Cleaning system, charging system, docking system, cleaning method and transfer device

Abstract

The present application relates to the technical field of solar power plant cleaning. Disclosed are a cleaning system, a charging system, a docking system, a cleaning method and a transfer device. The cleaning system is used for cleaning of ground-mounted solar power plants, and mainly comprises at least two discontinuous support parts provided along a preset path, a cleaning apparatus and a transfer body. The transfer body carries the cleaning apparatus and is equipped with a power device, so as to move between the support parts, thereby achieving shuttling movement within a power plant. The discontinuously provided support parts are used to support the movement of the transfer body without relying on long guide rails, reducing occupation of the internal space of a solar power plant, thereby improving the vehicle passage rate and the flexibility of other operations within power plants, and ensuring efficient operation and maintenance of solar power plants.

Description

Cleaning system, charging system, docking system, cleaning methods and transfer devices Technical Field

[0001] This application relates to the field of solar power plant cleaning technology, and further to a cleaning system, charging system, docking system, cleaning method and transfer device. Background Technology

[0002] Cleaning photovoltaic (PV) modules has always been a challenge in traditional ground-mounted solar power plants. Currently, some plants use long tracks to move cleaning equipment (such as cleaning robots) between different rows of solar panels. However, this long track design has several significant problems. First, the long track occupies a considerable amount of space within the solar power plant, affecting not only normal traffic flow but also limiting the flexibility of other operations. Second, the installation and replacement of long tracks are complex and costly. Furthermore, after long-term use, environmental factors and load-bearing pressure can cause the track to sink, directly affecting the robot's movement accuracy and leading to positioning deviations during movement, increasing the difficulty and cost of maintenance. Summary of the Invention

[0003] In view of the above-mentioned technical problems, the purpose of this application is to provide a cleaning system, a charging system, a docking system, a cleaning method, and a transfer device to improve the operation and maintenance efficiency and quality of solar power plants.

[0004] In a first aspect, this application provides a clean system for a ground-mounted solar power station, wherein the solar power station has at least two rows of solar panels, and photovoltaic modules are installed on the solar panels, including:

[0005] At least two discontinuous support sections are provided, which are arranged along a predetermined path within the solar power plant.

[0006] Cleaning equipment used to clean photovoltaic modules on solar racks within a solar power plant;

[0007] The transfer body is used to carry or load the cleaning equipment, and includes a power unit to drive the transfer body to move relative to the support, thereby realizing the movement of the transfer body within the solar power plant.

[0008] The transport body carries the cleaning equipment between different rows of solar panels, thereby enabling the cleaning equipment to clean the photovoltaic modules on the different rows of solar panels.

[0009] In some embodiments, the number of the support portions is at least three, and the length of the transfer body is at least equal to the total length formed by any three adjacent support portions on the preset path.

[0010] In some embodiments, the support portion is provided with a sliding groove or a rolling portion adapted to the transfer body to assist in the sliding of the transfer body;

[0011] And / or, the mating surface of the support portion relative to the transfer body is provided with a lubricating material to reduce friction between the support portion and the transfer body.

[0012] In some embodiments, the support portion is provided with a limiting portion, which abuts against the side wall and / or at least part of the top surface and / or at least part of the bottom surface of the transfer body to prevent the transfer body from tipping over or shifting.

[0013] In some embodiments, the transport body includes a main body and a moving part, the main body being used to dock with the support part to determine the travel trajectory of the transport body, and the cleaning equipment being able to be mounted on the main body or the moving part; the power unit is disposed on the main body and / or the moving part, such that at least the moving part can move relative to the main body under the drive of the power unit.

[0014] In some embodiments, the cleaning system further includes at least one body fixing part, and the body fixing part and the body part are correspondingly provided with locking components for limiting the displacement of the body part; and / or,

[0015] The cleaning system further includes a second positioning module, which is disposed in one or more of the main body, the moving part, the support part, and the cleaning device, and is used to assist the components in positioning.

[0016] In some embodiments, the power unit includes a first transmission belt and a first driving member, wherein the first transmission belt is disposed on the body portion and has a plurality of mating holes along its length.

[0017] The first driving member is disposed on the moving part and includes a driving gear and a driving motor connected thereto. When the driving motor is running, the driving gear drives the moving part to generate displacement relative to the main body.

[0018] The cleaning system has a first fixed part, and the moving part and the first fixed part are respectively provided with a first locking mechanism. When the moving part and the first fixed part are locked by the first locking mechanism, the main body part can move relative to the support part under the driving action of the first driving member. When the moving part and the first fixed part are not locked by the first locking mechanism, the moving part can move relative to the main body part or the support part under the driving action of the first driving member.

[0019] In some embodiments, the power unit includes a transmission member and a second drive member, the transmission member connecting the main body and the moving part, and the transmission member being connected to the second drive member to drive the transmission member to move via the second drive member;

[0020] The cleaning system has a second fixed part, and the moving part and the second fixed part are respectively provided with a cooperating second locking mechanism. When the moving part and the second fixed part are locked by the second locking mechanism, the main body can move under the driving action of the transmission member; when the moving part and the second fixed part are not locked by the second locking mechanism, the moving part can move relative to the main body under the driving action of the transmission member.

[0021] In some embodiments, the transmission component is a synchronous belt, the body portion is used to support the cleaning equipment, and the synchronous belt is connected to the body portion and the moving portion respectively;

[0022] The second locking mechanism includes a first locking end and a second locking end. The first locking end is disposed on the moving part, and the second locking end is disposed on the second fixed part. When the first locking end and the second locking end are docked with each other, the position of the moving part is fixed, so that the main body can move during the operation of the synchronous belt.

[0023] In some embodiments, the power unit includes a third transmission belt and a third drive member. The third transmission belt is integrally or partially arranged around the transfer body in the length direction. The third drive member is connected to the third transmission belt to drive the third transmission belt to rotate, thereby causing displacement of the transfer body relative to the support.

[0024] In some embodiments, the power unit includes a transmission rod and a fourth drive member connected to the transmission rod to drive the transmission rod to rotate forward or in reverse, such that when the transmission rod rotates, the relative position of the transmission rod and the support changes, thereby pushing the transfer body to move relative to the support.

[0025] In some embodiments, the transfer body is provided with a bracket structure for supporting the cleaning equipment;

[0026] And / or, the transport body is provided with a first positioning module, which enables the transport body to perform relative positioning with at least one of the positioning ends on the solar bracket, the positioning ends inside the solar power station, the positioning ends on the cleaning equipment, and the positioning ends on the support, thereby assisting the transport body to dock to a preset position.

[0027] In some embodiments, the number of cleaning devices is at least two, and different cleaning devices can move between different rows of solar panels as the transport body moves.

[0028] In some embodiments, the cleaning equipment can actively or passively move relative to the transfer body and the solar panel support.

[0029] In some embodiments, the cleaning device has a power module for driving the cleaning device to and from the transfer body and the solar panel support.

[0030] In some embodiments, the cleaning system is equipped with a robotic arm and a robotic gripper for gripping the cleaning equipment and controlling the transfer of the cleaning equipment between the transport body and the solar panel support.

[0031] In some embodiments, the transfer body has an upwardly inclined guide portion on at least one end.

[0032] In some embodiments, the width of the guide portion gradually decreases along the direction from the middle of the transfer body toward the end where the guide portion is located.

[0033] In some embodiments, at least one of the supports is fixed to the ground; and / or, at least one of the supports is fixed to a solar panel within the solar power plant.

[0034] Secondly, this application provides a charging system for use in the aforementioned cleaning system, including a first power supply module for supplying power to the cleaning equipment.

[0035] In some embodiments, the first power supply module is disposed on the transfer body;

[0036] Alternatively, the first power supply module may be a conventional power supply device installed within the solar power station;

[0037] Alternatively, the first power supply module may be a solar panel mounted on the solar support.

[0038] In some embodiments, the cleaning equipment and the power unit share the first power supply module; or, the charging system further includes a second power supply module for supplying power to the power unit.

