Photovoltaic power generation device

Abstract

The embodiments of the present description disclose a photovoltaic power generation device, comprising a plurality of photovoltaic panels and a moving track, the plurality of photovoltaic panels being arranged in a first direction, and the moving track extending in the first direction. A cleaning robot is provided on the moving track, the cleaning robot being configured to move along the moving track and clean the surfaces of the photovoltaic panels.

Description

Photovoltaic power generation equipment Technical Field

[0001] The embodiments of this specification relate to the field of photovoltaic power generation technology, and in particular to a photovoltaic power generation device. Background Art

[0002] Photovoltaic power generation is a technology that uses the photovoltaic effect to directly convert light energy into electrical energy. The main components of photovoltaic power generation equipment based on this technology include photovoltaic panels (or photovoltaic modules) and photovoltaic brackets. Photovoltaic panels can be used to receive solar radiation and generate electricity, while photovoltaic brackets are used to support photovoltaic panels.

[0003] During the actual application of photovoltaic power generation equipment, long-term exposure of photovoltaic panels will cause dust, ice, snow, debris and other materials to adhere to and accumulate on the photovoltaic panels. These adhered and accumulated materials will block the photovoltaic panels from absorbing solar radiation, resulting in a decrease in the efficiency of the photovoltaic panels in receiving solar radiation, and further resulting in a decrease in the overall efficiency of the photovoltaic power generation equipment. In order to ensure that the photovoltaic power generation equipment can continuously and stably generate electricity, a cleaning robot can be used to clean the surface of the photovoltaic panels. Since the number of photovoltaic panels that make up the photovoltaic power generation equipment is large, how to improve the cleaning efficiency of the cleaning robot on the photovoltaic panels is one of the problems that need to be solved urgently.

[0004] Based on the above reasons, this specification provides a photovoltaic power generation device, which is provided with a cleaning robot. The cleaning robot can move along the arrangement direction of multiple photovoltaic panels to clean the multiple photovoltaic panels.

[0005] Summary of the Invention

[0006] The object of the present invention is to provide a photovoltaic power generation device, comprising a plurality of photovoltaic panels and a moving track, wherein the plurality of photovoltaic panels are arranged along a first direction, the moving track extends along the first direction, and a cleaning robot is arranged on the moving track, wherein the cleaning robot is configured to move along the moving track and clean the surface of the photovoltaic panels.

[0007] In some embodiments, a power supply component is further included, which includes a charging base. The cleaning robot is provided with a charging terminal that is compatible with the charging base. When the charging terminal is paired with the charging base, the power supply component charges the cleaning robot.

[0008] In some embodiments, the power supply component includes a first power supply and a second power supply, the photovoltaic panel supplies power to the first power supply, the second power supply is a power storage device, the first power supply charges the second power supply, and the first power supply charges the cleaning robot.

[0009] In some embodiments, the first power supply and the second power supply are connected in parallel, the first power supply includes a plurality of the photovoltaic panels, and when the photovoltaic panels do not generate electrical energy, the second power supply charges the cleaning robot.

[0010] In some embodiments, the first power source is powered by a plurality of photovoltaic panels connected in series; a positive terminal is drawn out from between a first panel unit and a second panel unit in the plurality of photovoltaic panels connected in series, and a negative terminal is drawn out from between a third panel unit and a fourth panel unit in the plurality of photovoltaic panels connected in series; the positive terminal and the negative terminal are connected to the first power source.

[0011] In some embodiments, there are multiple charging bases, and the multiple charging bases are arranged at intervals along the first direction.

[0012] In some embodiments, the charging base includes a wireless energy transmitting coil, and the charging terminal includes a wireless energy receiving coil. When the charging terminal is paired with the charging base, the wireless energy transmitting coil and the wireless energy receiving coil realize contactless energy transmission.

[0013] In some embodiments, a cleaning brush is provided on one side of the cleaning robot close to the charging end, and the cleaning brush can clean the charging base.

[0014] In some embodiments, a side of each photovoltaic panel is provided with a sub-track extending along the first direction, a plurality of the sub-tracks constitute the motion track, and at least one of the sub-tracks is retractable.

[0015] In some embodiments, it also includes a controller, a photovoltaic bracket and a bracket drive assembly, the photovoltaic panel is rotatably connected to the photovoltaic bracket, the controller is communicatively connected to the bracket drive assembly, and the controller is configured to control the bracket drive assembly to drive the photovoltaic panel to rotate relative to the photovoltaic bracket.

[0016] In some embodiments, before the cleaning robot cleans the photovoltaic panel, the controller is further configured to control the support driving assembly to drive the plurality of photovoltaic panels arranged along the first direction to rotate to a first inclination angle.

[0017] In some embodiments, when it is detected that the inclination angle of at least one of the photovoltaic panels is a second inclination angle different from the first inclination angle, the controller is also configured to control the bracket drive assembly to drive all the photovoltaic panels adjacent to the photovoltaic panel corresponding to the second inclination angle to rotate to the second inclination angle.

[0018] In some embodiments, after the cleaning robot moves to the photovoltaic panel adjacent to the photovoltaic panel corresponding to the second inclination angle, the controller is further configured to control the bracket driving assembly to drive the photovoltaic panel corresponding to the cleaning robot to rotate to the first inclination angle.

[0019] In some embodiments, the cleaning robot is provided with a tilt detection component, and the tilt detection component is configured to detect the tilt of the photovoltaic panel on the moving path of the cleaning robot.

[0020] In some embodiments, the cleaning robot is further provided with an obstacle surmounting component, and the obstacle surmounting component is configured to lift the cleaning robot.

[0021] In some embodiments, the photovoltaic power generation equipment also includes multiple first signal transmission components, which are arranged on the photovoltaic bracket, and the first signal transmission components are arranged in a one-to-one correspondence with the photovoltaic panels; the controller includes multiple sub-controllers, each of the sub-controllers is respectively communicated with one of the driving components and one of the first signal transmission components; the cleaning robot is provided with a second transmission component, and the second signal transmission component is respectively communicated with the controller and the second signal transmission component.

[0022] In some embodiments, the first signal transmission component and the second signal transmission component are communicatively connected via short-range wireless communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] This specification will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same numbers represent similar structures, wherein:

[0024] FIG1 is a schematic diagram of a module of a photovoltaic power generation device according to some embodiments of this specification;

[0025] FIG2 is a top view of a photovoltaic power generation device according to some embodiments of this specification;

[0026] FIG3 is a side view of a photovoltaic power generation device according to some embodiments of the present specification;

[0027] FIG4 is a schematic structural diagram of a photovoltaic power generation device according to some embodiments of this specification;

[0028] FIG5 is a schematic structural diagram of a photovoltaic power generation device according to some embodiments of this specification at another angle;

[0029] FIG6 is a circuit diagram of a power supply component of a photovoltaic power generation device according to some embodiments of this specification;

[0030] FIG7 is a schematic structural diagram of a first power source of a photovoltaic power generation device according to some embodiments of this specification;

[0031] FIG8 is a schematic diagram of a charging position of a photovoltaic power generation device according to some embodiments of this specification;

[0032] FIG9 is a schematic diagram of two adjacent photovoltaic panels with different inclination angles according to some embodiments of this specification;

[0033] FIG10 is a schematic diagram showing the first photovoltaic panel after adjusting its inclination angle to a second inclination angle according to some embodiments of this specification;

[0034] FIG11 is a schematic diagram showing the adjustment of the inclination angle of the first photovoltaic panel from the second inclination angle to the first inclination angle according to some embodiments of this specification;

[0035] FIG12 is a schematic diagram of the communication principle of a photovoltaic power generation device according to some embodiments of this specification. DETAILED DESCRIPTION

[0036] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without paying any creative work. It should be understood that these exemplary embodiments are provided only to enable technicians in the relevant fields to better understand and implement the present invention, and are not intended to limit the scope of the present invention in any way. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0037] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment". The relevant definitions of other terms will be given in the following description.

[0038] Photovoltaic power generation is a technology that uses the photovoltaic effect to directly convert light energy into electrical energy. Photovoltaic power generation equipment based on this technology can include photovoltaic panels and photovoltaic brackets. Photovoltaic panels are used to receive solar radiation, and photovoltaic brackets are used to support photovoltaic panels.

[0039] In the actual use of photovoltaic power generation equipment, the prolonged exposure of photovoltaic panels can cause dust, ice, snow, and other debris to adhere to and accumulate on the surface of the photovoltaic panels. These adhered and accumulated materials will block the photovoltaic panels, thereby affecting the photovoltaic panels' absorption of solar radiation, resulting in a decrease in the photovoltaic panels' efficiency and, in turn, a decrease in the overall efficiency of the photovoltaic power generation equipment. To ensure that photovoltaic power generation equipment can continuously and stably generate electricity, cleaning robots can be used to clean the surface of the photovoltaic panels. Due to the large number of photovoltaic panels in photovoltaic power generation equipment, improving the cleaning efficiency of cleaning robots is currently a pressing issue.

[0040] In order to solve the above problems, this specification provides a photovoltaic power generation device, which is provided with a cleaning robot. The cleaning robot can move along the arrangement direction of multiple photovoltaic panels to clean the multiple photovoltaic panels.

[0041] FIG1 is a schematic diagram of a module of a photovoltaic power generation device according to some embodiments of the present specification; FIG2 is a top view of a photovoltaic power generation device according to some embodiments of the present specification; FIG3 is a side view of a photovoltaic power generation device according to some embodiments of the present specification; FIG4 is a schematic diagram of the structure of a photovoltaic power generation device according to some embodiments of the present specification; and FIG5 is a schematic diagram of the structure of a photovoltaic power generation device according to some embodiments of the present specification from another angle. In some embodiments, as shown in FIG1-FIG5 , the photovoltaic power generation device 100 includes a plurality of photovoltaic panels 11 and a moving track 12, wherein the plurality of photovoltaic panels 11 are arranged along a first direction, the moving track 12 extends along the first direction, and a cleaning robot 13 is provided on the moving track 12, and the cleaning robot 13 is configured to move along the moving track 12 and clean the surface of the photovoltaic panel 11. The first direction can be represented by the arrow X in FIG2 .

[0042] In this embodiment, since multiple photovoltaic panels 11 are arranged along the first direction and the moving track 12 also extends along the first direction, when the cleaning robot 13 moves along the moving track 12, it can clean the multiple photovoltaic panels 11 arranged along the first direction, thereby ensuring the photovoltaic panels 11's absorption effect on solar radiation.

[0043] In some embodiments, a cleaning device is provided on the cleaning robot 13. The cleaning device may include executive components 131 such as brushes, roller brushes, fans, and vacuum cleaners, as well as driving components for driving the executive components. During the operation of the cleaning robot 13, the driving component drives the executive components 131 to work, for example, blowing, vacuuming, rolling roller brushes, rotating brushes, and other operations, thereby cleaning the surface of the photovoltaic panel 11.

