Cleaning system and photovoltaic power station

Abstract

The utility model discloses a cleaning system and a photovoltaic power station, the cleaning system comprises a flexible bridge frame, a reflecting part and a distance measuring sensor, the flexible bridge frame comprises a first fixing support and a second fixing support; the reflecting part is arranged on the first fixed bracket and is far away from a rotating shaft of the first tracking bracket system; the distance measuring sensor is arranged at the front end of the moving direction of the cleaning robot and used for transmitting signals to the reflecting part. When the angle deviation between the first tracking support system and the second tracking support system is within a preset range, the reflecting piece can reflect a transmitting signal of the distance measuring sensor to the second fixing support and can reflect a signal reflected by the second fixing support back to the distance measuring sensor; the sweeping robot stops walking in response to the fact that the reflecting part cannot reflect the transmitting signal of the distance measuring sensor to the second fixing support, so that unreliable running events of the sweeping system, such as jamming of the sweeping robot, collision of the bridge frame or falling of the robot on the ground and breaking, are avoided, and the running reliability of the sweeping system is greatly improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic cleaning technology, and more specifically, to a cleaning system and a photovoltaic power station. Background Technology

[0002] When the cleaning robot is cleaning the single-axis photovoltaic power generation system, if the flexible bridge between two adjacent tracking support systems malfunctions, such as the rotating support of the flexible bridge being tilted, and if the cleaning robot cannot effectively detect that the flexible bridge is in an abnormal position, events such as the cleaning robot getting stuck (the deviation angle exceeds the robot's passage capacity), colliding with the bridge, or the cleaning robot falling to the ground and being destroyed may occur, resulting in unreliable operation of the cleaning system.

[0003] In conclusion, improving the reliability of cleaning system operation has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, this application provides a cleaning system and a photovoltaic power station to improve the reliability of the cleaning system operation.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A cleaning system, comprising:

[0007] The flexible cable tray includes a first fixed bracket and a second fixed bracket. The first fixed bracket is disposed on the first tracking bracket system and is fixed in position relative to the first tracking bracket system. The second fixed bracket is disposed on the second tracking bracket system and is fixed in position relative to the second tracking bracket system. The first tracking bracket system and the second tracking bracket system are two adjacent tracking bracket systems arranged sequentially in the direction of movement of the cleaning robot.

[0008] The reflector is mounted on the first fixed bracket and arranged away from the rotation axis of the first tracking bracket system;

[0009] A ranging sensor is positioned at the front end of the cleaning robot in the direction of its movement and is used to transmit signals to the reflector.

[0010] When the angular deviation between the first tracking bracket system and the second tracking bracket system is within a preset range, the reflector can reflect the emitted signal of the ranging sensor to the second fixed bracket. When the angular deviation between the first tracking bracket system and the second tracking bracket system exceeds the preset range, the reflector cannot reflect the emitted signal of the ranging sensor to the second fixed bracket, and the cleaning robot stops walking in response to the reflector's inability to reflect the emitted signal of the ranging sensor to the second fixed bracket.

[0011] In some embodiments of this application, the front end of the cleaning robot in the direction of movement is provided with an extension bracket, and the ranging sensor is disposed on the extension bracket.

[0012] In some embodiments of this application, the extended support is arranged near the top of the cleaning robot, and the ranging sensor is located on the lower side of the end of the extended support.

[0013] In some embodiments of this application, the extended support is retractably mounted on the cleaning robot.

[0014] In some embodiments of this application, the extended bracket is rotatably disposed at the front end of the cleaning robot; or, the extended bracket is telescopically disposed at the front end of the cleaning robot.

[0015] In some embodiments of this application, the extended bracket is provided with an embedding groove, and the ranging sensor is disposed in the embedding groove.

[0016] In some embodiments of this application, a shielding cover disposed above the ranging sensor is also included.

[0017] In some embodiments of this application, the preset range is -4° to +4°.

[0018] In some embodiments of this application, the ranging sensor is an ultrasonic ranging sensor or an optical ranging sensor.

