CN114301386A

CN114301386A - Photovoltaic panel cleaning device and cleaning method

Info

Publication number: CN114301386A
Application number: CN202111492643.9A
Authority: CN
Inventors: 姜方宁; 张良军; 王伟; 马爱丽; 刘如意
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2021-12-08
Filing date: 2021-12-08
Publication date: 2022-04-08
Anticipated expiration: 2041-12-08
Also published as: CN114301386B

Abstract

The invention discloses a photovoltaic panel cleaning device and a cleaning method. Photovoltaic board cleaning device, including running gear, roll sweep mechanism, dust extraction and control system, roll sweep mechanism and dust extraction and locate running gear on, control system connects and controls running gear and walks, turns to and keep running gear top surface level, and control system connects and controls to roll sweep the mechanism and clean the photovoltaic board, and control system connects and controls dust extraction and carry out the suction collection to the dust of clean production. The photovoltaic panel is stably moved and automatically matched and attached to clean the surface of the photovoltaic panel, so that the environmental adaptability is better; adopt the suspension to push down and attached formula round brush, clean dynamics is convenient for control, and the clearance effect is better. The device is suitable for cleaning the surfaces of various photovoltaic panels arranged in matrix array and photovoltaic panels with different heights.

Description

Photovoltaic panel cleaning device and cleaning method

Technical Field

The invention relates to the technical field of photovoltaic panel cleaning, in particular to a photovoltaic panel cleaning device. In addition, the invention also relates to a photovoltaic panel cleaning method comprising the photovoltaic panel cleaning device.

Background

Under the global environment of energy conservation and emission reduction, plans for carbon neutralization and carbon peak reaching are proposed in many countries. All countries are vigorously developing solar power generation as one of clean energy. Since a photovoltaic panel for solar power generation is used outdoors, dirt such as dust, yellow sand, volcanic ash, bird droppings, etc. gradually adheres to the surface, and the power generation efficiency is lowered, it is important to periodically clean the surface of the photovoltaic panel.

Various photovoltaic panel cleaning devices are currently available, such as:

the utility model provides a photovoltaic solar panel cleaning device with stoving function, is through laying the track in photovoltaic board both sides to adopt step-by-step mode drive cleaning brush to remove on the track, still need lay the water tank simultaneously above the photovoltaic board, still need lay hot-blast fan. The whole structure is integrated on the photovoltaic panel, so that the photovoltaic panel is poor in stability, inconvenient to use due to the fact that water needs to be supplemented in real time, and prone to causing the problems of light blocking and the like, and further the power generation efficiency is reduced.

A photovoltaic cell panel cleaning robot adopts a walking robot to drive a six-degree-of-freedom driving arm to perform cleaning operation. The requirement for environment is high, professional personnel are required to specially write operation programs for specific environment, and reprogramming is required once the environment is changed, so that the technical requirement is high, and the price is high.

A system for cleaning solar panels by rainwater collects rainwater and uses a rotating brush to clean the solar panels, and the whole structure is also integrated on the solar panels. Need lay special track, require highly to the environment, need often have the environment of rainwater, and cause the light scheduling problem of hindering easily, and then lead to the generating efficiency to reduce.

The utility model provides an operation device on inclined plane, includes work robot and follower, and work robot adopts the cable to be connected with the follower, and work robot has the positioning system who learns the position each other with the follower, adopts the work robot walking and in time clearing up on the photovoltaic board. The cleaning of a single photovoltaic plate can be realized, crossing is difficult to realize in dense photovoltaic plate arrangement, the cleaning is carried out while walking on the surface, and the cleaning effect is poor.

The existing photovoltaic panel cleaning technology has the defect of low cleaning efficiency, and cannot meet the actual needs of a power station, so that a large amount of manpower is needed for auxiliary cleaning.

Disclosure of Invention

The invention provides a photovoltaic panel cleaning device and a cleaning method, which aim to solve the technical problems that the existing photovoltaic panel cleaning technology has the defect of low cleaning efficiency, cannot meet the actual needs of a power station and therefore needs a large amount of manpower for auxiliary cleaning.

According to one aspect of the invention, the photovoltaic panel cleaning device comprises a travelling mechanism, a rolling sweeping mechanism, a dust suction device and a control system, wherein the rolling sweeping mechanism and the dust suction device are arranged on the travelling mechanism, the control system is connected with and controls the travelling mechanism to travel, turn and keep the top surface of the travelling mechanism horizontal, the control system is connected with and controls the rolling sweeping mechanism to clean a photovoltaic panel, and the control system is connected with and controls the dust suction device to suck and collect dust generated by cleaning.

Furthermore, the walking mechanism comprises a frame, an independent suspension device arranged at the bottom of the frame and a rotatable driving system rotationally connected to the frame, and a horizontal base plate used for bearing the rolling sweeping mechanism and the dust suction device is arranged at the upper part of the frame.

Further, the independent suspension device comprises a swing mechanism rotatably connected to the bottom of the frame, a first connecting rod with a first end connected to a power output end of the swing mechanism, a second connecting rod with a first end hinged to a second end of the first connecting rod, a tire rotatably connected to a second end of the second connecting rod, and a suspension oil cylinder arranged between the first connecting rod and the second connecting rod; two ends of the suspension oil cylinder are respectively hinged on the first connecting rod and the second connecting rod.

Furthermore, the first connecting rod and the second connecting rod are arranged in a bent mode on a vertical plane, and two ends of the suspension oil cylinder are hinged to a bending corner of the first connecting rod and a bending corner of the second connecting rod respectively.