[0044] In some embodiments, the photovoltaic power generation device 100 further includes a photovoltaic support 14, which can be used to support the photovoltaic panel 11. The plurality of photovoltaic panels 11 can be arranged along the length direction (first direction) of the photovoltaic support 14. For example, as shown in FIG2 , the plurality of photovoltaic panels 11 are arranged in a row on the photovoltaic support 14. For another example, the plurality of photovoltaic panels 11 can be arranged in multiple rows on the photovoltaic support 14. In some embodiments, the photovoltaic panel 11 can be fixed relative to the photovoltaic support 14, that is, the inclination angle of the photovoltaic panel 11 cannot be adjusted. In some embodiments, the photovoltaic panel 11 can be rotated relative to the photovoltaic support 14, that is, the inclination angle of the photovoltaic panel 11 is adjustable. For example, as shown in FIG3 , the photovoltaic support 14 is provided with a rotating shaft 141, which can rotate about its own axis. The photovoltaic panel 11 is provided on the rotating shaft 141. By driving the rotating shaft 141 to rotate, the inclination angle of the photovoltaic panel 11 can be adjusted. For more details about the photovoltaic support 14, please refer to FIG2-FIG5, FIG8-FIG11 and the description of its embodiments.

[0045] In some embodiments, the photovoltaic power generation device 100 further includes a power supply component 15, which can be combined with the photovoltaic panel 11 and the power storage device to power multiple components and assemblies of the photovoltaic power generation device 100. For example, the power supply component 15 can charge the cleaning robot 13. For another example, the power supply component 15 can be used to power a driving component that drives the photovoltaic panel 11 to rotate (for example, the bracket driving component 19 described later). In some embodiments, the power supply component 15 may include a wireless charging component, and the power supply component 15 can use the wireless charging component to charge the cleaning robot 13 through wireless transmission. For more details about the power supply component 15, please refer to Figures 6-7 and the description of its embodiments.

[0046] In some embodiments, the photovoltaic power generation device 100 further includes a drive assembly that can be used to drive the corresponding components and assemblies of the photovoltaic power generation device 100 to move. In some embodiments, the drive assembly can include a linear drive assembly 16 that can be used to drive the cleaning robot 13 to move along a first direction relative to the motion track 12. In some embodiments, the drive assembly can include a bracket drive assembly 19 that can be used to rotate the photovoltaic panel 11, thereby adjusting the inclination angle of the photovoltaic panel 11. For more details about the drive assembly, please refer to the description of other embodiments in this specification.

[0047] In some embodiments, photovoltaic power generation device 100 may further include a position detection component 17, which may be used to detect the position of cleaning robot 13 on motion track 12. In some embodiments, based on the position and charging location of cleaning robot 13 determined by position detection component 17, cleaning robot 13 may be directed to the nearest charging location for charging. For more details about position detection component 17, please refer to the description of other embodiments in this specification.

[0048] In some embodiments, the photovoltaic power generation device 100 may include a controller 18, which may be used to collect corresponding information from various components and assemblies of the photovoltaic power generation device 100, and send relevant control commands to various components and assemblies of the photovoltaic power generation device 100 based on the collected information, thereby achieving the normal operation of the photovoltaic power generation device 100. For example, the controller 18 can adjust the inclination angle of the photovoltaic panel 11 through the bracket drive component 19. For another example, the controller 18 can obtain the remaining power of the cleaning robot 13 from the cleaning robot 13, and determine whether to charge the cleaning robot 13 based on the remaining power. For more details about the controller 18, please refer to the description of other embodiments of this specification (for example, Figure 12).

[0049] In some embodiments, the photovoltaic power generation device 100 may include a tilt detection assembly 20, which can be used to detect the tilt of the photovoltaic panel 11 in the movement path of the cleaning robot 13. The tilt detection assembly 20 can be installed on the cleaning robot 13, the photovoltaic panel 11, and / or the photovoltaic support 14. In some embodiments, the tilt detection assembly 20 can be in communication with the controller 18, so that the controller 18 can obtain the tilt of the photovoltaic panel 11 in the movement path of the cleaning robot 13 and adjust the tilt of the photovoltaic panel 11. For more details about the tilt detection assembly 20, please refer to the description of other embodiments in this specification.

[0050] In some embodiments, the cleaning robot 13 is further equipped with an obstacle surmounting assembly 21. This assembly is configured to help the cleaning robot 13 overcome obstacles encountered during movement, such as the tilt difference between two photovoltaic panels 11. In some embodiments, the obstacle surmounting assembly 21 may include a lifting mechanism that can be used to elevate the cleaning robot 13, thereby increasing its height and helping the cleaning robot 13 overcome obstacles encountered during movement. For more details about the obstacle surmounting assembly 21, please refer to the description of other embodiments in this specification.

[0051] In some embodiments, the photovoltaic power generation device 100 may further include a communication component 22. The various components and assemblies of the photovoltaic power generation device 100 can communicate via the communication component 22 to achieve information exchange. For example, information exchange can occur between the controller 18 and the photovoltaic support 14. Another example is information exchange between the controller 18 and the cleaning robot 13. Another example is information exchange between the cleaning robot 13 and the photovoltaic support 14. For more details about the communication component 22, see FIG. 12 and the description of its embodiments.

[0052] In some embodiments, the photovoltaic power generation device 100 may further include a background monitoring component 23, which can exchange information with the controller 18, the photovoltaic rack 14, and the cleaning robot 13. The communication component 22 can transmit control commands sent by the controller 18, photovoltaic rack information, and cleaning robot 13 information to the background monitoring component 23, so that the background monitoring component 23 can monitor the various components of the photovoltaic power generation device 100. For more details about the background monitoring component 23, please refer to the description of other embodiments in this specification.

[0053] In some embodiments, the photovoltaic power generation device 100 further includes a power supply assembly 15, which includes a charging base 151. The cleaning robot 13 is provided with a charging terminal 152 that is compatible with the charging base 151. When the charging terminal 152 is paired with the charging base 151, the power supply assembly 15 charges the cleaning robot 13. Pairing the charging terminal 152 with the charging base 151 means that the charging terminal 152 and the charging base 151 are connected wirelessly or wired to achieve energy transmission. In some cases, after the power supply assembly 15 is provided, the cleaning robot 13 can be charged during breaks in the work or when the cleaning robot 13 is not working, ensuring that the cleaning robot 13 has sufficient power and improving the working efficiency of the cleaning robot 13. In addition, charging the cleaning robot 13 through the power supply assembly 15 of the photovoltaic power generation device 100 itself eliminates the need for the cleaning robot 13 to install additional batteries, effectively reducing the cost of the photovoltaic power generation device 100, reducing the space occupied by the cleaning robot 13, and streamlining the structure of the photovoltaic power generation device 100.

[0054] Figure 6 is a circuit diagram of a power supply assembly for a photovoltaic power generation device according to some embodiments of the present disclosure; Figure 7 is a schematic diagram of the structure of a first power supply for a photovoltaic power generation device according to some embodiments of the present disclosure. In some embodiments, as shown in conjunction with Figures 1, 6, and 7, the power supply assembly 15 includes a first power supply 153 and a second power supply 154. The photovoltaic panel 11 supplies power to the first power supply 153, and the second power supply 154 is a power storage device, which the first power supply 153 charges. In some embodiments, the first power supply 153 and the second power supply 154 are connected in parallel. The first power supply 153 includes multiple photovoltaic panels 11. When the photovoltaic panels 11 are not generating power (for example, at night), the second power supply 154 charges the cleaning robot 13. By way of example only, the power output terminal D2 of the first power supply 153 and the energy storage output terminal S2 of the second power supply 154 are both electrically connected to the support drive assembly 19. The power output terminal D2 of the first power supply 153 is also electrically connected to the energy storage input terminal S1 of the second power supply 154.

[0055] In some embodiments, the photovoltaic panel 11 can charge the second power source 154, power the drive assembly (e.g., the support drive assembly 19), and / or the cleaning robot 13. In some embodiments, the photovoltaic panel 11 can charge the second power source 154 and / or power the support drive assembly 19 during daytime hours when the first power source 153 is in a light-load state. For example, during daytime hours when the first power source 153 is in a light-load state, the photovoltaic panel 11 can supply electrical energy to the first power source 153 through the power input terminal D1 of the first power source 153, and transmit the electrical energy to the energy storage input terminal S1 of the second power source 154 through the power output terminal D2 of the first power source 153 for storage in the second power source 154; and / or supply electrical energy to the first power source 153 through the power input terminal D1 of the first power source 153, and transmit the electrical energy to the support drive assembly 19 through the power output terminal D2 of the first power source 153.

[0056] In some embodiments, the second power source 154 can power the support drive assembly 19 and / or the cleaning robot 13. For example, the second power source 154 can power the support drive assembly 19 at night and / or when needed. For another example, at night, when the charging base 151 is paired with the charging terminal 152, the second power source 154 transmits power from the charging base 151 to the charging terminal 152, thereby charging the support drive assembly 19. In some embodiments, the second power source 154 can also independently power the support drive assembly 19 during the day. For example, if the first power source 153 fails, the second power source 154 can be used to power the support drive assembly 19. In some embodiments, the second power source 154 can be used together with the first power source 153 to power the support drive assembly 19 and / or the cleaning robot 13. For example, if the support drive assembly 19 requires a large output torque, the second power source 154 and the first power source 153 can be used to power the support drive assembly 19.

[0057] The light load state and heavy load state of the first power supply 153 can be determined by the output of the first power supply 153 or by the working condition of the connected load device (such as the bracket drive component 19 and the cleaning robot 13). Please refer to the relevant description below for details:

[0058] In some embodiments, the light load state of the power supply may refer to the load parameter of the first power supply 153 being less than the first load threshold. Correspondingly, the heavy load state of the power supply may refer to the load parameter of the first power supply 153 being greater than the second load threshold. The load threshold may be an absolute value related to power. For example, the load threshold may be 32W. The load threshold may also be the ratio of the current load parameter (such as the current power) to the maximum load parameter that can be tolerated (such as the rated power) (for example, the load threshold may be 70%, 50%, etc.). At this time, it can be considered that the first power supply 153 is in a light load state when the current power is below 70% of the rated power.

[0059] In some embodiments, the power required to charge the cleaning robot 13 is significantly less than the power required to operate the support drive assembly 19. Therefore, the light-load state of the first power source 153 may also refer to the output torque of the support drive assembly 19 being less than a first torque threshold. Accordingly, the heavy-load state of the first power source 153 may refer to the output torque of the support drive assembly 19 being greater than or equal to a second torque threshold. When the forces acting on the photovoltaic panel 11 (including wind, rain, and / or the gravity of accumulated snow and sand) are significant (e.g., greater than the first force threshold), the support drive assembly 19 needs to output a greater torque (e.g., a torque greater than or equal to the torque threshold) to resist the forces acting on the photovoltaic panel 11. In this case, the first power source 153 is in a heavy-load state. Conversely, when the forces acting on the photovoltaic panel 11 are less (e.g., less than the second force threshold), the support drive assembly 19 only needs to output a smaller torque to resist the forces acting on the photovoltaic panel 11. In this case, the first power source 153 is in a light-load state.

