to pass through adjacent brackets or getting stuck due to angle differences, and has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of a photovoltaic cleaning robot according to a specific embodiment of the utility model;

[0024] Figure 2 This is a schematic front view of a photovoltaic cleaning robot according to a specific embodiment of the utility model;

[0025] Figure 3 for Figure 2 Schematic diagram of the enlarged structure of the A area in the middle;

[0026] Figure 4 The figure is a schematic structural diagram of a rotating mechanism and a sensor according to a specific embodiment of the utility model. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] 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.

[0030] See also Figures 1 to 4 As shown, this embodiment discloses a photovoltaic system, including a photovoltaic support, a photovoltaic module, a photovoltaic cleaning robot and a control center, wherein the photovoltaic module is mounted on the photovoltaic support, the photovoltaic cleaning robot cleans the upper surface of the photovoltaic module, and the control center is used to control the photovoltaic cleaning robot. The photovoltaic cleaning robot is provided with a rotating mechanism 5 and a sensor 6, which can determine whether there is an object in the direction of travel of the photovoltaic cleaning robot, and measure the angle of the next photovoltaic support.

[0031] See also Figure 1 and Figure 2 As shown, the photovoltaic cleaning robot includes a frame 1, a cleaning member 2, a walking wheel 3, a guide wheel 4, a rotating mechanism 5 and a sensor 6. The cleaning member 2, the walking wheel 3 and the guide wheel 4 are all arranged on the frame 1; the cleaning member 2 is arranged along the length direction of the frame 1 to clean the upper surface of the photovoltaic module; there are two groups of walking wheels 3 and they are respectively arranged at both ends along the length direction of the frame 1, and the walking wheels 3 walk along the upper surface of the photovoltaic module; the guide wheel 4 is arranged at the end of the length direction of the frame 1, and the height of the guide wheel 4 is lower than the height of the walking wheel 3, and the guide wheel 4 walks along the side surface of the photovoltaic module.

[0032] See also Figure 1 and Figure 2As shown, the photovoltaic cleaning robot also includes an anti-slip structure 8. In this embodiment, two anti-slip structures 8 are provided. The two anti-slip structures 8 are respectively arranged at the two ends of the frame 1 along the length direction and are arranged opposite to each other; further, in the height direction, the vertical distance between the anti-slip structure 8 and the walking wheel 3 is greater than the thickness of the photovoltaic module. In this way, the anti-slip structure 8 can prevent the photovoltaic cleaning robot from falling off the photovoltaic module without affecting the movement of the photovoltaic cleaning robot.

[0033] See also Figure 1 and Figure 2 As shown, in this embodiment, the photovoltaic cleaning robot is also provided with a photovoltaic panel 7, which is installed on the upper part of the frame 1, and the photoelectric conversion area of ​​the photovoltaic panel 7 faces outward. The photovoltaic panel 7 is used to absorb and convert solar energy to power the photovoltaic cleaning robot, thereby ensuring that the photovoltaic cleaning robot can operate and reducing costs.

[0034] See also Figures 1 to 4 As shown, the rotating mechanism 5 is rotatably mounted on the frame 1 around its rotation center, and the sensor 6 is fixedly mounted on the rotating mechanism 5. The rotating mechanism 5 includes a rotating assembly 51 and a mounting plate 52. The mounting plate 52 is mounted on the frame 1 through the rotating assembly 51. The sensor 6 is fixedly mounted on the mounting plate 52. The rotating assembly 51 controls the mounting plate 52 to drive the sensor 6 to rotate around the rotating assembly 51. The sensor 6 detects in the direction of travel of the photovoltaic cleaning robot to detect whether there is an object in the direction of travel of the photovoltaic cleaning robot and the distance between the object. Furthermore, the sensor 6 is mounted on one end of the mounting plate 52 relatively far away from the rotating assembly 51. In this way, when the rotating mechanism 5 drives the sensor 6 to rotate, the sensor 6 can detect a larger distance range.