Further, a rotary encoder for detecting the rotation angle is mounted on the slewing mechanism; the frame and/or the horizontal substrate are/is provided with a tilt angle sensor; a displacement sensor and a pressure sensor are arranged in the suspension oil cylinder.

Further, the control system includes a controller and a suspension control system; the output end of the controller is provided with an electromagnetic valve to perform coordinated control according to the internal pressure of the suspension oil cylinder, the telescopic displacement of the suspension oil cylinder and the inclination angle of the horizontal substrate which are respectively detected, so that the horizontal substrate is kept horizontal, and the controller, the electromagnetic valve, the displacement sensor, the pressure sensor and the inclination angle sensor form a suspension control system.

Furthermore, the control system further comprises a steering control system, the swing mechanism further comprises a motor and a worm gear, the motor drives the swing mechanism through the worm gear, the rotary encoder is installed on the worm gear, the output end of the controller is connected with and controls the motor through the electromagnetic valve, and the swing mechanism, the rotary encoder and the controller form the steering control system.

Furthermore, the rotatable driving system comprises a driving cab, a rotating mechanism, a force transmission connecting rod and an oil cylinder, wherein the rotating mechanism is connected with the driving cab and used for driving the driving cab to steer, the force transmission connecting rod is connected with the rotating mechanism and used for transmitting force and pushing the rotating mechanism to swing, and the oil cylinder is connected with the force transmission connecting rod and used for driving the force transmission connecting rod to act; the fixed end of the oil cylinder is hinged to the frame, the movable end of the oil cylinder is hinged to the side wall of the force transmission connecting rod, the first end of the force transmission connecting rod is hinged to the frame, the second end of the force transmission connecting rod is fixed to the rotating mechanism, the rotating mechanism comprises a motor and a worm gear, the motor drives the rotating mechanism to drive the cab to rotate through the worm gear, the rotary encoder is installed on the worm gear, and the output end of the controller is connected with and controls the motor through the electromagnetic valve.

Further, the rolling sweeping mechanism comprises a rolling brush component which is used for being attached to the surface of the photovoltaic panel in a suspension state so as to clean the photovoltaic panel, an angle control mechanism used for controlling the inclination angle of the rolling brush component and a lifting control mechanism used for controlling the rolling brush component to lift; the horizontal base plate is provided with a transverse moving track and a transverse moving driving device, the lifting control mechanism is arranged on the transverse moving track and is connected with the power output end of the transverse moving driving device, the movable end of the lifting control mechanism is connected with the rolling brush assembly, and the angle control mechanism is arranged between the movable end of the lifting control mechanism and the rolling brush assembly.

Furthermore, the lifting control mechanism comprises a scissor mechanism which is connected to the horizontal substrate in a sliding mode and arranged in an inverted mode and a traction mechanism which is arranged on the horizontal substrate, and the output end of the traction mechanism is connected with the movable end of the scissor mechanism to achieve lifting control of the scissor mechanism.

Furthermore, the traction mechanism comprises a lifting power device arranged on the horizontal base plate, a steel wire rope connected with the power output end of the lifting power device and a pulley rotatably arranged on the horizontal base plate, the first end of the steel wire rope is connected with the power output end of the lifting power device, and the second end of the steel wire rope is connected with the movable end of the scissor fork mechanism after being turned back by the pulley.

Furthermore, the angle control mechanism comprises a deflection power device, one end of the deflection power device is hinged and fixed on the movable end of the scissor fork mechanism, and the other end of the deflection power device is hinged and fixed on the rolling brush component; two groups of deflection power devices are arranged, and the two groups of deflection power devices are respectively arranged at two sides of the movable end of the scissor fork mechanism and are positioned on the same plane.

Furthermore, a spring mechanism is arranged at the connecting end of the deflection power device.

Furthermore, a position sensing device used for sensing the relative position between the rolling brush assembly and the photovoltaic panel is arranged on the rolling brush assembly, and the sensing device is electrically connected with the controller; the lifting control mechanism is provided with a tensile stress sensor which is electrically connected with the controller.

Further, the rolling brush assembly comprises a rolling brush support, a rolling brush rotationally connected to the rolling brush support and a driving device connected with the rolling brush.

Furthermore, the dust suction device comprises a driving motor, a negative pressure fan, a filter box, a dust collection box, an air duct and a butterfly valve; the power output end of the driving motor is connected with the negative pressure fan, the air inlet hole of the negative pressure fan is opened towards the rolling sweeping mechanism, the air outlet of the negative pressure fan is connected into the filter box, the output end of the filter box is connected to the dust collecting box through the air duct, the output end of the dust collecting box is provided with a butterfly valve, and the butterfly valve is used for opening dust stored in the dust collecting box and then discharging.