[0060] The above-mentioned load threshold and torque threshold can be system default values, experience values, manually preset values, etc. or any combination thereof, and can be set according to actual needs. This manual does not impose any restrictions on this.

[0061] It should be noted that due to the low probability of severe weather, the photovoltaic panel 11 is not subjected to forces greater than the first force threshold during most of the daytime (e.g., 95% of the time), meaning that the first power source 153 is typically in a light-loaded state during the daytime. During the nighttime, the angle of the photovoltaic panel 11 can be adjusted to a safe angle, at which point the photovoltaic panel 11 is substantially free of forces greater than the first force threshold, meaning that the first power source 153 is typically in a light-loaded state during the nighttime. However, since the photovoltaic panel 11 cannot generate electricity at nighttime, the second power source 154 is typically used to power the support drive assembly 19 and / or the cleaning robot 13 during the nighttime.

[0062] In some cases, by setting up a parallel connection scheme for the first power supply 153 and the second power supply 154, both the second power supply 154 and the first power supply 153 can power the load equipment (such as the bracket drive assembly 19 and the cleaning robot 13), ensuring that the load equipment can operate stably and reducing the load operation's dependence on the second power supply 154. This effectively avoids the frequent charging and discharging of the second power supply 154 when the first power supply 153 and the second power supply 154 are connected in series, thereby extending the service life of the second power supply 154. In addition, by electrically connecting the power output of the first power supply 153 to the energy storage input terminal of the second power supply 154, the second power supply 154 can also be charged, storing the excess power generated by the photovoltaic panel 11, and effectively improving energy utilization.

[0063] In some embodiments, the energy storage device includes a battery and / or a capacitor. For example, the energy storage device includes various types such as flow batteries, lithium-ion batteries, sodium-sulfur batteries, fuel cells, and supercapacitors (supercapacitor ultracapacitors). Preferably, the energy storage device can be a supercapacitor. A supercapacitor is a new type of energy storage device that has the characteristics of short charging time, long service life, good temperature characteristics, energy saving, and green environmental protection. The differences between supercapacitors and ordinary capacitors include: (1) First, the difference in capacity. The capacity of ordinary capacitors is usually in the microfarad level, while the capacity of supercapacitors is in farads, with 1 farad = 1 million microfarads; (2) Supercapacitors have good power characteristics and can be charged and discharged quickly with large currents. The power density is more than dozens of times that of lithium-ion batteries, the charging and discharging time is short, the charging circuit requirements are simple, and there is no memory effect; (3) Supercapacitor charging and discharging is a physical process, so the life is longer, and the number of cycle charge and discharge reaches 500,000 to 1 million times; battery energy storage is an electrochemical reaction process, so the number of battery charge and discharge times is limited. For example, the charge and discharge cycle of a lead-acid battery is 500 times, and that of a lithium battery is 500 to 1000 times. The number of charge and discharge cycles of different types of batteries is different; (4) The operating temperature range of supercapacitors is wider, from -40°C to +70°C, while ordinary batteries can basically not discharge electricity or can only discharge very little electricity below zero degrees.

[0064] In some cases, using supercapacitors as energy storage devices can effectively improve charging and discharging efficiency. Supercapacitors have a long lifespan, making them suitable for replacing existing battery energy storage solutions in products that require a long lifespan, are difficult to maintain, or are expensive, thereby significantly improving product performance and reducing user costs. Supercapacitors also have a wider operating temperature range, allowing them to operate normally even in severe weather conditions, effectively ensuring the normal operation of photovoltaic power generation equipment in such conditions.

[0065] In some embodiments, the power supply component 15 also includes a DC / DC converter (i.e., a DC chopper), and the energy storage output terminal S2 of the second power supply 154 can be electrically connected to the load through the DC / DC converter. The DC / DC converter stabilizes the current output by the power supply component 15 at a certain value to maintain the normal operation of the load.

[0066] In some embodiments, as shown in conjunction with FIG1 and FIG7 , the first power source 153 is powered by a plurality of photovoltaic panels 11 connected in series. A positive terminal 155 is drawn between the first panel unit 11-1 and the second panel unit 11-2 of the plurality of photovoltaic panels 11 connected in series, and a negative terminal 156 is drawn between the third panel unit 11-3 and the fourth panel unit 11-4 of the plurality of photovoltaic panels 11 connected in series. The positive terminal 155 and the negative terminal 156 are connected to the first power source 153. By connecting the positive terminal 155 and the negative terminal 156 to the first power source 153, the first power source 153 can draw power from the photovoltaic panels 11. The first panel unit 11-1, the second panel unit 11-2, the third panel unit 11-3 and the fourth panel unit 11-4 are arranged in series, and the positions of the first panel unit 11-1 and the second panel unit 11-2 are adjacent (adjacent here means that, on the premise that the four photovoltaic panels 11 of the first panel unit 11-1, the second panel unit 11-2, the third panel unit 11-3 and the fourth panel unit 11-4 are kept connected in series in sequence, other photovoltaic panels 11 other than the first panel unit 11-1 and the second panel unit 11-2 can also be connected in series between the first panel unit 11-1 and the second panel unit 11-2), and the positions of the third panel unit 11-3 and the fourth panel unit 11-4 are adjacent (the adjacent positions here are similar to the above). It should be noted that when configuring the first panel unit 11-1, the second panel unit 11-2, the third panel unit 11-3, and the fourth panel unit 11-4, it is necessary to ensure that the potential between the two photovoltaic panels 11 of the first panel unit 11-1 and the second panel unit 11-2 is higher than the potential between the two photovoltaic panels 11 of the third panel unit 11-3 and the fourth panel unit 11-4. The positive terminal 155 and the negative terminal 156 can be connected to the power input and power output of the first power supply 153, respectively. When the photovoltaic panel 11 is exposed to light, the electrical energy generated by the photovoltaic panel 11 flows from the positive terminal 155 to the power input of the first power supply 153, thereby powering the first power supply 153. Furthermore, the electrical energy flows from the power output of the first power supply 153 and flows into the negative terminal 156. In this way, the first power supply 153 draws power from the photovoltaic panel 11.

[0067] In some embodiments, the photovoltaic panel 11 includes a first three-way connector 1571 and a second three-way connector 1572, the first three-way connector 1571 includes two first positive ports and one first negative port, and the second three-way connector 1572 includes two second negative ports and one second positive port; the first positive port and the first negative port of the first three-way connector 1571 are respectively connected to the first panel unit 11-1 and the second panel unit 11-2, and the other first positive port serves as the positive terminal 155; the second positive port and the second negative port of the second three-way connector 1572 are respectively connected to the third panel unit 11-3 and the fourth panel unit 11-4, and the other second negative port serves as the negative terminal 156.

[0068] During the actual installation process, due to the lack of experience of the installer, it is easy to connect the first three-way connector 1571 and the second three-way connector 1572 to the positive terminal 155 and the negative terminal 156 of the first power supply 153, and the first power supply 153 cannot work normally.

[0069] In some embodiments, the power supply assembly 15 includes a positive electrode interface 1581 and a negative electrode interface 1582. Positive electrode interface 1581 and negative electrode interface 1582 are connected to the first power source 153 via a rectifier bridge 1583. Positive electrode interface 1581 is connected to either the positive terminal 155 or the negative terminal 721, while negative electrode interface 1582 is connected to the other of the positive terminal 155 and the negative terminal 156. Electrons flow from positive electrode interface 1581 into the first power source 153 and out of negative electrode interface 1582, forming an electric current.

[0070] The rectifier bridge 1583 is a device for converting alternating current into direct current. In this embodiment, the rectifier bridge 1583 can convert the polarity of the voltage (such as converting a negative voltage into a positive voltage). Specifically, the rectifier bridge 1583 can have four pins, including a positive pin, a negative pin, and two AC pins. The positive pin can be connected to the positive electrode of the first power supply 153, the negative pin can be connected to the negative electrode of the first power supply 153, and the two AC pins can be connected to the positive interface 1581 and the negative interface 1582 respectively.

[0071] In some cases, the photovoltaic panel 11 is connected to the first power source 153 through the rectifier bridge 1583, which can change the polarity of the voltage to form a complete path, effectively ensuring that the photovoltaic panel 11 can normally supply power when the positive and negative poles are connected in reverse.

[0072] In some embodiments, the power supply assembly 15 further includes a fuse, and the positive electrode interface 1581 can be connected to the first power source 153 via the fuse. For example, the positive electrode interface 1581 can be connected to the rectifier bridge 1583 via the fuse, and then connected to the first power source 153. The fuse can be a type such as an MC4 fuse. When the output current exceeds a specified value for a period of time, the fuse can generate heat to melt the fuse element, disconnecting the circuit and providing circuit overload / overcurrent protection.

[0073] FIG8 is a schematic diagram of the charging position of a photovoltaic power generation device according to some embodiments of the present specification. In some embodiments, in combination with FIG1 to FIG5 and FIG8 , the charging stand 151 can be set on the motion track 12. For example, when the charging stand 151 can be set on the motion track 12, the charging terminal 152 can be set on the side of the cleaning robot 13 close to the motion track 12. When the cleaning robot 13 moves along the motion track 12 and approaches the charging terminal 152, the charging terminal 152 can be paired with the charging stand 151, thereby charging the cleaning robot 13. Close means that the distance between the charging terminal 152 and the charging stand 151 is less than a preset distance. For example, the preset distance can be 1 cm, 3 cm, 5 cm, etc.

[0074] In some embodiments, the charging station 151 can be mounted on the photovoltaic support 14. For example, the charging station 151 can be mounted on the rotating shaft 141 of the photovoltaic support 14, and the charging terminal 152 can be mounted on a side of the cleaning robot 13 near the rotating shaft 141. When the cleaning robot 13 moves along the motion track 12 and approaches the rotating shaft 141 where the charging terminal 152 is located, the charging terminal 152 can mate with the charging station 151, thereby charging the cleaning robot 13.

[0075] In some embodiments, the charging station 151 can be mounted on the photovoltaic panel 11. For example, the charging station 151 can be mounted on the surface of the photovoltaic panel 11 (as shown in FIG8 ), and the charging terminal 152 can be mounted on the side of the cleaning robot 13 corresponding to the photovoltaic panel 11. After the cleaning robot 13 finishes cleaning the photovoltaic panel 11, the charging station 151 can be paired with the charging terminal 152 without significantly moving the cleaning robot 13, thereby charging the cleaning robot 13.