[0035] In some embodiments, the rotating mechanism 5 and the sensor 6 form a group with each other, and two groups of rotating mechanisms 5 and sensors 6 are symmetrically installed on both sides of the photovoltaic cleaning robot along the width direction; in the traveling direction of the photovoltaic cleaning robot, the rotating mechanism 5 and the sensor 6 located on the traveling direction side are started and start the detection work. In this way, the photovoltaic cleaning robot can realize the front detection in the traveling direction when running back and forth.

[0036] In this embodiment, when the photovoltaic cleaning robot walks on the photovoltaic module, the sensor 6 detects whether there is an object in front and the distance value to the object. During the operation, the photovoltaic cleaning robot calculates whether it has reached the end of the current photovoltaic bracket through mileage. When the photovoltaic cleaning robot reaches the end of the current photovoltaic bracket, the control center controls the rotation mechanism 5 to rotate, and the rotation mechanism 5 drives the sensor 6 to rotate. The sensor 6 measures all the distance values ​​during the rotation process and feeds back to the control center. The control center calculates the angle of the next photovoltaic bracket based on these distance values ​​and the rotation angle of the rotation mechanism 5 corresponding to the distance value and determines whether it can pass.

[0037] In this embodiment, the initial angle state of the rotating mechanism 5 is parallel to the frame 1 and located at the three o'clock direction relative to its rotation center; the clockwise or counterclockwise rotation angle of the rotating mechanism 5 is based on the initial angle state.

[0038] Furthermore, the photovoltaic cleaning robot is provided with at least one sensor 6. In some embodiments, a single rotating mechanism 5 of the photovoltaic cleaning robot is provided with a plurality of sensors 6, and the plurality of sensors 6 and the rotation center of the rotating mechanism 5 are located on the same straight line.

[0039] In this embodiment, the control center compares all the distance values ​​measured by the sensor 6, selects the two smallest distance values ​​c and d, and the distances between the sensor 6 and the rotation center of the rotating mechanism 5 for the two smallest distance values ​​c and d are a and b respectively. The two smallest distance values ​​c and d correspond to the rotation angles of the rotating mechanism 5 during measurement A and B respectively. The control center calculates the angle difference α between the next photovoltaic bracket and the current photovoltaic bracket based on the two smallest distance values ​​c and d, the corresponding distances a and b between the sensor 6 and the rotation center of the rotating mechanism 5, and the corresponding rotation angles A and B of the rotating mechanism 5, and compares the calculated angle difference α with the angle difference β that the photovoltaic cleaning robot can pass through between the two photovoltaic brackets to determine whether the photovoltaic cleaning robot can pass through.

[0040] Furthermore, the angle difference α is calculated according to the following formula:

[0041]

[0042] in,

[0043] When the photovoltaic cleaning robot is provided with two sensors 6, the control center controls the rotating mechanism 5 to rotate clockwise and counterclockwise around its rotation center by an angle β, and the sensor 6 measures all distance values ​​during the rotation process, and obtains corresponding values ​​according to the above steps to calculate the angle difference α. In one embodiment of the present application, the photovoltaic cleaning robot can pass through the angle difference β between the two photovoltaic brackets is 20°, then the rotating mechanism 5 rotates 20° clockwise and counterclockwise around its rotation center, and the sensor 6 measures all distance values ​​during the rotation process, and obtains corresponding values ​​according to the above steps to calculate the angle difference α; if the calculated α is less than or equal to 20°, the photovoltaic cleaning robot can pass; if the calculated α is greater than 20°, the photovoltaic cleaning robot cannot pass.

[0044] When the photovoltaic cleaning robot is equipped with a sensor 6, the control center controls the rotating mechanism 5 to rotate 360° around its rotation center. The sensor 6 measures all distance values ​​during the rotation process, and calculates the angle difference α according to the corresponding values ​​obtained in the above steps; specifically, at this time, the distance between the sensor 6 with the two smallest distance values ​​c and d and the rotation center of the rotating mechanism 5 is equal, that is, a and b are equal. If the calculated α is less than or equal to β, the photovoltaic cleaning robot can pass; if the calculated α is greater than β, the photovoltaic cleaning robot cannot pass.