According to another aspect of the present invention, there is also provided a cleaning method of a photovoltaic panel, which uses the above cleaning apparatus of a photovoltaic panel, including the steps of: the walking mechanism is controlled to walk and/or turn along a straight line and enter the photovoltaic panel array, the horizontal base plate on the upper part of the frame is adjusted to be horizontal in time through the independent suspension device, and then the frame walks to the position of the photovoltaic panel to be cleaned and enables the horizontal base plate to be horizontal; the rolling brush assembly of the rolling sweeping mechanism obtains the relative position between the rolling brush assembly and the photovoltaic panel to be cleaned through the position sensing device and sends a signal to the controller, and the controller receives the signal and controls the rolling sweeping mechanism to slide on the horizontal substrate so that the rolling brush assembly can be suspended above the photovoltaic panel to be cleaned; the controller controls a lifting control mechanism of the rolling sweeping mechanism to drive the rolling brush assembly to descend and controls the angle control mechanism to adjust the inclination angle of the rolling brush assembly so as to enable the operation surface of the rolling brush assembly to be matched with the photovoltaic panel to be cleaned; the lifting control mechanism acquires the acting force of the rolling brush assembly on the photovoltaic panel to be cleaned in time through the tensile stress sensor, and the lifting control mechanism controls the acting force to be a preset value; starting the rolling brush assembly to clean the surface of the photovoltaic panel to be cleaned, starting the dust collection device at the same time, and sucking and collecting dust generated in the cleaning process through the dust collection device; and the controller controls the lifting control mechanism to drive the rolling brush assembly to ascend, controls the traveling mechanism to travel to the position of the next group of photovoltaic panels to be cleaned, and repeats the steps until all the photovoltaic panels in the photovoltaic panel array are cleaned.

The invention has the following beneficial effects:

the photovoltaic panel cleaning device comprises a travelling mechanism, a rolling sweeping mechanism, a dust collecting device and a control system, wherein the travelling mechanism is used for respectively bearing the rolling sweeping mechanism, the dust collecting device and the control system to form a movable integral structure; adopt running gear's top surface as rolling assembly reference surface of sweeping mechanism and dust extraction, walk along the straight line through control system control running gear, turn to and fixed point fixed position and ensure that running gear's top surface control is at the holding level of certain extent levelness within range, ensure to roll and sweep mechanism and dust extraction and can not constitute the hindrance at the walking in-process, and the relative stability who keeps the structure, still ensure to roll and sweep mechanism and dust extraction and accomplish accurate attached photovoltaic board and clean photovoltaic board surface under fixed point fixed position state, clean effort is rolled and swept in accurate control, ensure that whole photovoltaic board surface can both clean and can not constitute the harm to the photovoltaic board. The walking mechanism adopts a frame structure, is convenient to pass through a narrow gap between the photovoltaic panel and can not rigidly damage the peripheral photovoltaic panel. Through dust extraction, clean in-process in time is swept in the roll and is carried out the suction to the dust in the peripheral air and collect, avoids causing secondary pollution to peripheral photovoltaic board, also avoids causing the pollution to all ring edge borders simultaneously. The photovoltaic panel is stably moved and automatically matched and attached to clean the surface of the photovoltaic panel, so that the environmental adaptability is better; adopt the suspension to push down and attached formula round brush, clean dynamics is convenient for control, and the clearance effect is better. The device is suitable for cleaning the surfaces of various photovoltaic panels arranged in matrix array and photovoltaic panels with different heights.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic structural view of a photovoltaic panel cleaning apparatus according to a preferred embodiment of the present invention;

FIG. 2 is a schematic structural view showing a cleaning state of a roll-sweeping mechanism of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention;

FIG. 3 is a schematic structural view of a rotatable steering system of the photovoltaic panel cleaning apparatus of the preferred embodiment of the present invention;

FIG. 4 is a schematic structural view of an independent suspension device of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention;

FIG. 5 is a schematic view of the structure of a dust suction device of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a walking drive control system of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention;

FIG. 7 is a schematic structural view of a steering control system of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention;

fig. 8 is a schematic configuration diagram of a suspension control system of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention.

Illustration of the drawings:

10. a traveling mechanism; 100. a frame; 101. a horizontal substrate; 1011. traversing the track; 1012. a traverse driving device; 200. a rolling sweeping mechanism; 201. a roll brush assembly; 202. an angle control mechanism; 2021. a yaw power device; 203. a lift control mechanism; 2031. a scissor mechanism; 2032. a pulling mechanism; 20321. a lifting power device; 20322. a wire rope; 20323. a pulley; 300. a dust collection device; 3001. a drive motor; 3002. a negative pressure fan; 3003. a filter box; 3004. a dust collection box; 3005. an air duct; 3006. a butterfly valve; 400. an independent suspension device; 401. a swing mechanism; 402. a first link; 403. a second link; 404. a suspension cylinder; 405. a tire; 500. a rotatable steering system; 5001. a cab; 5002. a rotating mechanism; 5003. a force transfer link.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the accompanying drawings, but the invention can be embodied in many different forms, which are defined and covered by the following description.

FIG. 1 is a schematic structural view of a photovoltaic panel cleaning apparatus according to a preferred embodiment of the present invention; FIG. 2 is a schematic structural view showing a cleaning state of a roll-sweeping mechanism of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention; FIG. 3 is a schematic structural view of a rotatable steering system of the photovoltaic panel cleaning apparatus of the preferred embodiment of the present invention; FIG. 4 is a schematic structural view of an independent suspension device of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention; FIG. 5 is a schematic view of the structure of a dust suction device of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a walking drive control system of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention; FIG. 7 is a schematic structural view of a steering control system of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention; fig. 8 is a schematic configuration diagram of a suspension control system of the photovoltaic panel cleaning apparatus according to the preferred embodiment of the present invention.