[0076] In some embodiments, there can be only one charging base 151. When the cleaning robot 13 needs to be charged, the cleaning robot 13 can be controlled to move to the position of the charging base 151 (i.e., the charging position) so that the charging terminal 152 is paired with the charging base 151, thereby charging the cleaning robot 13. As an example only, the charging base 151 can be set at a certain position of the photovoltaic support 14, and the controller 18 can obtain the remaining power of the cleaning robot 13. When the controller 18 detects that the remaining power of the cleaning robot 13 is low, the operating mode of the cleaning robot 13 can be adjusted to the charging mode, and the cleaning robot 13 can be controlled to move to the position of the charging base 151 to charge the cleaning robot 13.

[0077] In some embodiments, there are multiple charging stations 151, and the multiple charging stations 151 are spaced apart along the first direction. As an example only, as shown in FIG8 , there are three charging stations 151, each located on three photovoltaic panels 11. When the controller 18 detects that the remaining power of the cleaning robot 13 is low, the controller 18 can control the cleaning robot 13 to move to the nearest charging station 151 for charging based on the current position of the cleaning robot 13 and the distance between the charging stations 151.

[0078] In some cases, by setting up multiple charging seats 151, when the cleaning robot 13 needs to be charged, the cleaning robot 13 can be controlled to move to the nearest charging seat 151 for charging, which can make charging of the cleaning robot 13 more convenient and improve charging efficiency.

[0079] In some application scenarios, the charging seat 151 may come into contact with dust, debris, ice and snow and other materials. If it is not cleaned for a long time, dust, debris, ice and snow and other materials may cover the charging seat 151, affecting the pairing of the charging seat 151 and the charging terminal 152, thereby reducing the charging efficiency of the power supply component 15 for the cleaning robot 13.

[0080] In some embodiments, a cleaning brush is provided on one side of the cleaning robot 13 near the charging terminal 152, and the cleaning brush can clean the charging base 151. The cleaning brush can clean dust, debris, snow, and other materials near the charging base 151, thereby cleaning the charging base 151 and ensuring the energy transmission efficiency between the charging base 151 and the charging terminal 152.

[0081] In some embodiments, the power supply component 15 can supply power to the cleaning robot 13 through wireless transmission. Exemplary wireless transmission methods include electromagnetic induction transmission, magnetic field resonance transmission, and radio wave transmission. This specification takes electromagnetic induction transmission as an example. The charging seat 151 includes a wireless energy transmitting coil 1591, and the charging terminal 152 includes a wireless energy receiving coil 1592. When the charging terminal 152 is paired with the charging seat 151, the wireless energy transmitting coil 1591 and the wireless energy receiving coil 1592 realize non-contact energy transmission. Among them, when the charging terminal 152 is paired with the charging seat 151, the axial direction of the wireless energy transmitting coil 1591 and the wireless energy receiving coil 1592 can be parallel, so that the wireless energy transmitting coil 1591 and the wireless energy receiving coil 1592 realize non-contact energy transmission.

[0082] In some cases, after the wireless energy transmitting coil 1591 and the wireless energy receiving coil 1592 are set, when current is passed through the wireless energy transmitting coil 1591, a magnetic field can be generated, which in turn generates current in the wireless energy receiving coil 1592, achieving contactless energy transmission between the wireless energy transmitting coil 1591 and the wireless energy receiving coil 1592, and then powering the cleaning robot 13 via wireless transmission. Charging via wireless transmission is not only effectively waterproof, but also allows a certain distance (for example, 3CM, 4CM, 5CM, etc.) between the charging base 151 and the charging terminal 152 to be separated, preventing the normal pairing of the charging base 151 and the charging terminal 152 from being affected by the accumulation of dust, ice and snow.

[0083] In some embodiments, when the charging terminal 152 and the charging base 151 are charged via wireless transmission, a cleaning brush can still be provided on the side of the cleaning robot 13 close to the charging terminal 152. The cleaning brush can minimize the obstruction of the charging base 151 by dust, debris, snow and other materials as much as possible, thereby improving the energy transmission efficiency between the wireless energy transmitting coil 1591 and the wireless energy receiving coil 1592, and thereby improving the charging efficiency.

[0084] In other embodiments, the power supply component 15 can supply power to the cleaning robot 13 through wired transmission. For example, a charging port is provided on the charging seat 151, and the charging port is connected to the port of the cable on one side of the charging seat 151. When the charging seat 151 is paired with the charging terminal 152, the charging terminal 152 can be inserted into the charging port, so that the cable in the charging seat 151 is electrically connected to the cable of the charging terminal 152, thereby forming a pathway. In some embodiments, the charging seat 151 can be provided with a protective structure to protect the charging port when not charging. Exemplary protective structures may include elastic baffles, telescopic structures, and the like. For example, an elastic baffle is provided at the charging port. When not charging, the elastic baffle can pop up and cover the charging port, thereby preventing the charging port from being contaminated and corroded. In some embodiments, the charging terminal can be provided with a protective structure to protect the charging terminal 152 when not charging. The protective structure of the charging terminal 152 can be the same as or similar to the protective structure of the charging base 151. For example, the charging terminal 152 includes a telescopic terminal and a shell. The telescopic terminal can be extended or retracted into the shell. When charging is needed, the charging terminal 152 can be controlled to extend out of the shell to facilitate insertion into the charging port. When not charging, the charging terminal 152 can be controlled to retract into the shell, thereby preventing the charging terminal 152 from being contaminated and corroded.

[0085] In some embodiments, the photovoltaic power generation device 100 may include a pairing guide assembly that can improve the accuracy of pairing the charging base 151 with the charging terminal 152, thereby improving the charging efficiency and stability of the cleaning robot 13. Exemplary pairing guide assemblies may include a magnetic attraction mechanism, a snap-on and slot mechanism, etc. In some embodiments, the charging base 151 includes a magnet, and the charging terminal 152 includes a magnetic element. When the charging terminal 152 is close to the charging base 151, the magnet can attract the magnetic element, preventing the charging base 151 and the charging terminal 152 from moving relative to each other after pairing, which could affect charging efficiency.

[0086] In some cases, the charging base 151 and the charging terminal 152 are adsorbed by the magnetic attraction principle, which can improve the pairing efficiency and stability of the charging base 151 and the charging terminal 152, thereby improving the charging efficiency of the cleaning robot 13.

[0087] In some embodiments, the charging seat 151 is provided with a positioning groove, and the charging terminal 152 is provided with a positioning column adapted to the positioning groove. When the positioning column extends into the positioning groove, it indicates that the charging terminal 152 and the charging seat 151 are aligned. At this time, the charging and supply component 15 can charge the cleaning robot 13.

[0088] In some cases, by providing positioning grooves and positioning columns, the relative displacement between the charging terminal 152 and the charging base 151 when the cleaning robot 13 is charging can be eliminated, thereby improving the charging stability of the cleaning robot 13.

[0089] In some embodiments, the cleaning robot 13 includes a linear drive assembly 16. The linear drive assembly 16 may include a linear transmission mechanism and a linear drive mechanism. The linear drive mechanism is configured to generate a driving force. The linear transmission mechanism may be in transmission connection with the cleaning robot 13 and the linear drive mechanism. The linear drive mechanism can drive the cleaning robot 13 along the motion track 12 via the linear transmission mechanism. Exemplary linear transmission mechanisms may include pulley transmission mechanisms, sprocket transmission mechanisms, and slide-slider transmission mechanisms. Exemplary linear drive mechanisms may include a drive motor, a drive motor, a drive hydraulic rod, and the like. By way of example only, the motion track 12 may include a slide rail. The linear drive assembly 16 may include a linear drive motor and a slide rail compatible with the slide rail. The cleaning robot 13 is mounted on the slide rail. The linear drive motor may drive the slide rail to move along the slide rail, thereby driving the cleaning robot 13 along the motion track 12. In another example, the motion track 12 may include a synchronous belt. The linear drive assembly 16 may include a linear drive motor and a pulley compatible with the synchronous belt. The cleaning robot 13 is mounted on the synchronous belt. The linear drive motor may drive the pulley to rotate, thereby driving the cleaning robot 13 along the motion track 12.

[0090] In some embodiments, each photovoltaic panel 11 has a sub-track 121 extending along the first direction on its side, and multiple sub-tracks 121 constitute the motion track 12. Since each photovoltaic panel 11 is provided with a sub-track 121 on its side, and each sub-track 121 extends along the first direction, the sub-tracks 121 corresponding to multiple photovoltaic panels 11 can constitute the motion track 12. When the cleaning robot 13 moves along the motion track 12, it is equivalent to moving along the multiple sub-tracks 121, and thus it will pass by the photovoltaic panel 11 corresponding to each sub-track 121, thereby cleaning the photovoltaic panel 11.

[0091] In some application scenarios, as shown in Figure 2, in the first direction, there may be a certain gap between two adjacent sub-tracks 121. This gap may cause the two adjacent sub-tracks 121 to be unable to make close contact. When the cleaning robot 13 moves from one sub-track 121 to an adjacent sub-track 121, the gap may hinder the passage of the cleaning robot 13, thereby affecting the working efficiency of the cleaning robot 13.

[0092] In some embodiments, each photovoltaic panel 11 has a sub-track 121 extending along a first direction on its side. Multiple sub-tracks 121 form the motion track 12, and at least one sub-track 121 is retractable. In this embodiment, after the sub-tracks 121 are configured to be retractable, the sub-tracks 121 can be controlled to retract and contract before the cleaning robot 13 moves, so that two adjacent sub-tracks 121 are in close contact, allowing the cleaning robot 13 to move smoothly between the two adjacent sub-tracks 121.

[0093] In some embodiments, each sub-track 121 comprising the motion track 12 is retractable to ensure close contact between adjacent sub-tracks 121 within the motion track 12, facilitating smooth movement of the cleaning robot 13. In some embodiments, the sub-tracks 121 may include a retractable mechanism, such as a telescopic sleeve, a telescopic tube, or a telescopic rod. By way of example only, the sub-track 121 may include an inner cylinder, with a first outer cylinder and a second outer cylinder respectively sleeved at the first and second ends of the inner cylinder. The first and second outer cylinders are each capable of moving relative to the inner cylinder along the axis of the inner cylinder. When the proximal ends of the first and second outer cylinders are flush with the first and second ends of the inner cylinder, respectively, the sub-track 121 reaches its maximum length. When the distal ends of the first and second outer cylinders are flush with the first and second ends of the inner cylinder, respectively, the sub-track 121 reaches its minimum length. The proximal end of the first outer cylinder is the end of the first outer cylinder closest to the second outer cylinder, and the proximal end of the second outer cylinder is the end of the second outer cylinder closest to the first outer cylinder. The distal end of the first outer tube is an end of the first outer tube away from the second outer tube, and the distal end of the second outer tube is an end of the second outer tube away from the first outer tube.