[0045] In summary, compared with the prior art, the photovoltaic cleaning robot and photovoltaic system of the utility model have the following advantages: by setting a rotating mechanism 5 and a sensor 6 on the photovoltaic cleaning robot, the sensor 6 can detect whether there is an object in the direction of the photovoltaic cleaning robot to prevent collision; when the photovoltaic cleaning robot travels to the end of the current photovoltaic bracket and needs to enter the next photovoltaic bracket, the rotating mechanism 5 is controlled to drive the sensor 6 to rotate and the sensor 6 feedbacks the measured distance value, and the actual angle of the next photovoltaic bracket can be calculated based on the distance value, the rotation angle and other numerical values, so as to determine whether it can pass. The photovoltaic cleaning robot and photovoltaic system adopt a simple structural setting to solve the problems of the photovoltaic cleaning robot being unable to pass through adjacent brackets or getting stuck due to angle differences, and have strong adaptability.

[0046] 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 this specification should be based on the technical personnel in the relevant technical field. Although this specification has described the present invention in detail with reference to the above embodiments, 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 robot, comprising a frame (1) and a cleaning member (2), a walking wheel (3), and a guide wheel (4) arranged on the frame (1), wherein the cleaning member (2) cleans the upper surface of a photovoltaic module, the walking wheel (3) walks along the upper surface of the photovoltaic module, and the guide wheel (4) walks along the side surface of the photovoltaic module, characterized in that: The photovoltaic cleaning robot further comprises a rotating mechanism (5) and a sensor (6); the rotating mechanism (5) is rotatably mounted on the frame (1) around its rotation center; the sensor (6) is fixedly mounted on the rotating mechanism (5); the sensor (6) detects in the direction of travel of the photovoltaic cleaning robot and is used to detect whether there is an object in the direction of travel of the photovoltaic cleaning robot and the distance between the object and the rotating mechanism (5).

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The rotating mechanism (5) and the sensor (6) are symmetrically installed on both sides of the photovoltaic cleaning robot along the width direction as a group; in the moving direction of the photovoltaic cleaning robot, the rotating mechanism (5) and the sensor (6) are started and detection work is started.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The rotating mechanism (5) comprises a rotating assembly (51) and a mounting plate (52); the mounting plate (52) is mounted on the frame (1) through the rotating assembly (51); the sensor (6) is fixedly mounted on the mounting plate (52); and the rotating assembly (51) controls the mounting plate (52) to drive the sensor (6) to rotate around the rotating assembly (51).

4. The photovoltaic cleaning robot according to claim 1, characterized in that: The photovoltaic cleaning robot comprises a photovoltaic panel (7), wherein the photovoltaic panel (7) is installed on the upper part of the frame (1) and supplies power to the photovoltaic cleaning robot, and the photoelectric conversion area of ​​the photovoltaic panel (7) faces outward.

5. The photovoltaic cleaning robot according to claim 1, characterized in that: The photovoltaic cleaning robot further comprises an anti-slip structure (8), wherein two anti-slip structures (8) are arranged at two ends of the frame (1) along the length direction and are arranged opposite to each other, and in the height direction, the vertical distance between the anti-slip structure (8) and the walking wheel (3) is greater than the thickness of the photovoltaic module.

6. A photovoltaic system, characterized in that: include: A photovoltaic support, a photovoltaic component, a photovoltaic cleaning robot according to any one of claims 1 to 5, and a control center, wherein the photovoltaic component is mounted on the photovoltaic support, the photovoltaic cleaning robot cleans the upper surface of the photovoltaic component, and the control center controls the photovoltaic cleaning robot; The rotating mechanism (5) drives the sensor (6) to rotate, and the sensor (6) measures all distance values ​​during the rotation process and feeds them back to the control center. The control center calculates the angle of the next photovoltaic bracket based on the distance value and the rotation angle of the rotating mechanism (5) corresponding to the distance value, and determines whether it can pass.

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