As shown in fig. 1 and fig. 2, the photovoltaic panel cleaning apparatus of the present embodiment includes a traveling mechanism 10, a rolling cleaning mechanism 200, a dust suction device 300, and a control system, wherein the rolling cleaning mechanism 200 and the dust suction device 300 are disposed on the traveling mechanism 10, the control system is connected to and controls the traveling mechanism 10 to travel, turn and keep the top surface of the traveling mechanism 10 horizontal, the control system is connected to and controls the rolling cleaning mechanism 200 to clean the photovoltaic panel, and the control system is connected to and controls the dust suction device 300 to suck and collect dust generated by cleaning. The photovoltaic panel cleaning device comprises a travelling mechanism 10, a rolling sweeping mechanism 200, a dust suction device 300 and a control system, wherein the travelling mechanism 10 is used for respectively bearing the rolling sweeping mechanism 200, the dust suction device 300 and the control system to form a movable integral structure; adopt running gear 10's top surface to sweep mechanism 200 and dust extraction 300's assembly reference surface as rolling, walk along the straight line through control system control running gear 10, turn to and fixed point fixed positioning and ensure the top surface control of running gear 10 at the holding level of certain extent levelness within range, ensure to roll and sweep mechanism 200 and dust extraction 300 and can not constitute the hindrance at the walking in-process, and the relative stability of holding structure, still ensure to roll and sweep mechanism 200 and dust extraction 300 and accomplish accurate attached photovoltaic board and clean the photovoltaic board surface under fixed point fixed positioning state, clean effort is rolled and swept in accurate control, ensure that whole photovoltaic board surface can both clean totally and can not constitute the harm to the photovoltaic board. The walking mechanism 10 adopts a frame structure, so that the walking mechanism can conveniently pass through a narrow gap between the photovoltaic panel and can not rigidly damage the peripheral photovoltaic panel. Through dust extraction 300, in time carry out the suction to the dust in the peripheral air and collect rolling clean in-process, avoid causing secondary pollution to peripheral photovoltaic board, also avoid causing the pollution to all ring edge borders simultaneously. The photovoltaic panel is stably moved and automatically matched and attached to clean the surface of the photovoltaic panel, so that the environmental adaptability is better; adopt the suspension to push down and attached formula round brush, clean dynamics is convenient for control, and the clearance effect is better. The device is suitable for cleaning the surfaces of various photovoltaic panels arranged in matrix array and photovoltaic panels with different heights.

As shown in fig. 1, 2 and 4, in the present embodiment, the traveling mechanism 10 includes a frame 100, an independent suspension 400 disposed at the bottom of the frame 100, and a rotatable steering system 500 rotatably connected to the frame 100, and a horizontal base plate 101 for carrying the rolling and sweeping mechanism 200 and the dust suction device 300 is disposed at the upper portion of the frame 100. The walking mechanism 10 adopts the structural design of the independent suspension devices 400 at the bottom, so that each independent suspension device 400 can independently perform self-adaptive height control, further the walking mechanism 10 can walk on rugged and rugged road surfaces and can be relatively stable, the horizontal substrate 101 on the top surface of the walking mechanism 10 can be kept horizontal, and the operation precision of the rolling sweeping mechanism 200 and the dust collection device 300 can be ensured. The rotatable driving system 500 is rotatably connected to the frame 100, and the steering control of the rotatable driving system 500 can ensure that the walking mechanism 10 can rotate to a corresponding position in the walking process, and the rolling and sweeping mechanism 200 and the dust suction device 300 can rotate to a corresponding position in the cleaning process, so that the walking route of the walking mechanism 10 can be visually seen, the whole cleaning process of the rolling and sweeping mechanism 200 and the dust suction device 300 can be visually seen, problems can be timely coped and corrected when being found, and accidents in the working process can be avoided.

As shown in fig. 1, 2 and 4, in the present embodiment, the independent suspension 400 includes a swing mechanism 401 rotatably connected to the bottom of the frame 100, a first link 402 having a first end connected to a power output end of the swing mechanism 401, a second link 403 having a first end hinged to a second end of the first link 402, a tire 405 rotatably connected to a second end of the second link 403, and a suspension cylinder 404 disposed between the first link 402 and the second link 403; the suspension cylinder 404 is hinged at its two ends to the first link 402 and the second link 403, respectively. The swing mechanism 401 drives the first connecting rod 402 to move, and the first connecting rod 402 drives the second connecting rod 403 to move, so as to drive the tire 405 to rotate, thereby realizing the adjustment of the direction of the advancing mechanism; the distance between the first connecting rod 402 and the second connecting rod 403 is adjusted through vertical stretching of the suspension oil cylinder, the horizontal height of the horizontal base plate 101 is further adjusted, meanwhile, the horizontal base plate 101 is kept horizontal within the precision range, the stability of cleaning operation is guaranteed, and therefore the cleaning accuracy is improved.

As shown in fig. 1, 2 and 4, in this embodiment, the first link 402 and the second link 403 are arranged in a bent manner on a vertical plane, and two ends of the suspension cylinder 404 are respectively hinged at a bent corner of the first link 402 and a bent corner of the second link 403. The suspension oil cylinders 404 are respectively hinged at the bending corners of the first connecting rod 402 and the second connecting rod 403, so that the vertical swinging range of the first connecting rod 402 and the second connecting rod 403 is improved, the vertical telescopic range of the independent suspension device 400 is further improved, higher obstacles can be conveniently crossed, and the environment adaptability is better.