[0039] Thirdly, this application provides a docking system for cleaning equipment in the above-mentioned cleaning system, including: a docking platform, set at a preset location in a solar power station or the transfer body, for docking and / or transfer of the cleaning equipment.

[0040] In some embodiments, the docking platform is equipped with a power supply module for supplying power to the cleaning equipment;

[0041] And / or, the solar power station is equipped with a power supply module for supplying power to the cleaning equipment;

[0042] And / or, the solar panel bracket is equipped with a power supply module for supplying power to the cleaning equipment.

[0043] Fourthly, this application provides a cleaning method using the aforementioned cleaning system for cleaning ground-mounted solar power plants, comprising the following steps:

[0044] Step (1): Install at least two discontinuous support sections along a predetermined path within the solar power plant;

[0045] Step (2): Control the transfer body carrying the cleaning equipment to move relative to the support to move between different rows of solar brackets in the solar power plant so that the cleaning equipment can perform row-changing cleaning.

[0046] In some implementations, step (2) includes:

[0047] The transfer body is controlled to move from one row of solar panels to the next row of solar panels for sequential cleaning of each row.

[0048] Alternatively, the transfer body can be controlled to move from one row of solar panels to another row of solar panels in a movement mode that spans one or more rows, for targeted cleaning across rows.

[0049] Fifthly, this application provides a transfer device for cleaning ground-mounted solar power plants, comprising: a mobile body having a power module that provides power to the mobile body, enabling the mobile body to move based on two or more discontinuous support sections within the solar power plant;

[0050] The mobile body can carry the cleaning module, so that the cleaning module can move synchronously with the mobile body, thereby cleaning the equipment in the solar power station.

[0051] As described above, the cleaning system in this application features discontinuous support sections. The cleaning equipment can move flexibly between different rows of solar panels by moving the transport body on the support sections, forming a displacement form based on multi-point support. This solves the problem of long guide rails occupying a large amount of power station space in current technologies, thereby providing more feasible space for normal traffic and other operations within the solar power station and improving the operational flexibility of the power station. At the same time, the replacement or maintenance of the support sections is more convenient. Even in the event of subsidence or other unevenness, adjustments can be made in a timely manner, improving operational efficiency and reducing the workload of operators. Attached Figure Description

[0052] The preferred embodiments will now be described in a clear and easy-to-understand manner, in conjunction with the accompanying drawings, to further explain the above-mentioned characteristics, technical features, advantages, and implementation methods of this application.

[0053] Figure 1 is a schematic diagram of the structure of a cleaning system applied to a solar power plant in one embodiment of this application;

[0054] Figure 2 is a partial schematic diagram of a cleaning device cleaning a photovoltaic module in one embodiment of this application;

[0055] Figure 3 is a partial schematic diagram of the bracket structure when unfolded in one embodiment of this application;

[0056] Figure 4 is a schematic diagram of the overall structure of the transfer body in one embodiment of this application;

[0057] Figure 5 is an enlarged view of point A in Figure 4;

[0058] Figure 6 is a schematic diagram of the overall structure of the moving part in one embodiment of this application;

[0059] Figure 7 is a partial detail view of an embodiment of this application;

[0060] Figure 8 is a schematic diagram of the support portion in one embodiment of this application;

[0061] Figure 9 is a partial schematic diagram of the support portion being fixed to the solar panel bracket in one embodiment of this application;

[0062] Figure 10 is a partial schematic diagram of the bracket structure being connected to the photovoltaic module in one embodiment of this application;

[0063] Figure 11 is a schematic diagram of a cleaning system located in the middle of a solar panel support in one embodiment of this application;

[0064] Figure 12 is a schematic diagram of the structure of a movable part equipped with a cleaning device in one embodiment of this application;

[0065] Figure 13 is a structural diagram of a power unit in one embodiment of this application;

[0066] Figure 14 is a schematic diagram of the structure of the moving part in one embodiment of this application;

[0067] Figure 15 is a schematic diagram of the structure of the support portion in one embodiment of this application;

[0068] Figure 16 is a partial structural schematic diagram of an embodiment of this application;

[0069] Figure 17 is a structural diagram of a power unit in one embodiment of this application;

[0070] Figure 18 is a partial structural schematic diagram of the power unit in one embodiment of this application;

[0071] Figure 19 is a schematic diagram of the support portion in one embodiment of this application;

[0072] Figure 20 is a partial cross-sectional view of one embodiment of this application;

[0073] Figure 21 is a partial structural schematic diagram of the power unit in one embodiment of this application;

[0074] Figure 22 is a step diagram of a cleaning method in one embodiment of this application.

[0075] Reference numerals: Support part 1; Rolling part 11; Limiting part 12; Lubricating material 13; Contact part 14; Cleaning equipment 2; Transfer body 3; Guide part 301; Body part 31; Moving part 32; Bracket structure 33; Adjusting component 331; Mating hole 410; First transmission belt 411; First driving component 412; First locking mechanism 413; Synchronous belt 421; Second driving component 422; First locking end 4231; Second locking end 4232; Third transmission belt 431; Protrusion 432; Transmission rod 441; Bracket docking structure 51; Mechanical arm 52; Mechanical gripper 53; Solar power station 6; Solar bracket 61; Photovoltaic module 62. Detailed Implementation

[0076] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort.

[0077] To keep the drawings concise, each drawing only schematically shows the parts relevant to the application; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one."

[0078] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0079] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0080] In the description of this application, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0081] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0082] Photovoltaic modules convert sunlight into electricity and are widely used in solar power plants to generate power. Cleaning of photovoltaic modules is a crucial aspect of the operation and maintenance of ground-mounted solar power plants. Traditional cleaning methods rely on long-track systems, which guide the movement of cleaning equipment by laying continuous tracks within the power plant. However, this design suffers from several technical drawbacks, is costly, and lacks adaptability, limiting its efficiency and practicality.

[0083] First, long track systems require more track materials, support materials, and more support piles because they need to provide a continuous moving path for cleaning equipment. Long tracks occupy ground space within the power plant, and the track area cannot be traversed by vehicles, which can lead to traffic disruptions and logistics delays within the power plant, causing great difficulties for power plant operation and maintenance.

[0084] Secondly, the maintenance of long-track systems is difficult and costly. During long-term use, environmental factors and load-bearing pressure can cause the tracks to subside, directly affecting the accuracy of the cleaning equipment's movement and leading to a decline in the efficiency and quality of cleaning operations. Furthermore, the maintenance and replacement of the tracks are complex and costly, increasing the difficulty and economic burden of power plant operation and maintenance.

[0085] In view of the above, referring to Figure 1 in the specification, this application provides a cleaning system that can overcome the deficiencies in the prior art and effectively improve the operation and maintenance quality and cleaning efficiency of ground-mounted solar power plants.

[0086] It should be clarified first that ground-mounted solar power stations refer to solar power stations whose entire foundation is fixed to the ground, regardless of their specific geographical location or environmental conditions. Ground-mounted solar power stations include, but are not limited to, traditional land-based power stations, solar power stations in lakes, ponds, and shallow sea areas. A common characteristic of these power stations is that their structural foundation, i.e., pile foundations, is secured by being driven into the ground or underground.

[0087] Please refer to Figures 2 and 3 in the specification. The cleaning system provided in this application mainly includes at least two discontinuous support parts 1, cleaning equipment 2, and a transfer body 3.

[0088] The support section 1 is laid out along a preset path within the solar power station 6. The preset path can be optimized according to the layout of the solar bracket 61 and the terrain conditions to ensure that the cleaning equipment 2 can efficiently clean the photovoltaic modules 62. This discontinuous support section 1 design in this embodiment provides necessary support without occupying additional space, thereby avoiding the problems existing in the prior art, namely the impact and interference of the long track system on the internal traffic of the power station.