[0094] In some embodiments, when there is a gap between two adjacent sub-tracks 121, other methods can be used to enable the cleaning robot 13 to smoothly cross the gap. As an example only, as shown in Figure 3, the sub-track 121 can be a square tube, and the cleaning robot 13 is provided with a U-shaped connector 122 that adapts to the square tube and is connected to the sub-track 121. The U-shaped connector 122 can move along the axial direction of the square tube, thereby driving the cleaning robot 13 to move along the sub-track 121. In addition, because the U-shaped connector 122 has a certain length, when there is a certain gap between two adjacent sub-tracks 121, the length of the U-shaped connector 122 is greater than the gap length. Therefore, both ends of the U-shaped connector 122 simultaneously cooperate with the two adjacent sub-tracks 121, thereby enabling the cleaning robot 13 to smoothly cross the gap.

[0095] In some embodiments, the position detection component 17 may include an encoder provided on the linear drive motor of the linear drive component 16. The rotation angle of the output shaft of the linear drive motor can be obtained according to the encoding value of the encoder, and then the distance moved by the cleaning robot 13 can be determined based on the rotation angle of the output shaft. Finally, combined with the initial position of the cleaning robot 13, the current position of the cleaning robot 13 can be determined.

[0096] In some embodiments, the position detection component 17 may include a scale and a scale reader. The scale may be set on the cleaning robot 13, and the scale reader may be set on the moving track 12. When the cleaning robot 13 moves along the moving track 12, if the scale passes through the scale reader, the scale reader can read the position information of the scale, thereby determining the position of the cleaning robot 13 on the moving track 12.

[0097] In some practical application scenarios, in order for the cleaning robot 13 to effectively clean the surface of the photovoltaic panel 11, it is necessary to align the side of the cleaning robot 13 equipped with the brush with the surface of the photovoltaic panel 11. However, when the photovoltaic power generation device 100 is actually operating, the inclination angles of the multiple photovoltaic panels 11 may vary. For example, to prevent strong winds or heavy snow from damaging the photovoltaic panels 11, the inclination angles of the photovoltaic panels 11 may need to be adjusted to reduce the force on the photovoltaic panels 11. For another example, since the positions of the photovoltaic panels 11 are different, in order to ensure that each photovoltaic panel 11 can receive as much solar radiation as possible, the inclination angles of the photovoltaic panels 11 may be different, thereby increasing the efficiency of the photovoltaic panels 11 receiving solar radiation. Since the inclination angles of the photovoltaic panels 11 may vary, when the cleaning robot 13 moves relative to the motion track 12 along the first direction, the difference in inclination angles between two photovoltaic panels 11 may cause the cleaning robot 13 to collide with the photovoltaic panels 11, thereby damaging the device. In order to solve the above problems, in some embodiments, the photovoltaic power generation equipment 100 provided in this specification can also timely adjust the inclination angle of the photovoltaic panel 11 on the moving path of the cleaning robot 13 by controlling the rotation of the photovoltaic bracket 14 to avoid collision between the cleaning robot 13 and the photovoltaic panel 11, thereby ensuring the normal operation of the cleaning robot 13 and improving the overall working efficiency of the photovoltaic power generation equipment 100.

[0098] In some embodiments, as shown in conjunction with Figures 1-5 , the photovoltaic power generation device 100 further includes a controller 18, a photovoltaic support 14, and a support drive assembly 19. The photovoltaic panel 11 is rotatably connected to the photovoltaic support 14. The controller 18 is in communication with the support drive assembly 19. The controller 18 is configured to control the support drive assembly 19 to drive the photovoltaic panel 11 to rotate relative to the photovoltaic support 14. By way of example only, the photovoltaic support 14 may include a rotating shaft 141. One or more photovoltaic panels 11 may be connected to the rotating shaft 141 of the photovoltaic support 14. When the rotating shaft 141 rotates, it can drive the multiple photovoltaic panels 11 to rotate axially around the rotating shaft 141, thereby changing the inclination angle of the photovoltaic panel 11.

[0099] In some embodiments, the support drive assembly 19 may include a support drive motor, which is in communication with the controller 18, and whose output shaft is in driving connection with the rotating shaft 141. Under the control of the controller 18, the support drive motor can drive the rotating shaft 141 to rotate about its own axis, thereby driving the photovoltaic panel 11 to rotate relative to the photovoltaic support 14.

[0100] In some embodiments, the number of the support drive assembly 19 can be one, and the support drive assembly 19 can simultaneously control the rotation of multiple photovoltaic panels 11 relative to the photovoltaic support 14. As an example only, the multiple photovoltaic panels 11 are all arranged on the same rotating shaft 141, so the support drive motor can drive the rotating shaft 141 to simultaneously drive the multiple photovoltaic panels 11 to rotate.

[0101] In some embodiments, there may be multiple support drive assemblies 19, and each support drive assembly 19 may drive a portion of the photovoltaic panel 11 to rotate relative to the photovoltaic support 14. As an example only, the photovoltaic support 14 may include multiple rotating shafts 141, multiple rotating shafts 141 are arranged along a first direction, and each rotating shaft 141 can independently rotate around its own axis without affecting other rotating shafts 141, each rotating shaft 141 is connected to an independent support drive motor in a transmission connection, each rotating shaft 141 is connected to a photovoltaic panel 11, and the controller 18 is in communication connection with the multiple support drive motors. The controller 18 can independently control the operation of one or more support drive motors, drive the rotating shaft 141 to rotate through the support drive motor, and then drive the photovoltaic panel 11 connected to the rotating shaft 141 to rotate relative to the photovoltaic support 14.

[0102] In some cases, after setting up multiple bracket drive components 19, the inclination angle of each photovoltaic panel 11 can be independently controlled. During the operation of the cleaning robot 13, the inclination angle of a specific photovoltaic panel 11 can be adjusted according to actual conditions, which makes it more convenient for the cleaning robot 13 to move along the motion track 12, thereby effectively improving the working efficiency of the cleaning robot 13.

[0103] In some embodiments, the bracket drive component 19 can be powered by the power supply component 15. For example, the output end of the power supply component 15 can be directly connected to the bracket drive motor to provide electrical energy to the bracket drive motor. The specific process will not be repeated here.

[0104] In some embodiments, in combination with FIG1 and FIG8 , before the cleaning robot 13 cleans the photovoltaic panel 11, the controller 18 is further configured to control the support drive assembly 19 to drive the plurality of photovoltaic panels 11 arranged along the first direction (as shown by the arrow X in FIG8 ) to rotate to a first inclination angle. As an example only, as shown in FIG8 , before the cleaning robot 13 cleans the photovoltaic panel 11, the cleaning robot 13 stays above the rightmost photovoltaic panel 11. At this time, the controller 18 can obtain the inclination angle of the photovoltaic panel 11 corresponding to the cleaning robot 13 and use it as the first inclination angle, and then control all other photovoltaic panels 11 to rotate to the inclination angle. In another example, before the cleaning robot 13 cleans the photovoltaic panel 11, the cleaning robot 13 does not stay above any photovoltaic panel 11 (for example, the cleaning robot 13 is not set on the motion track 12). The controller 18 can control all photovoltaic panels 11 to rotate to the first inclination angle.

[0105] In some cases, before the cleaning robot 13 cleans the photovoltaic panel 11, since multiple photovoltaic panels 11 have been rotated to a uniform inclination angle, the cleaning robot 13 will not be blocked when moving along the motion track 12, and there is no need to adjust the inclination angle of the photovoltaic panel 11 again during the subsequent movement of the cleaning robot 13, which effectively improves the working efficiency of the cleaning robot 13.

[0106] In some embodiments, the controller 18 can determine the position of the cleaning robot 13 and the photovoltaic panel 11 corresponding to the cleaning robot 13 using the position detection component 17 described in other embodiments of this specification. For example, a plurality of scale reading heads are provided on the motion track 12, and the plurality of scale reading heads are provided in a one-to-one correspondence with the photovoltaic panels 11. With such a configuration, when the cleaning robot 13 moves along the motion track 12 and passes by a photovoltaic panel 11, the scale reading head corresponding to the photovoltaic panel 11 will generate a corresponding signal, thereby determining the position of the cleaning robot 13 and the photovoltaic panel 11 corresponding to the cleaning robot 13. The one-to-one correspondence between the scale reading head and the photovoltaic panel 11 means that a scale reading head is provided at a position corresponding to each photovoltaic panel 11 on the motion track 12.

[0107] In some embodiments, before the cleaning robot 13 cleans the photovoltaic panels 11, the controller 18 may obtain the inclination angles of all photovoltaic panels 11, then calculate a first inclination angle based on the inclination angles of all photovoltaic panels 11, and finally control all photovoltaic panels 11 to rotate to the first inclination angle. In some embodiments, the first inclination angle may be the average value of the inclination angles of all photovoltaic panels 11. In some embodiments, the first inclination angle may be the median value of the inclination angles of all photovoltaic panels 11. In some embodiments, the first inclination angle may be the default inclination angle of the photovoltaic panels 11. In some embodiments, the first inclination angle may be a manually set preset value.

[0108] In some actual application scenarios, the bracket drive assembly 19 corresponding to some photovoltaic panels 11 may malfunction, resulting in some photovoltaic panels 11 being unable to rotate relative to the photovoltaic bracket 14 or unable to rotate to a specific inclination angle (for example, the first inclination angle). In order to avoid affecting the movement of the cleaning robot 13, the controller 18 can coordinate other normally functioning photovoltaic panels 11 to rotate to cooperate with the photovoltaic panels 11 that have rotation failures.

[0109] Figure 9 is a schematic diagram illustrating two adjacent photovoltaic panels with different inclination angles according to some embodiments of this specification; Figure 10 is a schematic diagram illustrating the adjustment of the inclination angle of a first photovoltaic panel to a second inclination angle according to some embodiments of this specification. In some embodiments, in conjunction with Figures 1, 9, and 10, when it is detected that the inclination angle of at least one photovoltaic panel 11 is a second inclination angle different from the first inclination angle, the controller 18 is further configured to control the support drive assembly 19 to drive all photovoltaic panels 11 adjacent to the photovoltaic panel 11 corresponding to the second inclination angle to rotate to the second inclination angle. Adjacent refers to photovoltaic panels 11 adjacent to the photovoltaic panel 11 corresponding to the second inclination angle in a first direction. The photovoltaic panel 11 corresponding to the second inclination angle can be considered a photovoltaic panel 11 that cannot rotate relative to the photovoltaic support 14 or cannot rotate to the first inclination angle. The photovoltaic panel 11 corresponding to the first inclination angle can be considered a photovoltaic panel 11 that can rotate normally. For ease of description, the photovoltaic panel 11 corresponding to the second inclination angle may be referred to as the second photovoltaic panel 112, and the photovoltaic panel 11 corresponding to the first inclination angle may be referred to as the first photovoltaic panel 111.