As shown in fig. 7, in the present embodiment, a rotary encoder for detecting a rotation angle is mounted on the turning mechanism 401; a tilt sensor is arranged on the frame 100 and/or the horizontal substrate 101; a displacement sensor and a pressure sensor are built in the suspension cylinder 404. The rotation angle is detected by the rotary encoder and transmitted to the controller, and the controller controls the swing mechanism 401 according to the rotation angle, so as to adjust the moving direction of the traveling mechanism. The inclination angle of the photovoltaic panel cleaning device is detected through the inclination angle sensor and is transmitted to the controller, the controller controls the suspension oil cylinder 404, the photovoltaic panel cleaning device is enabled to return to a preset inclination angle range, the movement stability of the photovoltaic panel cleaning device is guaranteed, and the cleaning accuracy is improved. The telescopic displacement of the suspension cylinder 404 is detected through the displacement sensor and transmitted to the controller, then the pressure is detected through the pressure sensor and transmitted to the controller, the controller adjusts the pressure in the suspension cylinder 404 according to the telescopic displacement and the pressure, and then the adjustment of the telescopic displacement of the suspension cylinder 404 is realized, so that the holding level of the horizontal substrate 101 in the precision range is maintained, the stability of cleaning operation is guaranteed, and the cleaning precision is improved.

As shown in fig. 8, in the present embodiment, the control system includes a controller and a suspension control system; the output end of the controller is provided with an electromagnetic valve to perform coordinated control according to the internal pressure of the suspension cylinder 404, the telescopic displacement of the suspension cylinder 404 and the inclination angle of the horizontal substrate 101 which are respectively detected, so that the horizontal substrate 101 is kept horizontal, and the controller, the electromagnetic valve, the displacement sensor, the pressure sensor and the inclination angle sensor form a suspension control system. The suspension control system coordinately controls the internal pressure of the suspension oil cylinder 404, the telescopic displacement of the suspension oil cylinder 404 and the inclination angle of the horizontal substrate 101, so that the level of the horizontal substrate 101 within the precision range is ensured, the stability of cleaning operation is ensured, and the cleaning precision is improved. Optionally, an energy accumulator is arranged in the suspension cylinder 404, and when the inclination angle of the traveling mechanism is within a certain threshold range, the suspension cylinder 404 performs self-compensation through the energy accumulator to perform passive vibration reduction adjustment control; when the inclination angle exceeds a certain threshold range, the controller adjusts the suspension cylinder 404 according to the inclination angle so as to enable the travelling mechanism to return to the horizontal inclination threshold range; most road jolts are eliminated through passive vibration reduction of the suspension oil cylinder 404, and the traveling mechanism still keeps relatively horizontal at a certain gradient and sinking of a local hollow part through active adjustment of the suspension oil cylinder 404, so that stability of cleaning operation is guaranteed.

As shown in fig. 1, fig. 2, fig. 4 and fig. 7, in this embodiment, the control system further includes a steering control system, the swing mechanism 401 further includes a motor and a worm gear, the motor drives the swing mechanism 401 through the worm gear, the rotary encoder is mounted on the worm gear, an output end of the controller is connected to and controls the motor through the electromagnetic valve, and the swing mechanism 401, the rotary encoder and the controller constitute the steering control system. The motor drives the slewing mechanism 401 to rotate through the worm gear and the worm, the rotary encoder measures a rotation angle and transmits the rotation angle to the controller, and the controller controls the electromagnetic valve according to the rotation angle so as to control the motor and realize the adjustment of the moving direction of the advancing mechanism.

As shown in fig. 6, in the present embodiment, the walking drive control system includes a walking system and an oil supply system; the walking system is independently driven by a motor; the oil supply system adopts an electrically controlled variable closed main pump, and the motor drives the closed main pump; the controller outputs and controls the proportional valve to detect the rotating speed of each motor respectively, and different motor rotating speeds are controlled and used according to the motor efficiency and the use working condition. The controller outputs and controls the proportional valve to detect the rotating speed of each motor respectively, the rotating speed feedback of the motors is integrated, the displacement of the motors is controlled to adjust the driving torque of the travelling mechanism, when the load of a certain independent suspension device 400 is reduced, the displacement of the motors immediately enters a stall control strategy to prevent slipping and stalling, and the stability control requirement of the photovoltaic panel cleaning device under the conditions of high speed, low speed and wide range in a complex environment is guaranteed. It should be understood that the larger the motor displacement, the greater the driving force, and the slower the travel speed; the smaller the motor displacement is, the smaller the driving force is, and the faster the running speed is; therefore, the speed control of the travelling mechanism needs to be comprehensively adjusted by combining the rotating speed of the motor, the displacement of the closed oil pump and the displacement of the motor, so that the travelling mechanism uses different adjustment amounts of the three in different intervals to achieve the highest use efficiency.

As shown in fig. 1, fig. 2 and fig. 3, in this embodiment, the rotatable driving system 500 includes a cab 5001, a rotating mechanism 5002 connected to the cab 5001 for driving the cab 5001 to steer, a force transmission link 5003 connected to the rotating mechanism 5002 for transmitting force and pushing the rotating mechanism 5002 to swing, and a cylinder connected to the force transmission link 5003 for driving the force transmission link 5003 to move; the fixed end of hydro-cylinder articulates on frame 100, and the expansion end of hydro-cylinder articulates on the lateral wall of biography power connecting rod 5003, and the first end of biography power connecting rod 5003 articulates on frame 100, and the second end of biography power connecting rod 5003 is fixed on slewing mechanism 5002, and slewing mechanism 5002 includes motor and worm gear, and the motor drives slewing mechanism 5002 through worm gear and drives the driver's cabin 5001 and rotate, and rotary encoder installs on worm gear, and the output of controller passes through the solenoid valve and connects and control the motor. The motor drives the rotating mechanism 5002 to rotate through the worm gear and the worm, the rotary encoder measures a rotating angle and transmits the rotating angle to the controller, and the controller controls the electromagnetic valve according to the rotating angle so as to control the motor and realize the adjustment of the direction opposite to the cab 5001.