[0089] Meanwhile, the cleaning device 2 is used to clean the photovoltaic modules 62 on the solar bracket 61. It should be noted that in this embodiment, the cleaning device 2 can be a high-pressure water gun, a brush or other cleaning tools to adapt to different cleaning needs. Preferably, the cleaning device 2 can be a cleaning robot.

[0090] In this embodiment, after the cleaning device 2 is transferred to the solar panel bracket 61, it can move through the power system equipped on the solar panel bracket 61 to achieve the cleaning work; more preferably, the cleaning device 2 can be automated, capable of automatically identifying dirt on the photovoltaic module 62 and cleaning it, or it can be operated remotely, such as the cleaning robot shown in the figure.

[0091] In this embodiment, the transfer body 3 is mainly used to carry or load the cleaning equipment 2, and the transfer body 3 includes a power unit, which enables the transfer body 3 to move between the support parts 1 and realize shuttle within the solar power station 6.

[0092] In actual operation, the transfer body 3 first transports the cleaning equipment 2 to the designated row of solar brackets 61. The cleaning equipment 2 is then transferred from the transfer body 3 to the photovoltaic modules 62 and begins cleaning. After the photovoltaic modules 62 in the current row are cleaned, the transfer body 3 loads the cleaning equipment 2 again and moves it to the next row or a predetermined row to continue cleaning. This process can be repeated automatically until all photovoltaic modules 62 are cleaned.

[0093] Based on this embodiment, the number of cleaning devices 2 in the cleaning system is two or more, so that different cleaning devices 2 can move between different rows of solar brackets 61 through the movement of the transfer body 3, thereby improving the efficiency and flexibility of the cleaning operation.

[0094] Specifically, the transport unit 3 is equipped with multiple cleaning devices 2, each capable of independently cleaning one or more rows of solar panel supports 61. The cleaning system flexibly allocates cleaning tasks to each cleaning device 2 according to actual needs. Multiple cleaning devices 2 can work collaboratively; for example, while one cleaning device 2 is cleaning the current row of solar panel supports 61, another cleaning device 2 can prepare for or move to the next row, achieving a continuous cleaning process. Compared to existing technologies that equip each row of solar panel supports with a separate cleaning device, this setup is more energy-efficient and environmentally friendly, while also reducing maintenance costs, representing a significant improvement.

[0095] On the other hand, the power unit can also enable the transfer body 3 to move in both directions. That is to say, the transfer body 3 can travel back and forth on a preset path, for example, after the cleaning equipment 2 is put into use, it can return to the starting point to stop, or when returning, it can retrieve the cleaning equipment 2 that has been cleaned in the previous step.

[0096] Based on the above, it is understandable that the transfer body 3 is driven by a power unit to generate displacement on the discontinuous support part 1, thereby realizing the shuttle within the solar power station 6. This displacement form based on multi-point support replaces the traditional long track, providing higher cleaning efficiency and better space utilization, and avoiding conflicts with vehicle traffic.

[0097] Furthermore, the cleaning system in this application features a support unit 1 that can be fixed to the ground or to the solar panel bracket 61. Specifically, for the former, the support unit 1 can be fixed to the ground using methods such as pile foundation, concrete block counterweight, pre-embedding, or ground anchoring; for the latter, as shown in Figure 9, the support unit 1 is directly fixed to the solar panel bracket 61 within the solar power station 6. This method utilizes existing structures and reduces additional foundation work.

[0098] In practical applications, the two methods of ground fixing and solar bracket fixing can be combined according to the specific layout and design requirements of the solar power station 6. For example, one part of the support 1 is fixed to the ground to provide a stable base, while the other part of the support 1 is fixed to the solar bracket 61 to optimize space utilization and structural layout.

[0099] It should also be noted that, in the accompanying drawings, the support part 1 is positioned below the transfer body 3, meaning the transfer body 3 moves from above the support part 1. However, in other embodiments, the relative positions of the support part 1 and the transfer body 3 can be changed. For example, the support part 1 can be configured in a hook-like form. This allows the transfer body 3 to move within a space formed by the hook, similar to the movement of a light rail, reducing obstacles caused by uneven ground.

[0100] In one embodiment, the support 1 comprises at least two or more parts. This modular, multi-part configuration allows for fine-tuning of the support 1 in terms of vertical, horizontal, front-back, and torsional movements. For example, after the support 1 is fixed, if any deflection or other installation errors are found, precise adjustments can be made to ensure the correct position and orientation of the support 1. These fine-tuning functions can exist independently or in combination, depending on the structural design. Similarly, the position and orientation of the support 1 can be fine-tuned as needed, ensuring the reliability and practicality of the system.

[0101] In a specific implementation, the support 1 includes two parts: the first part (fixed section): this is the fixed part of the support 1, which is usually fixed to the ground or solar bracket 61, serving as the base of the entire support 1; the second part (adjustable section): this is the adjustable part of the support 1, which can be adjusted up and down, left and right, forward and backward, and torsion relative to the fixed section.

[0102] For example, a compression spring or elastic washer can be used as an elastic element and installed between the second part and the first part. By changing the compression of the spring, the second part can be finely adjusted up and down. A slide rail or roller can be designed at the bottom of the second part so that the second part can be slidably adjusted left and right and forward and backward on the first part. An elastic torsion spring or universal joint can be set between the first part and the second part to allow the second part to rotate relative to the first part at a certain angle, thereby achieving torsional adjustment.

[0103] Furthermore, the number of support parts 1 is at least three, and the length of the transfer body 3 is at least equal to the total length formed by any three adjacent support parts 1 on the preset path. This ensures that when the transfer body 3 moves, at least two support parts 1 always provide stable support, thereby enabling it to move stably on the support parts 1. The "total length" mentioned above refers to the length formed by any three adjacent support parts 1 on the preset path, including the size of the support parts 1 themselves and the distance between them.

[0104] In one embodiment, as shown in FIG8, the support part 1 is provided with a sliding groove or a rolling part 11 adapted to the transfer body 3 to assist in the sliding of the transfer body 3.

[0105] Specifically, the sliding groove forms a longitudinal channel, and its inner surface matches the bottom contour of the transfer body 3 to ensure smooth sliding. Additionally, lubricating oil channels can be provided within the sliding groove to further reduce friction and wear. Conversely, the rolling part 11 can consist of a series of rollers mounted on the top of the support part 1, directly contacting the bottom of the transfer body 3 to reduce friction between the transfer body 3 and the support part 1, thereby increasing the lifespan of the components.

[0106] In addition, in one embodiment, the mating surface of the support part 1 relative to the transfer body 3 is provided with a lubricating material 13 to reduce the sliding friction between the transfer body 3 and the support part 1, thereby reducing power consumption and improving the energy efficiency of the system.

[0107] Understandably, the mating surface of the support part 1, i.e., the surface in contact with the transfer body 3, is provided with a lubricating material 13. This lubricating material 13 can be a solid lubricant, such as polytetrafluoroethylene (PTFE) or graphite, or a liquid or semi-solid lubricant, such as lubricating oil or grease. It should be noted that the lubricating material 13 can be applied to the mating surface of the support part 1 in various ways. For example, the lubricating material 13 can be directly sprayed or brushed onto the mating surface in the form of a coating; or, during the manufacturing process of the support part 1, the lubricating material 13 can be fixed as an insert in the mating area; or, a covering layer or tape made of the lubricating material 13 can be pasted onto the mating surface.

[0108] In one embodiment, the support 1 is provided with a limiting part 12, which abuts against the side wall and / or at least part of the top surface and / or at least part of the bottom surface of the transfer body 3 to limit the range of movement of the transfer body 3 on the support 1, prevent the transfer body 3 from tipping over or shifting during movement, and ensure the stability and safety of the transfer body 3.

[0109] The limiting part 12 can be designed as a protrusion or a partition fixed on the support part 1. When the transfer body 3 moves on the support part 1, the limiting part 12 provides a physical block to prevent the transfer body 3 from exceeding the predetermined path. The transfer body 3 can also be provided with a corresponding groove. When the transfer body 3 moves, the protrusion on the support part 1 and the groove on the transfer body 3 match.