[0019] To improve the reliability of the cleaning system, the cleaning system provided in this application determines whether the angular deviation between the first and second tracking support systems exceeds a preset range by checking whether the signal emitted by the ranging sensor on the cleaning robot can be reflected back to the second fixed support by a reflector, and then reflected back to the ranging sensor by the second fixed support. If the reflected signal is received, it indicates that the angular deviation between the first and second tracking support systems does not exceed the preset range, and the cleaning robot moves normally. If the reflected signal is not received, it indicates that the angular deviation between the first and second tracking support systems exceeds the preset range, and the cleaning robot stops moving to avoid collisions with the rotating support. This avoids unreliable events such as the cleaning robot getting stuck, colliding with the bridge, or falling to the ground and being destroyed, greatly improving the reliability of the cleaning system.

[0020] In another aspect, this application also provides a photovoltaic power station, including a cleaning system, which is the cleaning system described in any of the above-mentioned solutions. Since the aforementioned cleaning system has the above-mentioned technical effects, the photovoltaic power station with this cleaning system should also have the corresponding technical effects, which will not be elaborated further here.

[0021] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the structure in which two adjacent tracking support systems are connected by a flexible cable tray according to an embodiment of this application;

[0024] Figure 2 A schematic diagram of the flexible cable tray from a first perspective when an angular deviation occurs between two adjacent tracking support systems provided in this application embodiment;

[0025] Figure 3 A schematic diagram of the flexible cable tray from a second perspective when there is an angular deviation between two adjacent tracking support systems provided in this application embodiment;

[0026] Figure 4 A schematic diagram showing the structure of the reflector reflecting the signal emitted by the ranging sensor to the second fixed bracket and reflecting the signal reflected by the second fixed bracket back to the ranging sensor when the angular deviation between two adjacent tracking bracket systems provided in this application embodiment is within a preset range;

[0027] Figure 5 This is a schematic diagram showing the structure of the second fixed bracket when the angular deviation between two adjacent tracking bracket systems exceeds a preset range, provided in an embodiment of this application.

[0028] in, Figures 1-5 middle:

[0029] 1- Flexible cable tray;

[0030] 11-First fixed bracket;

[0031] 12-Second fixed bracket;

[0032] 13-Telescopic bracket;

[0033] 14-Rotating bracket;

[0034] 2-Reflector;

[0035] 3-Distance sensor;

[0036] 41-First tracking support system;

[0037] 42-Second tracking bracket system;

[0038] 43 - Rotation axis;

[0039] 5. Cleaning robot;

[0040] 6-Extended support. Detailed Implementation

[0041] The core of this application is to provide a cleaning system and a photovoltaic power station to improve the reliability of the cleaning system operation.

[0042] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0043] To enable those skilled in the art to better understand the technical solutions provided by this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0044] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0045] In the prior art, referring to Figures 1-3 As shown, in a photovoltaic cleaning system, especially in a photovoltaic module cleaning system adapted to a single-axis tracking bracket system, when the rotating shaft 51 fails, i.e., the rotation angle difference between two adjacent tracking bracket systems (i.e., the first tracking bracket system 41 and the second tracking bracket system 42) is large, the flexible bridge 1 that assists the cleaning robot 5 in passing between the two adjacent tracking bracket systems adapts and deforms. That is, when the rotation angle difference between the two adjacent tracking bracket systems is large, the flexible bridge 1 will not break. When the angle between the two adjacent tracking bracket systems is restored, the flexible bridge 1 can automatically recover. It should be understood by those skilled in the art that the flexible bridge 1 includes a telescopic bracket 13 and a rotating bracket 14. When the rotation angle difference between the two adjacent tracking bracket systems is large, the telescopic bracket 13 and the rotating bracket 14 adapt and deform, thereby ensuring the connection function of the flexible bridge 1. Furthermore, the tracking bracket system specifically includes a rotating shaft 43, purlins set on the rotating shaft 43, and photovoltaic modules installed on the purlins. The flexible bridge 1 is used to connect the opposite sides of the two adjacent tracking bracket systems (i.e., the first tracking bracket system 41 and the second tracking bracket system 42).