[0110] As an example only, the cleaning robot 13 is currently parked above the second photovoltaic panel 112, and the inclination angle of the second photovoltaic panel 112 (i.e., the second inclination angle) is 30 degrees, while the inclination angles of the two first photovoltaic panels 111 adjacent to the second photovoltaic panel 112 (i.e., the first inclination angle) are both 15 degrees. Since the inclination angles of the second photovoltaic panel 112 and the adjacent first photovoltaic panels 111 differ greatly, the movement of the cleaning robot 13 will be blocked. At this time, the controller 18 can adjust the inclination angles of the two first photovoltaic panels 111 adjacent to the second photovoltaic panel 112 to 30 degrees, so that the cleaning robot 13 can smoothly move from the second photovoltaic panel 112 to the adjacent first photovoltaic panel 111.

[0111] In another example, in combination with Figures 1, 9 and 10, the cleaning robot 13 is currently staying above the first photovoltaic panel 111 on the right, the inclination angle of the second photovoltaic panel 112 (i.e., the second inclination angle) is 30 degrees, and the inclination angles of the two first photovoltaic panels 111 adjacent to the second photovoltaic panel 112 (i.e., the first inclination angle) are both 25 degrees (as shown in Figure 9). At this time, the controller 18 can adjust the inclination angles of the two first photovoltaic panels 111 adjacent to the second photovoltaic panel 112 to 30 degrees (as shown in Figure 10), so that the cleaning robot 13 can move smoothly from the second photovoltaic panel 112 to the adjacent first photovoltaic panel 111.

[0112] In some cases, the controller 18 adjusts the inclination angle of the photovoltaic panel 11 that can rotate normally to a second inclination angle, allowing the photovoltaic panel 11 that can rotate normally to cooperate with the photovoltaic panel 11 that cannot rotate or cannot rotate to a specific inclination angle. When the photovoltaic panel 11 cannot rotate or cannot rotate to a specific inclination angle, the inclination angles of multiple photovoltaic panels 11 can be unified to facilitate the movement of the cleaning robot 13, thereby effectively improving the working efficiency of the cleaning robot 13.

[0113] In some embodiments, the controller 18 is further configured to control the support drive assembly 19 to rotate the photovoltaic panel 11 adjacent to the photovoltaic panel 11 corresponding to the second inclination angle to the second inclination angle based on the movement direction of the cleaning robot 13. For example, as shown in FIG10 , the cleaning robot 13 is currently positioned above the second photovoltaic panel 112, which has an inclination of 30 degrees. The two photovoltaic panels 11 adjacent to the second photovoltaic panel 112 each have an inclination of 15 degrees, and the cleaning robot 13 is moving from right to left. Since the cleaning robot 13 only needs to move to the first photovoltaic panel 111 to the left of the second photovoltaic panel 112 and does not need to move to the first photovoltaic panel 111 to the right of the second photovoltaic panel 112, the controller 18 can simply adjust the inclination of the first photovoltaic panel 111 to the left of the second photovoltaic panel 112 to 30 degrees, allowing the cleaning robot 13 to smoothly move from the second photovoltaic panel 112 to the first photovoltaic panel 111 to the left, without adjusting the inclination of the first photovoltaic panel 111 to the right of the second photovoltaic panel 112. Similarly, when the cleaning robot 13 moves from left to right, the controller 18 can only adjust the inclination angle of the first photovoltaic panel 111 to the right of the second photovoltaic panel 112 to 30 degrees without adjusting the inclination angle of the first photovoltaic panel 111 to the left of the second photovoltaic panel 112.

[0114] In some cases, the controller 18 can adjust the inclination angle of the first photovoltaic panel 111 based on the moving direction of the cleaning robot 13, and there is no need to adjust the inclination angle of all first photovoltaic panels 111 adjacent to the second photovoltaic panel 112, which can effectively reduce the energy consumption of the cleaning robot 13.

[0115] FIG11 is a schematic diagram illustrating adjusting the inclination of the first photovoltaic panel from the second inclination to the first inclination according to some embodiments of this specification. In some embodiments, after the cleaning robot 13 moves to a photovoltaic panel 11 adjacent to the photovoltaic panel 11 corresponding to the second inclination, the controller 18 is further configured to control the support drive assembly 19 to drive the photovoltaic panel 11 corresponding to the cleaning robot 13 to rotate to the first inclination. For example only, in conjunction with FIG1 and FIG11 , after the cleaning robot 13 moves from the second photovoltaic panel 112 to the first photovoltaic panel 111 on the left, since the first photovoltaic panel 111 on the left can rotate normally, the controller 18 can adjust the inclination of the first photovoltaic panel 111 to be consistent with the first inclination. For example, the second inclination angle of the second photovoltaic panel 112 is 20 degrees, and the inclination angle of other photovoltaic panels 11 (i.e., the first inclination angle) is 15 degrees. At this time, the controller 18 can control the inclination angle of the first photovoltaic panel 111 on the left to rotate from 20 degrees to 15 degrees, so that the inclination angle of the first photovoltaic panel 111 is unified with the inclination angles of other photovoltaic panels 11, so that the cleaning robot 13 can continue to move from the first photovoltaic panel 111 to the next photovoltaic panel 11 along the moving direction.

[0116] In some cases, by controlling the photovoltaic panel 11 corresponding to the cleaning robot 13 to rotate to a first inclination angle, the inclination angle of the photovoltaic panel 11 corresponding to the cleaning robot 13 is unified with the inclination angles of other photovoltaic panels 11, so that the cleaning robot 13 can continue to move smoothly along the moving direction.

[0117] In some embodiments, as shown in conjunction with Figures 1-5 , the cleaning robot 13 is provided with a tilt detection assembly 20, which is configured to detect the tilt of the photovoltaic panel 11 along the path of the cleaning robot 13. By way of example only, the cleaning robot 13 may be provided with a camera that can be used to capture a three-dimensional image of the photovoltaic panel 11 along the path of the cleaning robot 13. The camera can determine the tilt of the photovoltaic panel 11 based on the captured three-dimensional image of the photovoltaic panel 11. For example, the camera can determine the angle between the photovoltaic panel 11 and the photovoltaic support 14 based on the three-dimensional image of the photovoltaic panel 11, and then determine the angle between the photovoltaic panel 11 and the ground plane based on the angle between the photovoltaic support 14 and the ground plane, i.e., the tilt of the photovoltaic panel 11.

[0118] In some embodiments, the tilt detection assembly 20 may be disposed on the photovoltaic panel 11. As an example only, the tilt detection assembly 20 may include an accelerometer disposed on the photovoltaic panel 11. When the photovoltaic panel 11 rotates relative to the photovoltaic support 14, the accelerometer may provide feedback on the component of gravity acceleration on the plane where the photovoltaic panel 11 surface is located. The angle between the surface of the photovoltaic panel 11 and the ground plane, i.e., the tilt angle of the photovoltaic panel 11, can be calculated by performing an inverse sine and cosine transform.

[0119] In another example, the inclination detection component 20 may include a gyroscope arranged on the photovoltaic panel 11. When the photovoltaic panel 11 rotates relative to the photovoltaic bracket 14, the gyroscope can be driven to rotate synchronously. The gyroscope can measure the angular velocity of the photovoltaic panel 11 around the rotation axis 141 of the photovoltaic bracket 14. By integrating the angular velocity, the rotation angle of the photovoltaic panel 11 can be obtained. Combined with the inclination angle of the photovoltaic panel 11 before rotation, the current inclination angle of the photovoltaic panel 11 can be determined.

[0120] In some embodiments, the tilt detection assembly 20 may be provided on the photovoltaic support 14. As an example only, the tilt detection assembly 20 may include an inertial sensor (e.g., an angle sensor) provided on the rotating shaft 141 of the photovoltaic support 14. The angle sensor may detect the angle of rotation of the rotating shaft 141 around its own axis, thereby determining the tilt of the photovoltaic panel 11 connected to the rotating shaft 141.

[0121] In another example, the inclination detection component 20 may include an encoder (for example, an incremental encoder) provided on the bracket drive motor. The encoder value of the incremental encoder can reflect the angle between the current position and the initial position of the output shaft of the bracket drive motor, thereby obtaining the rotation angle of the output shaft. Since the rotating shaft 141 of the photovoltaic bracket 14 is connected to the output shaft in a transmission manner, the rotation angle of the rotating shaft 141 can be further determined. Finally, the current inclination angle of the rotating shaft 141 can be determined by combining the rotation angle of the rotating shaft 141 and the initial inclination angle of the rotating shaft 141, and then the current inclination angle of the photovoltaic panel 11 can be determined.

[0122] In some embodiments, the obstacle crossing component 21 may include a lifting mechanism, which is used to drive the cleaning robot 13 to move up and down. Exemplary lifting mechanisms may include a gear rack mechanism, a screw nut mechanism, a slider guide rail mechanism, etc. Exemplarily, the obstacle crossing component 21 may include a lifting guide rail, a lifting slider adapted to the lifting guide rail, and a lifting drive (for example, a motor, a cylinder, etc.), the lifting guide rail is provided on the motion track 12 and the extension direction of the lifting guide rail is perpendicular to the track surface of the motion track 12, the lifting slider is connected to the cleaning robot 13 and the lifting slider can move along the lifting guide rail, and the lifting drive can drive the lifting slider to move along the lifting guide rail, thereby driving the cleaning robot 13 to move up and down.

[0123] In some embodiments, the controller 18 can be communicatively connected to the lifting drive of the obstacle crossing assembly 21. The controller 18 can determine, based on the position of the cleaning robot 13, whether the cleaning robot 13 is to move from one photovoltaic panel 11 to another photovoltaic panel 11. When the controller 18 determines that the cleaning robot 13 is to move from one photovoltaic panel 11 to another photovoltaic panel 11, the controller 18 can determine whether the inclination difference that the cleaning robot 13 is to cross is greater than a preset inclination difference. If the inclination difference is greater than the preset inclination difference, the controller 18 can control the lifting drive to operate and lift the cleaning robot 13. If the inclination difference is less than the preset inclination difference, the controller 18 will not control the lifting drive to operate.

[0124] In some cases, after setting the obstacle crossing component 21, when the cleaning robot 13 moves between two photovoltaic panels 11 with different inclination angles, the distance between the photovoltaic panel 11 and the cleaning robot 13 can be increased by lifting the cleaning robot 13, thereby helping the cleaning robot 13 to overcome the inclination difference between the two photovoltaic panels 11 and move smoothly.

[0125] In some embodiments, the controller 18 can clean the photovoltaic panels 11 based on the radiation absorption efficiency of the photovoltaic panels 11. In some embodiments, the controller 18 can obtain the total amount of solar radiation absorbed by all photovoltaic panels 11 over a period of time (e.g., a week) (e.g., determined based on the electrical energy generated by the photovoltaic panels 11). If the total amount of solar radiation absorbed is less than a first preset radiation value, it indicates that dust, snow, etc. may have accumulated on the surfaces of most photovoltaic panels 11 and require cleaning. In this case, the controller 18 can control the cleaning robot 13 to clean all photovoltaic panels 11. If the total amount of solar radiation is greater than a second preset radiation value, it indicates that the surfaces d of most photovoltaic panels 11 are relatively clean and do not require cleaning.