[0110] On the other hand, components such as the rolling part 11 or lubricating material 13 in the above embodiments can also be provided on the limiting part 12. For example, the rolling part 11, such as a roller or ball bearing, can be provided on the limiting part 12 to reduce friction and make the transfer body 3 move smoothly under the guidance of the limiting part 12, thereby improving the efficiency of the transfer body 3, reducing maintenance costs, and enhancing the durability and reliability of the system. The same applies to the lubricating material 13, which will not be described in detail here.

[0111] Furthermore, the transfer body 3 is specially designed with an upwardly inclined guide portion 301, which is provided at least on one end of the transfer body 3. This design can effectively prevent the transfer body 3 from affecting its docking accuracy with the support portion 1 due to ground subsidence during long-term operation.

[0112] As shown in Figure 4, the guide section 301 is designed with an upwardly inclined structure, which can be a continuous guide section or a segmented form. In a solar power plant, the transport body 3 may encounter uneven ground settlement during its movement. By setting an upwardly inclined guide section 301 at one end of the transport body 3, the guide section 301 serves as a physical guide between the transport body 3 and the support section 1 during the docking process. Even when settlement occurs, the transport body 3 can smoothly transition along the guide section 301 and maintain accurate docking with the support section 1.

[0113] The tilt angle and length of the guide section 301 are calculated and designed based on the maximum possible ground settlement and the movement characteristics of the transfer body 3, to ensure that the stability and docking accuracy of the transfer body 3 can be maintained under various settlement conditions.

[0114] Furthermore, optionally, the width of the guide part 301 is designed to gradually decrease from the middle to the end of the transfer body 3, forming a conical or tapered shape. This helps to reduce air resistance or friction with the ground during the movement of the transfer body 3, thereby improving the movement efficiency of the transfer body 3. It also makes the docking of the guide part 301 and the support part 1 more precise, reducing the risk of jamming or collision.

[0115] In one embodiment, unlike the above embodiments, as shown in FIG4, the transfer body 3 includes two parts: a body part 31 and a moving part 32. The body part 31 is used to dock with the support part 1 to determine the travel trajectory of the transfer body 3 and ensure that the transfer body 3 moves stably along a predetermined path. It can be understood that the part that cooperates with the limiting part 12 mentioned above is the body part 31. The moving part 32 can move relative to the body part 31 under the drive of the power device, thereby achieving position adjustment.

[0116] In one configuration, a power unit is located on the main body 31, capable of driving the entire transfer body 3 or its moving part 32. Through mechanical transmission elements such as gears, chains, and belts, the power unit transmits force to the end face in contact with the support part 1, thereby realizing the movement of the main body 31. The moving part 32 is used to support the cleaning equipment 2. A driven module adapted to the power unit can be installed on the moving part 32 to realize relative movement of the moving part 32 on the main body 31.

[0117] In one configuration, the power unit is directly installed on the moving part 32, providing a direct power source for the moving part 32. At the same time, the power can be transmitted to the main body part 31 through an indirect drive mechanism, thereby realizing the movement of the main body part 31. For example, a swing arm can be driven, which is connected to the main body part 31. By swinging the swing arm, the main body part 31 can move on the support part 1.

[0118] In another configuration, the power unit is installed in both the moving part 32 and the main body 31, and they can work together to achieve more complex movements and positioning. For example, the power unit of the main body 31 can be responsible for long-distance movement, while the power unit of the moving part 32 is responsible for fine adjustments and docking.

[0119] It should be noted that the cleaning device 2 can be flexibly mounted on the main body 31 or the moving part 32 according to actual needs or circumstances, thereby improving the adaptability of the system and achieving the best cleaning efficiency and cleaning planning.

[0120] Optionally, both the main body 31 and the moving part 32 are equipped with corresponding sensors to detect their relative positions in real time. The sensors can collect information such as the moving distance, relative position, and relative attitude of the main body 31 and the moving part 32, and transmit the collected information to the central control system. The system processes this data through algorithms to generate further control commands, and then controls the output of the power unit according to the updated control commands to adjust the positions of the main body 31 and the moving part 32 in a timely manner.

[0121] More specifically, in practical applications, the cleaning system will integrate a positioning module, which can be one or more, to ensure the precise docking and coordinated operation of components such as the transport body 3 and the cleaning equipment 2.

[0122] Understandably, the positioning module is responsible for providing the absolute positioning of the transfer body 3 relative to the entire solar power plant, as well as the relative positioning between various components within the cleaning system. This includes, but is not limited to, the positioning of the transfer body 3 relative to different solar brackets 61, the positioning of the transfer body 3 relative to the support part 1, and the mutual positioning between components such as the body part 31, the moving part 32, the bracket structure 33, and the cleaning equipment 2.

[0123] The positioning methods include, but are not limited to, infrared positioning, laser ranging positioning, Global Positioning System (GPS) positioning, ultrasonic positioning, Radio Frequency Identification (RFID) positioning, magnetic positioning, contact switch positioning, QR code positioning, radar positioning, Wi-Fi positioning, and visual positioning.

[0124] Furthermore, the cleaning system is equipped with a main body fixing part, and the fixing part and the main body 31 are equipped with locking components that can cooperate with each other, which effectively prevents the main body 31 from slipping in the solar power station due to terrain conditions such as slope, and ensures the stability and safety of the cleaning operation.

[0125] The main body fixing unit is a key component of the cleaning system. Its design varies; it can be installed independently or integrated into the support unit 1 or solar panel bracket 61, etc. The main function of the main body fixing unit is to provide a stable fixing point, cooperating with the locking components of the main body 31 to restrict its displacement. The locking components include, but are not limited to, mechanical locking devices (such as latches, buckles, locking pins, etc.) and electronic locking systems (such as electromagnetic locks, electric clamps, etc.), enabling the main body 31 to be locked when needed to prevent movement, and easily unlocked when movement is required.

[0126] In addition, the main body fixing part is generally set at intervals along a preset path (the layout path of the support part 1), providing a series of fixing points to ensure the safety of the main body part 31 and cleaning equipment 2 and other components.

[0127] The design of the power unit of the transfer body 3 is crucial. In one embodiment, as shown in Figures 4 and 5, the power unit mainly includes a first transmission belt 411 and a first driving member 412. The first transmission belt 411 is disposed on the body part 31 and has a plurality of mating holes 410 arranged along its length. The first driving member 412 is disposed on the moving part 32 and consists of a driving gear and a driving motor connected thereto. The mating holes 410 are evenly distributed on the transmission belt for meshing with the teeth of the driving gear, thereby realizing the effective transmission of power.

[0128] The drive motor serves as the power source, and when it operates, the drive gear rotates accordingly. The gear teeth sequentially engage with the mating holes 410 on the first transmission belt 411. Through precise mechanical engagement, the drive gear drives the moving part 32 to move relative to the main body 31, ensuring not only efficient power transmission but also improving the stability and reliability of the system.

[0129] It should be noted that, in order to achieve precise docking and smooth power transmission, the design of the mating holes 410 and the drive gear teeth needs to be precisely matched. The shape and size of the mating holes 410 are optimized according to the specifications of the gear teeth to ensure that excessive wear is avoided during docking. In addition, the distribution spacing of the mating holes 410 and the length of the transmission belt need to be precisely calculated according to the movement range and speed requirements of the transfer body 3 to achieve optimal motion control.

[0130] As shown in the figure, in this embodiment, the first transmission belt 411 and the mating hole 410 are both provided on the upper surface of the body part 31. Optionally, the mating hole 410 can also be provided on the side or bottom surface of the body part 31, which reduces the occupation of the upper surface of the body part 31 and makes room for other equipment or components to adapt to different installation and use conditions.

[0131] Furthermore, the cleaning system has a first fixing part for fixing the position of the moving part 32 when needed, and the moving part 32 and the first fixing part are respectively provided with a cooperating first locking mechanism 413.