As shown in fig. 1, fig. 2 and fig. 3, in the present embodiment, the rolling sweeping mechanism 200 includes a rolling brush assembly 201 for attaching to the surface of the photovoltaic panel in a suspended state to clean the photovoltaic panel, an angle control mechanism 202 for controlling the inclination angle of the rolling brush assembly 201, and a lifting control mechanism 203 for controlling the lifting of the rolling brush assembly 201; the horizontal base plate 101 is provided with a transverse moving track 1011 and a transverse moving driving device 1012, the lifting control mechanism 203 is arranged on the transverse moving track 1011 and connected with the power output end of the transverse moving driving device 1012, the movable end of the lifting control mechanism 203 is connected with the rolling brush assembly 201, and the angle control mechanism 202 is arranged between the movable end of the lifting control mechanism 203 and the rolling brush assembly 201. The frame 100 is used as a bearing foundation so as to facilitate integral walking transfer and fixed positioning; the frame 100 is provided with a horizontal substrate 101 as a horizontal reference for cleaning the photovoltaic panel, so as to ensure accurate control of the whole cleaning process. The whole rolling and sweeping mechanism 200 is connected on the horizontal base plate 101 in a sliding manner, so that the rolling and sweeping mechanism 200 can be horizontally moved and adjusted relative to the horizontal base plate 101 as required, and the rolling and sweeping mechanism 200 is ensured to be suspended above the photovoltaic panel to be cleaned; even if the final position of the frame 100 after walking movement and fixed positioning deviates from the position of the photovoltaic panel to be cleaned, the position can be corrected by the horizontal sliding of the rolling-sweeping mechanism 200 on the horizontal substrate 101; in addition, the frame 100 can be fixedly positioned between the two photovoltaic panels, and the rolling sweeping mechanism 200 can horizontally slide on the horizontal base plate 101 to realize the cleaning operation of the two photovoltaic panels, namely, the cross-panel cleaning operation. The rolling sweeping mechanism 200 comprises a rolling brush component 201, a lifting control mechanism 203 and an angle control mechanism 202, wherein the lifting control mechanism 203 is connected on the horizontal base plate 101 in a sliding way, the rolling brush component 201 is hinged and fixed at the movable end of the lifting control mechanism 203, the angle control mechanism 202 is arranged between the movable end of the lifting control mechanism 203 and the rolling brush component 201, the angle control mechanism 202 is respectively hinged with the movable end of the lifting control mechanism 203 and the rolling brush component 201, the lifting control of the rolling brush assembly 201 is realized by the lifting control mechanism 203, the pitching control of the rolling brush assembly 201 is realized by the angle control mechanism 202, thereby realizing the control of the adhesion of the rolling brush assembly 201 and the surface of the photovoltaic panel to be cleaned, and realizing the adhesion of the rolling brush assembly 201 and the surface of the photovoltaic panel to be cleaned no matter what posture the rolling brush assembly is suspended above the photovoltaic panel, and further, the surface of the photovoltaic panel is cleaned, so that the aim of completely replacing manpower to realize full-automatic mechanical cleaning operation is fulfilled. Because the photovoltaic panel cleaning mechanism adopts the structure of the frame type suspension rolling sweeping mechanism 200, the photovoltaic panel cleaning mechanism can reach the region through which the frame 100 can walk, so that the photovoltaic panel cleaning mechanism is convenient to walk and transfer in narrow space between photovoltaic panel arrays, can realize row-line-crossing cleaning operation and automatic matching and attaching cleaning operation, and has better environmental adaptability; adopt the suspension to push down and attached formula round brush, the clearance dynamics is convenient for control, and the clearance effect is better. The device is suitable for cleaning the surfaces of various photovoltaic panels arranged in matrix array and photovoltaic panels with different heights.

The horizontal base plate 101 is provided with a traverse rail 1011 and a traverse driving device 1012, and the elevation control mechanism 203 is mounted on the traverse rail 1011 and connected to a power output terminal of the traverse driving device 1012. Move on sideslip track 1011 through sideslip drive arrangement 1012 control lift control mechanism 203, and then drive the sideslip of round brush subassembly 201, realize the control to the position that the round brush subassembly 201 hovers to realize round brush subassembly 201 and wait to clear up the regulation of relative position between the photovoltaic board, perhaps realize that round brush subassembly 201 stridees across two adjacent photovoltaic boards and clears up two photovoltaic boards in proper order. Alternatively, the traverse rail 1011 may be a single-row rail, or a plurality of rows of rails arranged in parallel. Optionally, the traverse rails 1011 are arranged in a crisscross shape or a cross shape, the lower rails are slidably connected to the upper rails, the lifting control mechanism 203 is arranged on the lowest rail, and a traverse driving device 1012 is correspondingly arranged on each rail, so that the lifting control mechanism 203 can move longitudinally and/or transversely on the horizontal plane. Alternatively, the traverse driving means 1012 employs a traverse cylinder.