[0126] In some embodiments, the controller 18 can be set to clean the photovoltaic panel 11 at a fixed time. For example, the controller 18 can be set to clean the photovoltaic panel 11 at 5:00-6:00 every morning.

[0127] Figure 12 is a schematic diagram of the communication principles of a photovoltaic power generation device according to some embodiments of this specification. In some embodiments, as shown in conjunction with Figures 1 and 12, the controller 18 can obtain photovoltaic support information and send support control commands to the photovoltaic support 14 via the communication component 22. Photovoltaic support information refers to information related to the photovoltaic support 14 and the photovoltaic panel 11. In some embodiments, the photovoltaic support information may include the current tilt angle of the photovoltaic panel 11, the target tilt angle of the photovoltaic panel 11, the operating mode of the photovoltaic panel 11, and fault warning information of the photovoltaic support 14. The operating mode of the photovoltaic panel 11 may include whether the photovoltaic panel 11 is in operation or in standby. The target tilt angle of the photovoltaic panel 11 refers to the tilt angle that the photovoltaic panel 11 is expected to achieve, such as the first tilt angle or the second tilt angle. The current tilt angle of the photovoltaic panel 11 refers to the current tilt angle of the photovoltaic panel 11. Fault warning information of the photovoltaic support 14 may include that the rotation shaft 141 of the photovoltaic support 14 cannot rotate or that the radiation absorption efficiency of the photovoltaic panel 11 is low. In some embodiments, the bracket control command may include the rotation shaft 141 of the photovoltaic bracket 14 rotating, the photovoltaic panel 11 entering the working mode, the photovoltaic panel 11 entering the standby mode, etc.

[0128] In some embodiments, the controller 18 can obtain cleaning robot information through the communication component 22, and send cleaning control commands to the cleaning robot 13. Cleaning robot information refers to information related to the cleaning robot 13. In some embodiments, the cleaning robot information may include the working mode of the cleaning robot 13, the remaining power of the cleaning robot 13, the position of the cleaning robot 13, charging information, fault alarm information of the cleaning robot 13, etc. Among them, the working mode of the cleaning robot 13 may include the cleaning robot 13 being in standby mode, the cleaning robot 13 being in cleaning mode, the cleaning robot 13 being in charging mode, etc. The position of the cleaning robot 13 refers to the position of the cleaning robot 13 on the motion track 12. The charging information may include whether the charging seat 151 and the charging terminal 152 are paired, the charging current, the charging voltage, etc. The fault alarm information of the cleaning robot 13 may include information such as the rotating shaft 141 of the photovoltaic bracket 14 cannot rotate and the power of the cleaning robot 13 is too low. In some embodiments, the cleaning control command may include the cleaning robot 13 entering the working mode, controlling the cleaning robot 13 to enter the standby mode, the cleaning robot 13 moving along the motion track 12, the cleaning robot 13 lifting and lowering along the lifting rail, the cleaning start time, the cleaning end time, etc.

[0129] In some embodiments, the photovoltaic power generation device 100 may further include a first signal transmission component 221, which is disposed on the photovoltaic support 14. The controller 18 is communicatively connected to the support drive component 19 and the first signal transmission component 221, respectively. The cleaning robot 13 is provided with a second signal transmission component 222, and the controller 18 is also communicatively connected to the second signal transmission component 222. In this embodiment, the controller 18 is communicatively connected to the first signal transmission component 221 disposed on the photovoltaic support 14, so the controller 18 can obtain photovoltaic support information through the first signal transmission component 221. In addition, the controller 18 is communicatively connected to the support drive component 19, so the controller 18 can send control commands to the support drive component 19, thereby achieving the purpose of adjusting the inclination angle of the photovoltaic panel 11 through the support drive component 19.

[0130] In some application scenarios, when the communication between the photovoltaic bracket 14 and the controller 18 fails, the controller 18 cannot obtain the photovoltaic bracket information or send control commands to the photovoltaic bracket 14. This results in the operation and maintenance personnel having to manually collect photovoltaic bracket information by setting up escalators and other methods, and manually input control commands related to the photovoltaic bracket 14, which increases the difficulty and cost of operation and maintenance of the photovoltaic power generation equipment 100 and reduces the overall work efficiency of the photovoltaic power generation equipment 100. In order to solve the above problems, the cleaning robot 13 of the photovoltaic power generation equipment 100 provided in this specification can serve as a communication relay between the photovoltaic bracket 14 and the controller 18. When the communication between the photovoltaic bracket 14 and the controller 18 fails, it can replace manual operation and maintenance work, effectively saving labor costs and simplifying operation and maintenance operations.

[0131] In some embodiments, the photovoltaic power generation device 100 further includes a plurality of first signal transmission components 221, and the plurality of first signal transmission components 221 are provided on the photovoltaic bracket 14, and the first signal transmission components 221 are provided in a one-to-one correspondence with the photovoltaic panels 11. The controller 18 includes a plurality of sub-controllers 181, and each sub-controller 181 is respectively communicatively connected to a bracket drive component 19 and a first signal transmission component. The cleaning robot 13 is provided with a second signal transmission component 222, and the second signal transmission component 222 is respectively communicatively connected to the controller 18 and the second signal transmission component 222. Among them, the one-to-one correspondence between the first signal transmission component 221 and the photovoltaic panel 11 means that the number of the first signal transmission components 221 and the photovoltaic panel 11 is the same, and one first signal transmission component 221 is used to transmit relevant information of the corresponding photovoltaic panel 11 (for example, the inclination angle of the photovoltaic panel 11, the force acting on the photovoltaic panel 11, etc.). In this embodiment, since the first signal transmission component 221 can communicate normally with the second signal transmission component 222, when the cleaning robot 13 moves on the motion track 12, the cleaning robot 13 can communicate with the photovoltaic support 14 to obtain photovoltaic support information. Since the cleaning robot 13 and the controller 18 can communicate normally, the controller 18 can obtain photovoltaic support information from the cleaning robot 13 and send control commands to the photovoltaic support 14 through the cleaning robot 13. Therefore, when the communication between the photovoltaic support 14 and the controller 18 fails, the photovoltaic support information can be normally obtained and the control commands can be sent to the photovoltaic support 14.

[0132] In some cases, by enabling the second signal transmission component 222 to communicate with the controller 18 and the first signal transmission component 221, respectively, it is possible to ensure that, when a communication failure occurs between the photovoltaic support 14 and the controller 18, the controller 18 can normally obtain photovoltaic support information and send control commands to the photovoltaic support 14, thereby ensuring the normal operation of the photovoltaic power generation device 100 and effectively improving the overall stability of the photovoltaic power generation device 100. In addition, using the cleaning robot 13 as a communication relay between the photovoltaic support 14 and the controller 18 can replace manual operation and maintenance work when a communication failure occurs between the photovoltaic support 14 and the controller 18, effectively saving labor costs and simplifying operation and maintenance operations.

[0133] In some embodiments, the cleaning robot 13 and the controller 18 can patrol the photovoltaic support 14 at different timeframes. For example, the controller 18 can patrol the photovoltaic support 14 and the cleaning robot 13 during the day. The cleaning robot 13 can patrol the photovoltaic support 14 at night and clean the photovoltaic panel 11 on its own. Patrol refers to the cyclical execution of operations such as collecting information and sending control commands. For example, the controller 18 can rotate and obtain the inclination angle of the corresponding photovoltaic panel 11 from multiple first signal transmission components 221.

[0134] In some embodiments, the communication component 22 can use wireless connection or wired connection communication mode to achieve communication between various components and assemblies.

[0135] In some embodiments, wireless connections may include radio communication, free-space optical communication, acoustic communication, and electromagnetic induction. Radio communication may include IEEE 802.11 series standards, IEEE 802.15 series standards (e.g., Bluetooth and cellular technologies), first-generation mobile communication technologies, second-generation mobile communication technologies (e.g., FDMA, TDMA, SDMA, CDMA, and SSMA), general packet radio service (GPRS), third-generation mobile communication technologies (e.g., CDMA2000, WCDMA, TD-SCDMA, and WiMAX), fourth-generation mobile communication technologies (e.g., TD-LTE and FDD-LTE), satellite communication (e.g., GPS), near-field communication (NFC), and other technologies operating in the ISM band (e.g., 2.4 GHz). Free-space optical communication may include visible light and infrared signals. Acoustic communication may include sound waves and ultrasonic signals. Electromagnetic induction may include near-field communication technology. The examples described above are for illustrative purposes only. Other types of wireless connection media may also be used, such as Z-wave technology, other paid civilian radio bands, and military radio bands. As an example only, the communication component 22 may communicate using short-range wireless communication to reduce the required energy consumption.

[0136] In some embodiments, the wired connection may include a metallic cable, an optical cable, or a hybrid metallic and optical cable, for example, a coaxial cable, a communication cable, a flexible cable, a spiral cable, a non-metallic sheathed cable, a metallic sheathed cable, a multi-core cable, a twisted-pair cable, a ribbon cable, a shielded cable, a telecommunications cable, a two-strand cable, parallel twin conductors, a twisted pair, or a combination of one or more thereof.

[0137] In some embodiments, the communication method between the first signal transmission component 221 and the controller 18, the communication method between the first signal transmission component 221 and the second signal transmission component 222, and the communication method between the controller 18 and the second signal transmission component 222 can be the same or similar. In some embodiments, the communication method between the first signal transmission component 221 and the controller 18, the communication method between the first signal transmission component 221 and the second signal transmission component 222, and the communication method between the controller 18 and the second signal transmission component 222 can be different. For example, the communication method between the first signal transmission component 221 and the controller 18 and the communication method between the controller 18 and the second signal transmission component 222 can be wired communication, while the communication method between the first signal transmission component 221 and the second signal transmission component 222 can be wireless communication.

[0138] As an example only, the first signal transmission component 221 and the second signal transmission component 222 are connected to each other via a short-range wireless communication method. Exemplary short-range wireless communication methods may include near field communication, Wi-Fi, Zigbee, Bluetooth, etc.

[0139] In some embodiments, the communication component 22 may include a communication quality detection component, which can be used to detect the communication quality between the controller 18 and the photovoltaic support 14, the communication quality between the controller 18 and the cleaning robot 13, and / or the communication quality between the cleaning robot 13 and the photovoltaic support 14. By way of example only, the communication quality detection component may include an antenna, which may be mounted on the cleaning robot 13. The antenna can detect the RSSI (Received Signal Strength Indication) value between the second signal transmission component 222 of the cleaning robot 13 and the first signal transmission component 221 of the photovoltaic support 14, thereby determining the communication quality between the second signal transmission component 222 of the cleaning robot 13 and the first signal transmission component 221 of the photovoltaic support 14. A larger RSSI between the second signal transmission component 222 and the first signal transmission component 221 indicates better communication quality between the second signal transmission component 222 and the first signal transmission component 221. A smaller RSSI between the second signal transmission component 222 and the first signal transmission component 221 indicates worse communication quality between the second signal transmission component 222 and the first signal transmission component 221.