[0132] When the first locking mechanism 413 is locked, the moving part 32 is fixedly connected to the first fixed part, and the main body 31 can move relative to the support part 1 under the driving action of the first driving member 412. When the first locking mechanism 413 is not locked, the moving part 32 can move independently relative to the main body 31 or the support part 1, providing greater flexibility and operating range.

[0133] The first fixing part can be installed on equipment inherent in the power station itself, such as the support part 1 or the solar bracket 61, or it can be set up as an independent structure. For example, when the first fixing part is installed on the support part 1, it is integrated with the support part 1 and provides a stable locking point for the moving part 32; the first fixing part can also be directly installed on the solar bracket 61, using the structural strength of the solar bracket 61 as the basis for fixing and positioning the moving part 32; the first fixing part can be set up as an independent structure in the solar power station 6, without relying on the support part 1 or the solar bracket 61. This independently set first fixing part can be flexibly arranged according to the specific layout of the power station.

[0134] Specifically, as shown in Figures 6 and 7, when the first fixed part is disposed on the support part 1, it can be understood that the moving part 32 and the support part 1 achieve efficient docking and movement control through the first locking mechanism 413. The first locking mechanism 413 can be a pin-type lock or an electromagnetic adsorption lock.

[0135] Importantly, when the first locking mechanism 413 is locked, the moving part 32 and the support part 1 are interlocked, forming a stable whole. In this state, the main body 31 can move along the support part 1 under the drive of the power unit, enabling the entire transfer body 3 to shuttle between different rows of solar panel supports 61. This operation is suitable for changes in the base of the transfer body 3, allowing the main body 31 to move forward or backward to adjust the movable area of ​​the subsequent cleaning equipment 2.

[0136] When the first locking mechanism 413 is unlocked, the connection between the moving part 32 and the support part 1 is released, allowing the moving part 32 to move independently on the main body 31 under the drive of the power unit. This operation is suitable for adjusting the position of the cleaning device 2 so that it is precisely aligned with the corresponding solar bracket 61. The independent movement capability of the moving part 32 enables the cleaning device 2 to flexibly handle different cleaning tasks, improving the system's response speed and operational accuracy.

[0137] In another embodiment, as shown in FIG13, the power unit includes a transmission member and a second drive member 422. The transmission member is connected to the second drive member 422, and the transmission member is operated by the driving force of the second drive member 422.

[0138] The transmission component connects the main body 31 and the moving part 32. The transmission component can be a synchronous belt, chain or other form of mechanical transmission structure. The second drive component 422 is generally set as a drive motor. The operation of the motor drives the transmission component, thereby realizing the movement of the main body 31 or the moving part 32.

[0139] Furthermore, the cleaning system is also provided with a second fixed part, which cooperates with the moving part 32 through a second locking mechanism. When the moving part 32 and the second fixed part are locked by the second locking mechanism, the driving force of the transmission member causes the main body 31 to move. When the moving part 32 and the second fixed part are not locked, the second driving member 422 drives the transmission member to move the moving part 32 relative to the main body 31.

[0140] Understandably, the second fixing part is set in a similar manner to the first fixing part. It can be set independently, for example, on the ground inside the power station, or integrated into components located inside the power station, such as the support part 1 or the solar bracket 61.

[0141] Based on the above, in one embodiment, one or more sensors are installed on the transfer body 3. These sensors may include, but are not limited to, tilt sensors, distance sensors, vision sensors, or lidar. These sensors can provide real-time data on the position, angle, and distance of the transfer body 3 relative to the solar panel bracket 61, support section 1, various fixed sections, and other structures and facilities within the power station.

[0142] Specifically, for example, by installing sensors such as tilt sensors and vision sensors on the transport body 3, the system can detect the relative position and angular differences between the transport body 3 and the solar support 61. This data can be used to adjust the position of the transport body 3 to ensure that the cleaning equipment 2 can accurately dock with the solar support 61; distance sensors and lidar can be used to measure the distance between the transport body 3 and the support 1, as well as their relative position in three-dimensional space, to assist the transport body 3 in moving into place relative to the support 1.

[0143] Furthermore, regarding the alignment of the main body 31 with the main body fixing part, the data provided by the sensor can be used to monitor changes in the position of the main body 31 and adjust it in real time to ensure stability and safety during the cleaning operation. A similar sensor configuration is also applied to the alignment of the moving part 32 with the first fixing part and the second fixing part to ensure the correct locking of the moving part 32.

[0144] Based on the above, even better, not only is the main transfer body 3 equipped with sensors, but the solar bracket 61, support part 1 and fixing part are also integrated with corresponding sensing components to achieve precise alignment and coordinated operation.

[0145] In one specific implementation scenario, when the transport body 3 needs to dock with the solar panel bracket 61, the visual sensor and tilt sensor on the solar panel bracket 61 detect positional deviations, and the system automatically adjusts the position of the transport body 3 until the sensor data shows that alignment is complete. Similarly, when the transport body 3 needs to dock with the support part 1, the data from the position sensor and tilt sensor on the support part 1 are used to fine-tune the position of the transport body 3 to ensure precise docking.

[0146] In one embodiment, as shown in Figures 13 to 15, the transmission component is a synchronous belt 421, and the body part 31 includes a support frame. The body part 31 is used to dock with the cleaning device 2. The body part 31 may be provided with the bracket structure 33 shown in the figures to ensure the docking height between the cleaning device 2 and the solar bracket 61.

[0147] As shown in the figure, the synchronous belt 421 is connected to both the main body 31 and the moving part 32. The second locking mechanism includes a first locking end 4231 and a second locking end 4232. The first locking end 4231 is located on the moving part 32, and the second locking end 4232 is located on the second fixed part. It should be noted that the figure shows the second fixed part integrated into the support part 1, in which case the second locking end 4232 is also located on the support part 1. However, as mentioned above, the second fixed part can also be independently located on the ground or in other locations. In those cases, the location or form of the second locking end 4232 will change accordingly, and these variations should also be included within the scope of protection of this application.

[0148] Please refer to Figures 13 to 16 in conjunction with the above content. When the moving part 32 (with a first locking end 4231 fixed) on the synchronous belt 421 is successfully docked and locked with the support part 1 (with a second locking end 4232 fixed), the moving part 32 and the support part 1 are relatively fixed. At this time, the moving part 32 as a whole cannot move, but the synchronous belt 421 is still driven by the second driving member 422 and continues to operate. The operation of the synchronous belt 421 applies a force to the moving part 32, but since the moving part 32 is locked by the locking mechanism, the force cannot push the moving part 32, but is transmitted to the main body 31, so that the main body 31 can move along the layout direction of the support part 1, while the moving part 32 remains in the original position, so that the main body 31 can move forward or backward on the support part 1.

[0149] When the first locking end 4231 of the moving part 32 on the timing belt 421 is not docked or locked with the second locking end 4232 of the support part 1, the moving part 32 can move freely. At this time, the position of the moving part 32 relative to the body part 31 and the support part 1 changes, that is, the moving part 32 moves forward or backward under the drive of the timing belt 421.

[0150] Optionally, to improve docking accuracy and efficiency, sensors are installed on the main body 31. These sensors can be contact or non-contact and are mainly used to monitor the movement status of the moving part 32 in real time to ensure its accurate positioning. Understandably, the data collected by the sensors is transmitted to the control system, which processes this data through algorithms to determine the real-time position and movement status of the moving part 32. For example, based on the data provided by the sensors, the control system can calculate the displacement of the moving part 32 relative to its initial position, and then deduce the distance that the moving part 32 or the main body 31 can move or has already moved.

[0151] Unlike the above embodiments, the power unit includes a third transmission belt 431 and a third driving member. The third transmission belt 431 is arranged to form an integral or partial surround with respect to the transfer body 3 in the length direction, and the third driving member is connected to the third transmission belt 431 to drive the third transmission belt 431 to rotate, thereby realizing the displacement of the transfer body 3.