As shown in fig. 1 and fig. 2, in the present embodiment, the lifting control mechanism 203 includes a scissor mechanism 2031 slidably connected to the horizontal substrate 101 and disposed upside down, and a pulling mechanism 2032 disposed on the horizontal substrate 101, wherein an output end of the pulling mechanism 2032 is connected to a movable end of the scissor mechanism 2031 and realizes lifting control of the scissor mechanism 2031. The scissor mechanism 2031 can perform horizontal sliding adjustment on the horizontal substrate 101, so as to drive the roller brush assembly 201 to move horizontally; the scissors mechanism 2031 drives the rolling brush assembly 201 to descend, and can be driven by a power device, or can descend by the dead weight of the scissors mechanism and the rolling brush assembly, and the rolling brush assembly ascends by pulling the traction mechanism 2032 upwards to realize ascending. Optionally, the scissor mechanism 2031 comprises a scissor lever and a drive cylinder for driving the scissor lever. Alternatively, the scissor mechanism 2031 may be extended by its own weight and retracted by the pulling mechanism 2032. Alternatively, the scissors mechanism 2031 may be replaced with a telescopic mechanism such as a telescopic rod, a telescopic sleeve, a link mechanism, etc. since the downward pressure of the roller brush cleaning is not required to be too large.

As shown in fig. 1 and fig. 2, in this embodiment, the pulling mechanism 2032 includes an elevation power device 20321 disposed on the horizontal base plate 101, a steel wire 20322 connected to a power output end of the elevation power device 20321, and a pulley 20323 rotatably disposed on the horizontal base plate 101, wherein a first end of the steel wire 20322 is connected to the power output end of the elevation power device 20321, and a second end of the steel wire 20322 is turned back by the pulley 20323 and is connected to a movable end of the scissors mechanism 2031. The steel wire rope 20322 is led out from the power output end of the lifting power device 20321, bypasses the pulley 20323 and is connected to the movable end of the scissor mechanism 2031 in the vertical direction, the steel wire rope 20322 is recovered by the lifting power device 20321 so as to pull the movable end of the scissor mechanism 2031 to rise through the steel wire rope 20322, and then the rise control of the rolling brush assembly 201 is realized; when the rolling brush assembly 201 needs to descend, the steel wire rope 20322 is released through the lifting power device 20321, and the rolling brush assembly 201 naturally descends under the action of the self gravity of the rolling brush assembly 201, the angle control mechanism 202 and the lifting control mechanism 203. Alternatively, when the rolling brush assembly 201 naturally descends by gravity and gets an obstacle, the auxiliary power device provided on the scissors mechanism 2031 can be used to actually cut the scissors mechanism 2031 and drive the rolling brush assembly 201 to descend.

As shown in fig. 1 and fig. 2, in the present embodiment, the angle control mechanism 202 includes a yaw power device 2021, one end of the yaw power device 2021 is hinged and fixed to the movable end of the scissors mechanism 2031, and the other end of the yaw power device 2021 is hinged and fixed to the rolling brush assembly 201. The middle part of the rolling brush assembly 201 is hinged to the movable end of the scissor fork mechanism 2031, and the pitch angle of the rolling brush assembly 201 is adjusted by pushing or pulling the rolling brush assembly 201 outwards or backwards through the deflection power device 2021. Alternatively, the yaw power device 2021 employs a yaw cylinder. Optionally, a group of deflection oil cylinders is arranged; or the yaw cylinders may be disposed at the same side, or may be disposed at two sides of the movable end of the scissors mechanism 2031. The two groups of the yaw power devices 2021 are distributed, and the two groups of the yaw power devices 2021 are respectively arranged at two sides of the movable end of the scissors mechanism 2031 and are positioned on the same plane. The two sets of yaw power devices 2021 and the movable ends of the scissors mechanism 2031 and the rolling brush assemblies 201 are combined to form a stable triangular truss unit, so that the stability of the structure is ensured, and the rolling brush assemblies 201 are simultaneously ensured to be attached to the surface of the photovoltaic panel by adopting an operation surface, thereby ensuring the cleaning effect.

In this embodiment, a spring mechanism is disposed at the connection end of the yaw power device 2021. The yawing power device 2021 is elastically connected to the rolling brush assembly 201 through a spring mechanism, so that the rolling brush assembly 201 is elastically contacted with the surface of the photovoltaic panel, even if the adjusting accuracy of the upper angle control mechanism 202 and the lifting control mechanism 203 is insufficient, or the horizontal accuracy of the horizontal substrate 101 is insufficient, rigid collision between the rolling brush assembly 201 and the surface of the photovoltaic panel can not be caused, the spring mechanism plays a role in local fine adjustment and force buffering, and meanwhile, the rolling brush assembly 201 can be ensured to be attached to the surface of the photovoltaic panel through an operation surface, so that the cleaning effect is ensured.

In this embodiment, a position sensing device for sensing the relative position between the rolling brush assembly 201 and the photovoltaic panel is disposed on the rolling brush assembly, and the sensing device is electrically connected to the controller. Optionally, the position sensing device comprises an ultrasonic sensor and a laser radar, the transverse relative position between the photovoltaic panel and the rolling brush assembly 201 is monitored through the ultrasonic sensor and the laser radar, signals are transmitted to the controller, the lifting control mechanism 203 is controlled by the controller to move on the transverse moving rail 1011, and then the transverse relative position between the rolling brush assembly 201 and the photovoltaic panel reaches a preset value, so that subsequent cleaning actions are performed, position errors are avoided, and the position accuracy of cleaning operation is higher. Alternatively, the position sensing device may employ a general-purpose device such as a position sensor that facilitates sensing of the relative position. The lifting control mechanism 203 is provided with a tensile stress sensor which is electrically connected with the controller. Specifically, install the tensile stress sensor on wire rope 20322, ensure through the tensile stress sensor that the effort that the round brush subassembly 201 pushed down to the photovoltaic panel surface is in the default, when the signal data value that the tensile stress sensor exported to the controller exceeded the threshold value, through controller adjustment angle control mechanism 202 and/or lift control mechanism 203, so that the signal data value resumes to the threshold value within range, and then ensure that the round brush effort of round brush subassembly 201 is in predetermined optimum value, thereby ensure the effect of clearance, can not cause physical damage to the photovoltaic panel surface simultaneously.