[0046] However, when the rotation angles of two adjacent tracking bracket systems differ significantly, the corresponding rotating bracket 14 on the flexible cable tray 1 will tilt, affecting the normal passage of the cleaning robot 5. At this time, the cleaning robot 5 is obstructed by the cable tray, increasing its operating current. The cleaning robot 5 detects this abnormally high operating current and assumes the rotation angle difference between the two adjacent tracking bracket systems is abnormal, thus stopping its forward movement. However, the cleaning robot 5's detection of the abnormal angle requires it to touch and squeeze the flexible cable tray 1. The obstructive force of the flexible cable tray 1 increases the robot's operating current, inevitably causing a significant impact on the flexible cable tray 1. Prolonged exposure to this will cause irreversible damage to the flexible cable tray 1, and may even cause it to detach. Furthermore, the photovoltaic cleaning robot 5 may experience unreliable operation events such as jamming (the deviation angle exceeds the robot's passage capacity), collisions with the cable tray, or the robot falling to the ground and being destroyed.

[0047] Currently, the industry standard for cleaning robot 5 is to obtain backend data from the tracking bracket system, read the angle data of each tracking bracket system, and then guide the operation based on the angle deviation data between adjacent tracking bracket systems. However, the tracking bracket system data suffers from communication delays, data loss, and information blockage. There is a certain discrepancy between the backend data and the actual data on-site, which may provide the cleaning robot 5 with incorrect information. Under incorrect guidance, the operating strategy executed by the cleaning robot 5 may lead to safety issues.

[0048] Based on this, this application provides a cleaning system, referring to... Figures 1-5 As shown, the cleaning system specifically includes a flexible cable tray 1, a reflector 2, and a ranging sensor 3. The flexible cable tray 1 includes a first fixed bracket 11 and a second fixed bracket 12. The first fixed bracket 11 is mounted on and fixed relative to the first tracking bracket system 41. The second fixed bracket 12 is mounted on and fixed relative to the second tracking bracket system 42. The first tracking bracket system 41 and the second tracking bracket system 42 are two adjacent tracking bracket systems arranged sequentially in the direction of movement of the cleaning robot 5. Each tracking bracket system has a rotating shaft 43 to enable it to drive the photovoltaic modules mounted on it. To achieve tracking of sunlight, a single-axis tracking support system is formed. In order to adapt to changes in the angular deviation between two adjacent tracking support systems, the flexible bridge 1 also has a telescopic support 13 and a rotating support 14. Since the structure of the flexible support 1 itself is existing technology, it will not be described in detail here. The reflector 2 is set on the first fixed support 11 and is arranged away from the rotation axis 43 of the first tracking support system 41. The distance sensor 3 is set at the front end of the movement direction of the cleaning robot 5 and is used to transmit signals to the reflector 2. The cleaning robot 5 stops walking in response to the reflector 2 failing to reflect the transmitted signal of the distance sensor 3 to the second fixed support 12. Specifically, when the angular deviation between the first tracking bracket system 41 and the second tracking bracket system 42 is within a preset range, the reflector 2 can reflect the transmitted signal of the ranging sensor 3 to the second fixed bracket 12, and can also reflect the signal reflected by the second fixed bracket 12 back to the ranging sensor 3, so the cleaning robot 5 can move normally; when the angular deviation between the first tracking bracket system 41 and the second tracking bracket system 42 exceeds the preset range, the reflector 2 cannot reflect the transmitted signal of the ranging sensor 3 to the second fixed bracket 12, so the cleaning robot 5 stops moving.

[0049] In practical application, this cleaning system determines whether the angular deviation between the first tracking bracket system 41 and the second tracking bracket system 42 exceeds a preset range by checking whether the signal emitted by the ranging sensor 3 on the cleaning robot 5 can be reflected by the reflector 2 to the second fixed bracket 12 and then reflected back to the ranging sensor 3 by the second fixed bracket 12. If the reflected signal is received, it indicates that the angular deviation between the first tracking bracket system 41 and the second tracking bracket system 42 does not exceed the preset range, and the cleaning robot 5 moves normally. If the reflected signal is not received, it indicates that the angular deviation between the first tracking bracket system 41 and the second tracking bracket system 42 exceeds the preset range, and the cleaning robot 5 stops moving to avoid collision with the rotating bracket 14. This avoids unreliable events such as the cleaning robot 5 getting stuck, colliding with the bridge, or falling to the ground and being destroyed, greatly improving the reliability of the cleaning system.