[0152] Referring to Figure 17 in the specification, in one embodiment, the third transmission belt 431 can be a continuous annular belt, similar to a track, capable of contacting the support 1 to generate friction, thus propelling the transfer body 3 along the support 1. Simultaneously, auxiliary wheels or similar auxiliary support structures are provided along the path of the third transmission belt 431. These auxiliary support structures can support the third transmission belt 431, preventing excessive deformation during operation. In other words, they help maintain the correct tension of the third transmission belt 431, reducing the risk of wear and failure caused by belt sagging or excessive stretching.

[0153] In another embodiment, as shown in Figures 18 to 20, the third transmission belt 431 is designed as an annular belt, characterized by having at least one protrusion 432 on it. When the third transmission belt 431 is running, the protrusion 432 contacts the support portion 1. Even after contact, the third transmission belt 431 continues to run, and the contact between the protrusion 432 and the support portion 1 generates a reaction force, pushing the transfer body 3 along the support portion 1, thus enabling the transfer body 3 to move forward or backward. In a more preferred embodiment, the support portion 1 can also be provided with a contact portion 14 that mates with the protrusion 432 to improve transmission efficiency and stability.

[0154] It should be noted that in the cleaning system of the present invention, in order to improve the moving efficiency of the transfer body 3 and reduce the idle time of the third transmission belt 431, the distance between the support parts 1 and the number and position of the protrusions 432 provided on the third transmission belt 431 can be accurately calculated and optimized during the design, so that the third transmission belt 431 interacts with the support parts 1 more efficiently during operation, thereby reducing ineffective operation and improving the overall work efficiency.

[0155] Specifically, firstly, the distance between each support 1 within the solar power plant 6 is measured and recorded (this distance can also be obtained directly from actual construction data without further measurement). This data will be used to calculate the required operating cycle of the third transmission belt 431 and the position of the protrusion 432. Based on the distance between the support 1 and the moving speed of the transfer body 3, the optimal number and position of the protrusion 432 on the third transmission belt 431 are calculated.

[0156] Furthermore, unlike the above embodiments, as shown in FIG21, the power device includes a transmission rod 441 and a fourth driving member. The fourth driving member is connected to the transmission rod 441 and is used to drive the transmission rod 441 to rotate forward or backward, so that the transmission rod 441 can change its relative position with the support part 1 when rotating. Each rotation of the transmission rod 441 can be effectively converted into linear movement of the transfer body 3, thereby pushing the transfer body 3 to move forward or backward.

[0157] In one embodiment, as shown in FIG3, the transfer body 3 is provided with a bracket structure 33 for supporting the cleaning equipment 2 and ensuring its stability and safety during movement.

[0158] In practical applications, the bracket structure 33 can be designed as a frame with multiple adjustment points, which allow the bracket structure 33 to be adjusted according to the size of the cleaning equipment 2. During operation, when the cleaning equipment 2 needs to be replaced or maintained, the bracket structure 33 can quickly release the cleaning equipment 2 without complicated operations.

[0159] Optionally, as shown in Figure 10, the cleaning system is also equipped with a bracket locking mechanism or a bracket docking structure 51, which can lock or dock the bracket structure 33 and the solar bracket 61 (photovoltaic module 62) when the cleaning equipment 2 moves from the bracket structure 33 to the photovoltaic module 62, or from the photovoltaic module 62 to the bracket structure 33, to ensure the stability and reliability of the cleaning equipment 2 during operation.

[0160] Furthermore, the bracket structure 33 has an adjustment component 331, which can adjust the angle, height, and distance between the cleaning equipment 2 and the solar panel bracket 61 according to the docking end position, thereby ensuring the correct docking of the cleaning equipment 2 relative to the solar panel bracket 61 and improving the flexibility and adaptability of the cleaning operation. For example, lifting belts are provided at both ends of the bracket structure 33. These lifting belts can be extended or retracted to realize the raising and lowering and position adjustment of the cleaning equipment 2. In addition, the control of the lifting belts can be manual or automatic, and can be adjusted according to actual needs.

[0161] In addition, based on the above embodiments, it should be noted that the cleaning equipment 2 can actively or passively move relative to the transfer body 3 and the solar support 61.

[0162] In active mobility mode, the cleaning device 2 is equipped with a power module, which can be electric or pneumatic, enabling it to move autonomously between the transport body 3 and the solar support 61. The power module includes, but is not limited to, a wheel drive system, a track system or a crawling mechanism, as well as necessary sensors and control systems to ensure that the cleaning device 2 can accurately navigate and perform cleaning tasks.

[0163] More specifically, the control system of the cleaning equipment 2 itself controls the power module to drive the cleaning equipment 2 to travel back and forth between the transfer body 3 and the solar bracket 61 according to the preset path or real-time instructions. The navigation system can adopt GPS, visual navigation system or laser navigation system, etc., to ensure the accurate positioning and path planning of the cleaning equipment 2.

[0164] In passive movement mode, as shown in Figure 12, the cleaning system is equipped with a robotic arm 52 and a robotic gripper 53 for gripping and transferring the cleaning equipment 2. The robotic arm 52 is mounted on the transfer body 3 and grips the cleaning equipment 2 as needed, placing it at the cleaning operation location. The operation of the robotic arm 52 can be manual or automatic. In automatic mode, the robotic arm 52 performs gripping and placement actions through a preset program or remote control by the operator.

[0165] Understandably, the active movement mode provides the cleaning equipment 2 with autonomous operation capabilities, which is suitable for large-scale or continuous cleaning operations; while the passive movement mode provides higher operating precision and control capabilities, which is suitable for cleaning operations that require precise placement.

[0166] More specifically, the efficient collaborative work of the robotic arm 52 and the robotic gripper 53 can be achieved by integrating auxiliary equipment. This auxiliary equipment includes, but is not limited to, cameras, angle sensors, and gyroscopes. The auxiliary equipment can be set in suitable positions, including, but not limited to, the robotic arm 52, the robotic gripper 53, and the transfer body 3 (e.g., the bracket structure 33), to achieve accurate image recognition and position recognition.

[0167] The camera captures images of the cleaning device 2 and its surrounding environment, providing visual data for image recognition. Through deep learning algorithms, the camera can identify the grasping posture of the cleaning device 2 and the shape and position of the target object. Angle sensors measure the joint angles of the robotic arm 52, ensuring precise positioning and motion control during task execution. A gyroscope measures the angular velocity and angular acceleration of the robotic arm 52, providing real-time data on its posture and enhancing system stability and response speed.

[0168] Based on the above embodiments, in the design of the cleaning system of the present invention, the position of the bracket structure 33 or the mechanical arm 52 of the transfer body 3 corresponds to the position of the solar bracket 61, so as to ensure that the cleaning equipment 2 can be correctly connected to the bracket.

[0169] In one embodiment, the transport body 3 has a built-in control system that stores preset position information of the solar support bracket 61, including key parameters such as height and angle. When the transport body 3 moves to the target bracket row, the system automatically adjusts the bracket structure 33 or the robotic arm 52 to the appropriate lifting position according to this preset information to achieve precise docking with the bracket.

[0170] Alternatively, interaction can be achieved through a communication system. For example, for a solar panel support 61 with communication capabilities, the transport body 3 is equipped with a communication module to exchange data with the communication module on the support, enabling real-time interaction and correspondence between the position status of both parties. This communication can be achieved through a wireless network, local area network, or direct cable connection, ensuring precise positioning and synchronized operation between the support and the transport body.

[0171] Alternatively, active identification can be achieved through an identification module mounted on the transport body 3, which can actively identify the position and status of the solar support bracket 61. This can be achieved using a visual recognition system, LiDAR, or other sensor technologies. The data acquired by the identification module is fed back to the control system, which adjusts the position of the bracket structure 33 or the robotic arm 52 accordingly to ensure proper alignment of the cleaning equipment 2. By applying these technologies, the cleaning system can achieve precise alignment between the transport body 3 and the solar support bracket 61 in complex solar power plant environments, improving the efficiency of cleaning operations and reducing the risk of equipment collisions or damage.