[0140] In some embodiments, the communication quality detection component can be combined with the position detection component 17 in other embodiments of this specification to determine whether the cleaning robot 13 is in normal working condition. As an example only, the first signal transmission component 221 can be set in a one-to-one correspondence with the charging base 151. The closer the distance between the first signal transmission component 221 and the second signal transmission component 222, the better the communication quality between the first signal transmission component 221 and the second signal transmission component 222. Therefore, when the cleaning robot 13 moves to the charging position (i.e., the position of the cleaning robot 13 when the charging terminal 152 can be paired with the charging base 151), the distance between the first signal transmission component 221 and the second signal transmission component 222 is the shortest, and the communication quality between the second signal transmission component of the cleaning robot 13 and the first signal transmission component 221 of the photovoltaic bracket 14 is the best. Accordingly, the RSSI between the second signal transmission component of the cleaning robot 13 and the first signal transmission component of the photovoltaic bracket 14 reaches the maximum value. Since the distance between two adjacent charging seats 151 in the first direction is fixed (for example, 10m), when the RSSI value between the first signal transmission component 221 and the second signal transmission component 222 obtained by the antenna reaches the maximum value, it can be determined that the cleaning robot 13 is in one of the charging positions. If the cleaning robot 13 continues to move 12m, and the RSSI value between the first signal transmission component 221 and the second signal transmission component 222 obtained by the antenna still does not reach the maximum value, it can be determined that there is a fault in the cleaning robot 13. At this time, the cleaning robot 13 can report the fault to the controller 18 through the second signal transmission component 222.

[0141] In some embodiments, the background monitoring component 23 may include a host computer, which may include a display screen that can be used to display various information stored in the background monitoring component 23 and obtained by the controller 18. In some embodiments, the communication component 22 can serve as a relay between the background monitoring component 23 and the controller 18, transmitting control commands from the background monitoring component 23 to the controller 18. For example, when the background monitoring component 23 detects that the inclination angle of the photovoltaic panel 11 needs to be adjusted during the operation of the cleaning robot 13 to create better movement conditions for the cleaning robot 13, the background monitoring component 23 can send an inclination rotation instruction to the controller 18. After receiving the command, the controller 18 controls the bracket drive motor to rotate the corresponding photovoltaic panel 11 to the corresponding inclination angle.

[0142] The beneficial effects that may be brought about by the photovoltaic power generation equipment provided in this specification include but are not limited to: (1) by setting up a parallel scheme of the first power supply and the second power supply for power supply, the second power supply and the first power supply can both power the load equipment (such as the bracket drive component, the cleaning robot), ensuring that the load equipment can work stably, and reducing the dependence of the load operation on the second power supply, effectively avoiding the frequent charging and discharging of the second power supply when the first power supply and the second power supply are connected in series, thereby extending the service life of the second power supply. In addition, by electrically connecting the power output of the first power supply to the energy storage input terminal of the second power supply, the second power supply can also be charged. , storing the excess electricity generated by the photovoltaic panels, effectively improving energy utilization; (2) Charging by wireless transmission is not only effectively waterproof, but also allows a certain distance between the charging base and the charging terminal (for example, 3CM, 4CM, 5CM, etc.), so that normal charging can be achieved even when there is dust, ice and snow accumulation; (3) After setting up multiple drive motors, the inclination angles of multiple photovoltaic panels can be independently controlled. During the operation of the cleaning robot, the inclination angle of a specific photovoltaic panel can be adjusted according to actual conditions, making it more convenient for the cleaning robot to move along the motion track, effectively improving the working efficiency of the cleaning robot. Efficiency; (4) Before the cleaning robot cleans the photovoltaic panel, the multiple photovoltaic panels can be rotated to a uniform inclination angle, so that the cleaning robot will not be blocked when moving along the motion track, and there is no need to adjust the inclination angle of the photovoltaic panel again during the subsequent movement of the cleaning robot, which effectively improves the working efficiency of the cleaning robot; (5) The controller adjusts the inclination angle of the photovoltaic panel that can rotate normally to a second inclination angle, so that the photovoltaic panel that rotates normally can cooperate with the photovoltaic panel that cannot rotate or cannot rotate to a specific inclination angle, and can unify the inclination angles of multiple photovoltaic panels when the photovoltaic panel cannot rotate or cannot rotate to a specific inclination angle, so as to facilitate the movement of the cleaning robot, thereby effectively improving the working efficiency of the cleaning robot; (6) By making the second signal transmission component communicate with the controller and the first signal transmission component respectively, it can be realized that when the communication between the photovoltaic bracket and the controller fails, the controller can normally obtain the photovoltaic bracket information and send control commands to the photovoltaic bracket, thereby ensuring the normal operation of the photovoltaic power generation equipment and effectively improving the overall stability of the photovoltaic power generation equipment. In addition, the cleaning robot is used as a communication relay between the photovoltaic bracket and the controller, and can replace manual operation and maintenance work when the communication between the photovoltaic bracket and the controller fails, effectively saving labor costs and simplifying operation and maintenance operations.

[0143] The basic concepts have been described above. It will be apparent to those skilled in the art that the above disclosures are merely illustrative and do not constitute limitations of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and revisions to this specification. Such modifications, improvements, and revisions are suggested in this specification and remain within the spirit and scope of the exemplary embodiments of this specification.

[0144] This specification also uses specific terms to describe the embodiments of this specification. For example, "one embodiment," "an embodiment," and / or "some embodiments" refer to a feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "one embodiment," "an embodiment," or "an alternative embodiment" two or more times in different locations in this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of this specification may be appropriately combined.

[0145] Similarly, it should be noted that, in order to simplify the presentation of this specification and thus facilitate understanding of one or more embodiments of the invention, the foregoing descriptions of the embodiments of this specification sometimes combine multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not imply that the subject matter of this specification requires more features than those recited in the claims. In fact, an embodiment may have fewer features than all of the features of a single disclosed embodiment.

[0146] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by modifiers such as "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical data used in the description and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical data should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical fields and data used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0147] Finally, it should be understood that the embodiments described in this specification are intended only to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly described and illustrated in this specification.

Claims

1. A photovoltaic power generation device, comprising a plurality of photovoltaic panels and a movement track, the plurality of photovoltaic panels being arranged in a first direction, the movement track extending in the first direction, and a cleaning robot being provided on the movement track, the cleaning robot being configured to move along the movement track and clean the surfaces of the photovoltaic panels.

2. The photovoltaic power generation device according to claim 1, further comprising a power supply assembly, the power supply assembly including a charging base, and a charging end adapted to the charging base being provided on the cleaning robot, and when the charging end is paired with the charging base, the power supply assembly charges the cleaning robot.

3. The photovoltaic power generation device according to claim 2, wherein the power supply assembly includes a first power source and a second power source, the photovoltaic panels supply power to the first power source, the second power source is a power storage device, the first power source charges the second power source, and the first power source charges the cleaning robot.

4. The photovoltaic power generation device according to claim 3, wherein the first power source and the second power source are connected in parallel, the first power source includes a plurality of the photovoltaic panels, and when the photovoltaic panels do not generate electric energy, the second power source charges the cleaning robot.

5. The photovoltaic power generation device according to claim 4, wherein the first power source is powered by a plurality of serially connected photovoltaic panels; a positive terminal is led out between a first panel unit and a second panel unit of the plurality of serially connected photovoltaic panels, and a negative terminal is led out between a third panel unit and a fourth panel unit of the plurality of serially connected photovoltaic panels; the positive terminal and the negative terminal are connected to the first power source.

6. The photovoltaic power generation device according to any one of claims 2-5, wherein the number of the charging bases is multiple, and the multiple charging bases are arranged at intervals in the first direction.

7. The photovoltaic power generation device according to any one of claims 2-6, wherein the charging base includes a wireless energy transmitting coil, and the charging end includes a wireless energy receiving coil, and when the charging end is paired with the charging base, the wireless energy transmitting coil and the wireless energy receiving coil achieve non-contact energy transmission.

8. The photovoltaic power generation device according to any one of claims 2-7, wherein a cleaning brush is provided on a side of the cleaning robot close to the charging end, and the cleaning brush can clean the charging base.

9. The photovoltaic power generation device according to any one of claims 2-8, wherein a sub-track extending in the first direction is provided on a side of each photovoltaic panel, and the multiple sub-tracks form the movement track, and at least one of the sub-tracks is telescopic.

10. The photovoltaic power generation device according to any one of claims 2-9, further comprising a controller, a photovoltaic bracket and a bracket driving assembly, the photovoltaic panel is rotatably connected to the photovoltaic bracket, the controller is communicatively connected to the bracket driving assembly, and the controller is configured to control the bracket driving assembly to drive the photovoltaic panel to rotate relative to the photovoltaic bracket.

11. The photovoltaic power generation device according to claim 10, before the cleaning robot cleans the photovoltaic panel, the controller is further configured to control the bracket driving assembly to drive a plurality of the photovoltaic panels arranged along the first direction to rotate to a first inclination angle.

12. The photovoltaic power generation device according to claim 11, when it is detected that the inclination angle of at least one of the photovoltaic panels is a second inclination angle different from the first inclination angle, the controller is further configured to control the bracket driving assembly to drive all the photovoltaic panels adjacent to the photovoltaic panel corresponding to the second inclination angle to rotate to the second inclination angle.

13. The photovoltaic power generation device according to claim 12, after the cleaning robot moves to the photovoltaic panel adjacent to the photovoltaic panel corresponding to the second inclination angle, the controller is further configured to control the bracket driving assembly to drive the photovoltaic panel corresponding to the cleaning robot to rotate to the first inclination angle.

14. The photovoltaic power generation device according to any one of claims 2-13, the cleaning robot is provided with an inclination angle detection assembly, and the inclination angle detection assembly is configured to detect the inclination angle of the photovoltaic panel on the moving path of the cleaning robot.

15. The photovoltaic power generation device according to any one of claims 2-14, the cleaning robot is further provided with an obstacle crossing assembly, and the obstacle crossing assembly is configured to lift the cleaning robot.

16. The photovoltaic power generation device according to any one of claims 10-15, the photovoltaic power generation device further includes a plurality of first signal transmission components, the plurality of first signal transmission components are arranged on the photovoltaic bracket, and the first signal transmission components are arranged in one-to-one correspondence with the photovoltaic panels; the controller includes a plurality of sub-controllers, and each sub-controller is respectively communicatively connected to a driving component and a first signal transmission component; the cleaning robot is provided with a second transmission component, and the second signal transmission component is respectively communicatively connected to the controller and the second signal transmission component.

17. The photovoltaic power generation device according to claim 16, the first signal transmission component and the second signal transmission component are communicatively connected by a short-range wireless communication method.

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