[0050] It is worth mentioning that, due to the use of reflector 2, and the design of reflector 2 on the first fixed bracket 11 and arranged away from the rotation axis 43 of the first tracking bracket system 41, the second fixed bracket 12 can reflect the signal back to reflector 2 and then back to the ranging sensor 3 when the two adjacent tracking bracket systems are basically parallel. Compared with the absence of reflector 2, it can better determine whether the angular deviation between the two adjacent tracking bracket systems exceeds the preset range. Therefore, reflector 2 has an outstanding and substantial contribution to solving the technical problem of this application.

[0051] Furthermore, the aforementioned cleaning robot 5 stops moving when the distance sensor 3 receives a return signal and the distance value of the return signal is within a set value. This technical solution can be implemented through a control switch. For example, when the distance sensor 3 receives a specific return signal, i.e., the distance value of the return signal is within the set value, the control switch disconnects the drive circuit of the corresponding drive system of the cleaning robot 5, at which point the cleaning robot 5 stops moving. Alternatively, when the distance sensor 3 receives a specific return signal, i.e., the distance value of the return signal is within the set value, the control switch activates the braking system of the cleaning robot 5. In practical applications, the configuration can be selected according to actual needs; no further specific limitations are made here.

[0052] In some specific implementation plans, refer to Figure 4 and Figure 5As shown, the front end of the aforementioned cleaning robot 5 in the direction of movement can be provided with an extended bracket 6, and the ranging sensor 3 is mounted on the extended bracket 6. By designing this extended bracket 6, the cleaning robot 5 can project the signal emitted by the ranging sensor 3 onto the transmitting element 2 when it is at a certain distance from the first fixed bracket 11 of the flexible bridge 1. This allows it to determine in advance whether the rotation angle deviation between two adjacent tracking bracket systems exceeds the preset range, and more effectively avoids collisions between the cleaning robot 5 and the rotating bracket 14 on the flexible bridge 1.

[0053] In some specific implementation plans, refer to Figure 4 and Figure 5 Specifically, the aforementioned extended bracket 6 can be designed to be located near the top of the cleaning robot 5, with the ranging sensor 3 positioned at the lower end of the extended bracket 6. This design serves two purposes: firstly, it prevents the ranging sensor 3 from being damaged by rain or other sources, providing a certain degree of protection; secondly, it reduces the obstruction or interference of other components with the signals emitted by the ranging sensor 3.

[0054] In some other specific implementations, to minimize the space occupied by the cleaning robot 5 when it is not moving, the aforementioned extended bracket 6 can be designed to be retractable and mounted on the cleaning robot 5. This design minimizes the space occupied by the cleaning robot when it is not moving, such as when it is placed on a charging platform.

[0055] Specifically, the aforementioned extendable bracket 6 can be designed to be rotatably mounted on the front end of the cleaning robot 5. When space saving is required and there is no need to prevent the cleaning robot 5 from colliding with the flexible bridge 1, the extendable bracket 6 can be rotatably stored in the front end of the cleaning robot 5. Alternatively, it can be rotatably stored on the top of the cleaning robot 5. Furthermore, the aforementioned extendable bracket 6 can also be designed to be telescopically mounted on the front end of the cleaning robot 5. For example, the extendable bracket 6 can be designed as an electrically controlled telescopic rod or a manually telescopic rod. In practical applications, the appropriate storage method can be selected according to actual needs; no further specific limitations are made here.

[0056] In some other specific implementations, the aforementioned extended bracket 6 may also be provided with an embedding groove, in which the ranging sensor 3 is disposed. By designing the ranging sensor 3 within the embedding groove, a certain degree of protection can be provided for the ranging sensor 3, reducing the risk of its signal transmitting end being scratched.

[0057] In some specific implementations, the cleaning system described above may also include a shield positioned above the ranging sensor 3. This shield provides some protection for the ranging sensor 3, effectively preventing the influence of external environmental factors such as rain without affecting its normal signal transmission.