[0172] It should be noted that for fixed supports, the system mainly relies on preset position information for position adjustment and docking. For tracking supports, in addition to preset position information, real-time communication and active identification by the identification module may be more necessary to adapt to the dynamic position changes of the support.

[0173] In one embodiment, according to another aspect of this application, this application further provides a charging system designed to provide a stable and efficient power supply for the cleaning system applied to the solar power plant 6 as described above, wherein the system includes at least one first power supply module responsible for supplying power to the cleaning equipment 2 to ensure that it has continuous energy support when performing its tasks.

[0174] Specifically, the first power supply module can be configured in several ways. For example, the first power supply module can be installed on the transport body 3, allowing the cleaning device 2 to be charged while moving with the transport body 3, thus improving charging flexibility; or, the first power supply module can be a conventional power supply device installed within the solar power station 6, such as a grid-connected power source or a central battery energy storage system within the power station. The cleaning device 2 obtains power from these conventional power supply devices via wired or wireless means (e.g., through inductive charging). In this method, the cleaning device 2 utilizes the existing power infrastructure within the power station, reducing its dependence on the transport body 3; or, the first power supply module can be a solar panel installed on the solar support 61, utilizing the natural energy of the solar power station 6, improving energy efficiency, and potentially reducing the demand for external power. It should also be noted that the electricity generated by the photovoltaic modules can be directly stored in the batteries of the cleaning device 2, or distributed to the transport body 3 or other equipment through an energy management system.

[0175] In one specific embodiment, the cleaning device 2 can select the most suitable power supply module for charging based on its current location and energy needs. For example, when the cleaning device 2 is located near the solar support 61, it can use the photovoltaic modules installed on the support for fast charging; when the cleaning device 2 needs to move a long distance within the power station, it can obtain power from the power supply module on the transport body 3 or from the conventional power supply equipment within the power station.

[0176] Based on the above, in one embodiment, the charging system can also supply power to the power unit in the cleaning system. In one case, the cleaning device 2 and the power unit share a first power supply module. This design simplifies the system's complexity, reduces the number of required power supply components, and improves energy efficiency. Alternatively, the charging system may also include at least one second power supply module specifically designed for the power unit, thus providing the power unit with an independent power source, unaffected by the power demand of the cleaning device 2.

[0177] In one embodiment, according to one aspect of this application, this application also provides a docking system including at least one docking platform for docking or transferring the cleaning equipment 2 in the above embodiments.

[0178] The platform can be designed as a fixed unit, installed on the ground or structure of the solar power station 6, or it can be designed as a mobile unit, installed on the transfer body 3, to facilitate movement between different work areas. Understandably, the main function of the docking platform is to provide a safe docking or transfer point for the cleaning equipment 2, allowing it to stop after completing its task or when maintenance is required.

[0179] Furthermore, a power supply module can be integrated into the docking platform. When the cleaning equipment 2 is docked on the platform, it can directly obtain power from the platform. This power supply module can be an AC or DC power socket, or a wireless charging device, such as an inductive charging pad, providing a convenient charging method for the cleaning equipment 2 (e.g., a cleaning robot). Similarly, like the charging system described above, a corresponding power supply module can also be installed in the solar power station 6 or the solar support bracket 61 in this docking system to ensure that the cleaning equipment 2 can obtain the necessary power supply.

[0180] In one embodiment, according to one aspect of this application, this application also provides a cleaning method for cleaning a ground-mounted solar power plant, as shown in FIG22, comprising the steps of:

[0181] Step S1: Install at least two discontinuous support sections along a preset path within the solar power plant.

[0182] Step S2: Control the transport body carrying the cleaning equipment to move relative to the support to move between different rows of solar panels in the solar power plant, so that the cleaning equipment can perform row-by-row cleaning.

[0183] In step S1, the support unit provides a stable moving path and stopping point for the main body of the cleaning equipment. It should be noted that the preset path can be optimized according to the layout of the solar power plant and the arrangement of the solar support brackets to achieve efficient movement of the cleaning equipment between different rows of solar support brackets.

[0184] For example, as shown in Figure 11, the preset path can be located at the edge or middle of the solar power station, allowing the transport vehicle to move at the ends or middle sections of the solar support structure, increasing the path's flexibility and adaptability. Furthermore, the preset path does not necessarily have to be a straight line; it can be adjusted according to the length of each row of solar support structures, the terrain conditions of the power station, and the needs of the cleaning operation. The path can be designed as a curve, a broken line, or other shape suitable for the power station layout to optimize the movement efficiency of the cleaning equipment.

[0185] Additionally, in step S2, the transport vehicle, equipped with cleaning equipment, begins to move from a preset starting position or the current position. This starting position can be any support structure within the solar power plant, or a specific charging station, maintenance station, etc.

[0186] In one embodiment, more specifically, step S2 involves displacing the transport body carrying the cleaning equipment relative to the support portion to move between different rows of solar panels in the solar power plant, enabling the cleaning equipment to perform row-by-row cleaning. This includes the following two scenarios:

[0187] Step S2.1: Control the transport unit to move from one row of solar panels to the next row for row-changing cleaning. This step aims to move the transport unit, carrying the cleaning equipment, from one row of solar panels to the next for continuous cleaning operations.

[0188] Understandably, the transport unit starts from the current row of solar panels, is driven by a power unit, and moves along a preset path to the next row of solar panels. Upon arrival at the new row, the cleaning equipment on the transport unit begins to perform cleaning operations, removing dust and dirt from the photovoltaic modules. After cleaning is completed, the transport unit moves to the next row again and repeats the cleaning process.

[0189] Step S2.2: Control the transfer body to move from one row of solar brackets to another row of solar brackets in a movement mode that crosses one or more rows, for targeted cleaning across rows.

[0190] Compared to the above, this step is used to enable the transporter to move directly to a preset row for cleaning when targeted cleaning is required, across one or more rows of solar panels. It is more suitable for focusing on cleaning specific areas or responding quickly when dirt is found to have accumulated on a specific row of photovoltaic modules.

[0191] In one embodiment, this application also provides a transfer device for cleaning ground-mounted solar power plants, comprising a mobile body having a power module, which can be electric, hydraulic, or pneumatic, capable of providing power to the mobile body so that the mobile body can move based on supports within the solar power plant, wherein the number of supports is at least two and they are not continuously arranged; furthermore, the mobile body can carry a cleaning module so that the cleaning module can move synchronously with the movement of the mobile body, thereby cleaning the equipment within the solar power plant through the cleaning module.

[0192] It should be noted that the design principle of the transfer device in this embodiment is similar to that of the transfer body 3 mentioned above, and the coordinated operation of the moving body, the support part, and the cleaning module is also similar to the coordinated operation of the transfer body 3, the support part 1, and the cleaning equipment 2 in the cleaning system mentioned above. For example, the moving body moves to the support part under the drive of the power module, and the cleaning module then starts working. After completing the cleaning task, the moving body moves to the next support part, which will not be elaborated here.

[0193] In this embodiment, the mobile body, as a core component, is designed independently of the support unit and the cleaning module. Under normal circumstances, the mobile body, support unit, and cleaning module are manufactured independently, with the support unit then deployed at the target power plant. The arrangement of the mobile body and cleaning module allows it to be produced by different manufacturers or factories, facilitating mass production and quality control. For example, the mobile body typically includes a chassis, a power system, a control system, and possibly a navigation system; these components work together to achieve efficient movement between support units.

[0194] In summary, the independently designed mobile unit in this embodiment provides an efficient and reliable cleaning solution for solar power plants. Its flexibility and adaptability allow the transfer device to be widely used in different solar power plant environments.

[0195] It should be noted that the above embodiments can be freely combined as needed. The above are merely preferred embodiments of this application. It should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A clean system for a ground-mounted solar power plant, wherein the solar power plant has at least two rows of solar panels mounted on the solar panels, characterized in that, include: At least two discontinuous support sections are provided, which are arranged along a predetermined path within the solar power plant. Cleaning equipment used to clean photovoltaic modules on solar racks within a solar power plant; The transfer body is used to carry or load the cleaning equipment, and includes a power unit to drive the transfer body to move relative to the support, thereby realizing the movement of the transfer body within the solar power plant. The transport body carries the cleaning equipment between different rows of solar panels, thereby enabling the cleaning equipment to clean the photovoltaic modules on the different rows of solar panels.

2. The cleaning system according to claim 1, characterized in that, The number of the support parts is at least three, and the length of the transfer body is at least equal to the total length formed by any three adjacent support parts on the preset path.

3. The cleaning system according to claim 1, characterized in that, The support part is provided with a sliding groove or rolling part adapted to the transfer body to assist in the sliding of the transfer body; And / or, The mating surface of the support portion relative to the transfer body is provided with a lubricating material to reduce friction between the support portion and the transfer body.

4. The cleaning system according to claim 1, characterized in that, The support portion is provided with a limiting portion, which abuts against the side wall and / or at least part of the top surface and / or at least part of the bottom surface of the transfer body to prevent the transfer body from tipping over or shifting.

5. The cleaning system according to claim 1, characterized in that, The transport body includes a main body and a moving part. The main body is used to dock with the support part to determine the travel trajectory of the transport body. The cleaning equipment can be mounted on the main body or the moving part. The power unit is disposed on the main body and / or the moving part, such that at least the moving part can move relative to the main body under the drive of the power unit.

6. The cleaning system according to claim 5, characterized in that, The cleaning system further includes at least one body fixing part, and the body fixing part and the body part are respectively provided with locking components to limit the displacement of the body part; And / or, The cleaning system further includes a second positioning module, which is disposed in one or more of the main body, the moving part, the support part, and the cleaning device, and is used to assist the components in positioning.

7. The cleaning system according to claim 5, characterized in that, The power unit includes a first transmission belt and a first driving member. The first transmission belt is disposed on the body and has a plurality of mating holes along its length. The first driving member is disposed on the moving part and includes a driving gear and a driving motor connected thereto. When the driving motor is running, the driving gear drives the moving part to generate displacement relative to the main body. The cleaning system has a first fixed part, and the moving part and the first fixed part are respectively provided with a first locking mechanism that cooperates with each other. When the moving part and the first fixed part are locked by the first locking mechanism, the main body part can move relative to the support part under the driving action of the first driving member. When the moving part and the first fixed part are not locked by the first locking mechanism, the moving part can move relative to the body part or the support part under the driving action of the first driving member.

8. The cleaning system according to claim 5, characterized in that, The power unit includes a transmission component and a second driving component. The transmission component connects the main body and the moving part. The transmission component is connected to the second driving component so as to drive the transmission component to move through the second driving component. The cleaning system has a second fixed part, and the moving part and the second fixed part are respectively provided with a cooperating second locking mechanism. When the moving part and the second fixed part are locked by the second locking mechanism, the main body can move under the driving action of the transmission member. When the moving part and the second fixed part are not locked by the second locking mechanism, the moving part can move relative to the main body under the driving action of the transmission member.

9. The cleaning system according to claim 8, characterized in that, The transmission component is a synchronous belt, the main body is used to support the cleaning equipment, and the synchronous belt is connected to the main body and the moving part respectively; The second locking mechanism includes a first locking end and a second locking end. The first locking end is disposed on the moving part, and the second locking end is disposed on the second fixed part. When the first locking end and the second locking end are docked with each other, the position of the moving part is fixed, so that the main body can move during the operation of the synchronous belt.

10. The cleaning system according to claim 1, characterized in that, The power unit includes a third transmission belt and a third driving member. The third transmission belt is integrally or partially arranged around the transfer body in the length direction. The third driving member is connected to the third transmission belt to drive the third transmission belt to rotate, thereby causing the transfer body to be displaced relative to the support.

11. The cleaning system according to claim 1, characterized in that, The power unit includes a transmission rod and a fourth driving member. The fourth driving member is connected to the transmission rod to drive the transmission rod to rotate forward or in reverse, so that when the transmission rod rotates, the relative position of the transmission rod and the support changes, thereby pushing the transfer body to move relative to the support.

12. The cleaning system according to claim 1, characterized in that, The transfer body is equipped with a bracket structure, which is used to support the cleaning equipment. And / or, The transport body is equipped with a first positioning module, which enables the transport body to perform relative positioning with at least one of the positioning ends on the solar panel bracket, the positioning end inside the solar power station, the positioning end on the cleaning equipment, and the positioning end on the support part, thereby assisting the transport body in docking to a preset position.

13. The cleaning system according to claim 1, characterized in that, The number of cleaning devices is at least two, and during the movement of the transfer body, different cleaning devices can move between different rows of solar panels as the transfer body moves.

14. The cleaning system according to claim 1, characterized in that, The cleaning equipment can move relative to the transfer body and the solar panel support, either actively or passively.

15. The cleaning system according to claim 14, characterized in that, The cleaning equipment has a power module for driving the cleaning equipment to move back and forth between the transfer body and the solar panel support.

16. The cleaning system according to claim 14, characterized in that, The cleaning system is equipped with a robotic arm and a robotic gripper to grasp the cleaning equipment and control the transfer of the cleaning equipment between the transport body and the solar panel support.

17. The cleaning system according to claim 1, characterized in that, The transport body has an upwardly inclined guide section on at least one end.

18. The cleaning system according to claim 17, characterized in that, The width of the guide portion gradually decreases along the direction from the middle of the transfer body toward the end where the guide portion is located.

19. The cleaning system according to claim 1, characterized in that, At least one of the aforementioned support components is fixed to the ground; And / or, At least one of the support components is fixed to the solar panel bracket within the solar power plant.

20. A charging system, characterized in that, For use in the cleaning system according to any one of claims 1-19, comprising: The first power supply module is used to supply power to the cleaning equipment.

21. The charging system according to claim 20, characterized in that, The first power supply module is disposed on the transfer body; Alternatively, the first power supply module may be a conventional power supply device installed within the solar power station; Alternatively, the first power supply module may be a solar panel mounted on the solar support.

22. The charging system according to claim 20 or 21, characterized in that, The cleaning equipment and the power unit share the first power supply module; Alternatively, the charging system may further include a second power supply module for supplying power to the power unit.

23. A docking system, characterized in that, A cleaning device for use in a cleaning system according to any one of claims 1-19, comprising: A docking platform, located at a predetermined location in the solar power plant or on the transfer vehicle, is used for docking and / or transferring the cleaning equipment.

24. The docking system according to claim 23, characterized in that, The docking platform is equipped with a power supply module for supplying power to the cleaning equipment; And / or, The solar power station is equipped with a power supply module for supplying power to the cleaning equipment; And / or, The solar panel bracket is equipped with a power supply module for supplying power to the cleaning equipment.

25. A cleaning method, characterized in that, The cleaning system according to any one of claims 1-19 is used for cleaning a ground-mounted solar power plant, comprising the steps of: Step (1): Install at least two discontinuous support sections along a predetermined path within the solar power plant; Step (2): Control the transfer body carrying the cleaning equipment to move relative to the support to move between different rows of solar brackets in the solar power plant so that the cleaning equipment can perform row-changing cleaning.

26. The cleaning method according to claim 25, characterized in that, Step (2) includes: The transfer body is controlled to move from one row of solar panels to the next row of solar panels for sequential cleaning of each row. or, The transfer body is controlled to move from one row of solar panels to another row of solar panels in a movement mode that spans one or more rows, for targeted cleaning across rows.

27. A transfer device for cleaning ground-mounted solar power plants, characterized in that, include: A mobile body having a power module that provides power to the mobile body, enabling it to move based on two or more discontinuous support structures within a solar power plant; The mobile body can carry the cleaning module, so that the cleaning module can move synchronously with the mobile body, thereby cleaning the equipment in the solar power station.

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