[0058] In some specific implementation plans, refer to Figure 4 As shown, the aforementioned reflector 2 can be specifically designed as a structural component with a reflective function and a planar reflective surface. Its material is not limited. Furthermore, the incident and exit angles of the signal from the ranging sensor 3 at the plane mirror are preferably both designed to be 45°. This design allows for a small angular deviation between adjacent tracking bracket systems, ensuring the signal is still reflected back to the plane mirror and returned to the ranging sensor 3 via the second fixed bracket 12. This is because the first and second fixed brackets themselves have a certain thickness in the vertical direction, thus their corresponding emission areas have a certain reflective range. It is understood that the planar design of the reflective surface of the reflector 2 is merely an example of an embodiment in this application. In practical applications, the reflective surface of the reflector 2 can also be designed as a non-planar structure, such as a convex reflective surface, a concave reflective surface, or a trapezoidal reflective surface, as long as the rotational angle deviation between adjacent tracking bracket systems is within a preset range. No further specific limitations are made here.

[0059] It should be noted that, under normal circumstances, the preset range of the rotation angle deviation between two adjacent tracking support systems can be specifically selected as -4° to +4°. Through a large number of simulation tests, it has been found that, for most cleaning robots 5, designing this preset range can ensure that the cleaning robot 5 can pass smoothly without colliding with the rotating support 14 of the flexible bridge 1.

[0060] It should also be noted that the aforementioned ranging sensor 3 can be selected as an ultrasonic ranging sensor, an optical ranging sensor, or other types of ranging sensors, as long as they can meet the ranging requirements. No further specific limitations are made here.

[0061] Furthermore, this application also provides a photovoltaic power station, including a cleaning system, wherein the cleaning system is the cleaning system described in any of the above-mentioned solutions. Since the aforementioned cleaning system has the above-mentioned technical effects, the photovoltaic power station with this cleaning system should also have the corresponding technical effects, which will not be elaborated further here.

[0062] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0063] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0064] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0065] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A cleaning system, characterized in that, include: The flexible cable tray (1) includes a first fixed bracket (11) and a second fixed bracket (12). The first fixed bracket (11) is disposed on the first tracking bracket system (41) and is fixed in position relative to the first tracking bracket system (41). The second fixed bracket (12) is disposed on the second tracking bracket system (42) and is fixed in position relative to the second tracking bracket system (42). The first tracking bracket system (41) and the second tracking bracket system (42) are two adjacent tracking bracket systems arranged sequentially in the direction of movement of the cleaning robot (5). The reflector (2) is disposed on the first fixed bracket (11) and arranged away from the rotation axis (43) of the first tracking bracket system (41); The ranging sensor (3) is located at the front end of the cleaning robot (5) in the direction of movement and is used to transmit signals to the reflector (2); When the angular deviation between the first tracking bracket system (41) and the second tracking bracket system (42) is within a preset range, the reflector (2) can reflect the emission signal of the ranging sensor (3) to the second fixed bracket (12). When the angular deviation between the first tracking bracket system (41) and the second tracking bracket system (42) exceeds the preset range, the reflector (2) cannot reflect the emission signal of the ranging sensor (3) to the second fixed bracket (12), and the cleaning robot (5) stops walking in response to the reflector (2) not being able to reflect the emission signal of the ranging sensor (3) to the second fixed bracket (12).

2. The cleaning system as described in claim 1, characterized in that, The front end of the cleaning robot (5) in the direction of movement is provided with an extension bracket (6), and the distance sensor (3) is provided on the extension bracket (6).

3. The cleaning system as described in claim 2, characterized in that, The extended bracket (6) is arranged near the top of the cleaning robot (5), and the distance sensor (3) is located on the lower side of the end of the extended bracket (6).

4. The cleaning system as described in claim 2, characterized in that, The extended bracket (6) is retractably mounted on the cleaning robot (5).

5. The cleaning system as described in claim 4, characterized in that, The extended bracket (6) is rotatably mounted at the front end of the cleaning robot (5); or, the extended bracket (6) is telescopically mounted at the front end of the cleaning robot (5).

6. The cleaning system as described in claim 2, characterized in that, The extended bracket (6) is provided with an embedding groove, and the ranging sensor (3) is disposed in the embedding groove.

7. The cleaning system as described in claim 1, characterized in that, It also includes a shielding cover disposed above the ranging sensor (3).

8. The cleaning system as described in any one of claims 1-7, characterized in that, The preset range is -4° to +4°.

9. The cleaning system as described in any one of claims 1-7, characterized in that, The ranging sensor (3) is an ultrasonic ranging sensor or an optical ranging sensor.

10. A photovoltaic power station, comprising a cleaning system, characterized in that, The cleaning system is the cleaning system as described in any one of claims 1-9.

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