As shown in fig. 1 and 2, in the present embodiment, the rolling brush assembly 201 includes a rolling brush holder, a rolling brush rotatably coupled to the rolling brush holder, and a driving device coupled to the rolling brush. After the round brush subassembly 201 is laminated on the photovoltaic panel surface, the round brush is driven to rotate through the driving device, and then the cleaning of the photovoltaic panel surface is realized. Optionally, the drive means employs a motor. Optionally, multiple groups of rolling brushes are arranged in parallel, and the driving device drives the multiple groups of rolling brushes to roll synchronously through a synchronous belt, a synchronous gear and the like, so that the surface of the photovoltaic panel is cleaned. Optionally, multiple groups of rolling brushes are arranged in parallel, each group of rolling brushes corresponds to one group of driving devices, so that the rotating force of the rolling brushes can be ensured, and meanwhile, the cleaning in a sub-region mode or the cleaning in a partial mode or the cleaning with different rotating acting forces and the like can be realized, and the rolling brushes can be suitable for cleaning the same surface and can also be suitable for cleaning the step-shaped surface. Optionally, the rolling brush assembly 201 further comprises a water spraying pipe arranged on the rolling brush support and used for spraying water towards the rolling brush direction, and an input end of the water spraying pipe is connected with the water tank; the water tank may be disposed on the horizontal base plate 101, on the frame 100, or on the elevation control mechanism 203.

As shown in fig. 1, 2 and 5, in the present embodiment, the dust collecting device 300 includes a driving motor 3001, a negative pressure fan 3002, a filter box 3003, an ash collecting box 3004, an air duct 3005, and a butterfly valve 3006; the power output end of the driving motor 3001 is connected with the negative pressure fan 3002, the air inlet hole of the negative pressure fan 3002 is opened towards the rolling sweeping mechanism 200, the air outlet of the negative pressure fan 3002 is connected into the filter box 3003, the output end of the filter box 3003 is connected to the dust collecting box 3004 through the air duct 3005, the output end of the dust collecting box 3004 is provided with a butterfly valve 3006, and the butterfly valve 3006 is used for opening and then discharging dust stored in the dust collecting box 3004. Optionally, an air filter element and a pulse vibration ash removal device are arranged in the filter box. Optionally, the air inlet opening of the negative pressure fan 3002 opens toward the brush roll assembly 201.

The cleaning method of the photovoltaic panel in the embodiment adopts the photovoltaic panel cleaning device, and comprises the following steps: the method comprises the steps of controlling a traveling mechanism 10 to travel and/or turn along a straight line and enter a photovoltaic panel array, adjusting a horizontal substrate 101 on the upper portion of a frame 100 to be horizontal in time through an independent suspension device 400, further traveling to the position of a photovoltaic panel to be cleaned, and keeping the horizontal substrate 101 horizontal, wherein the independent suspension device 400, the frame 100 and the horizontal substrate 101 all belong to structural components of the traveling mechanism 10; the rolling brush assembly 201 of the rolling sweeping mechanism 200 acquires the relative position between the rolling brush assembly 201 and the photovoltaic panel to be cleaned through a position sensing device, and sends a signal to the controller, and the controller receives the signal and controls the rolling sweeping mechanism 200 to slide on the horizontal substrate 101, so that the rolling brush assembly 201 is suspended above the photovoltaic panel to be cleaned; the controller controls the lifting control mechanism 203 to drive the rolling brush assembly 201 to descend and controls the angle control mechanism 202 to adjust the inclination angle of the rolling brush assembly 201 so as to enable the working surface of the rolling brush assembly 201 to be matched with a photovoltaic panel to be cleaned, wherein the rolling brush assembly 201, the angle control mechanism 202 and the lifting control mechanism 203 all belong to the components of the rolling sweeping mechanism 200; the lifting control mechanism 203 timely acquires the acting force of the rolling brush assembly 201 on the photovoltaic panel to be cleaned through the tensile stress sensor, and the acting force is controlled to be a preset value by the lifting control mechanism 203; starting the rolling brush assembly 201 to clean the surface of the photovoltaic panel to be cleaned, starting the dust collection device 300 at the same time, and sucking and collecting dust generated in the cleaning process through the dust collection device 300; the controller controls the lifting control mechanism 203 to drive the rolling brush assembly 201 to ascend, controls the traveling mechanism 10 to travel to the position of the next group of photovoltaic panels to be cleaned, and repeats the steps until all the photovoltaic panels in the photovoltaic panel array are cleaned.

When the cleaning device is implemented, the photovoltaic panel is cleaned in a cross-transport type walking mode. The device mainly comprises three parts: a traveling mechanism 10, a rolling sweeping mechanism 200 and a dust collection system (dust collection device 300). The running gear 10 is responsible for convenient and smooth running in the photovoltaic panel array of the power station. The rolling sweeping mechanism 200 keeps constant fitting degree to clean the photovoltaic panel, and the situation that the photovoltaic panel is not swept cleanly and is damaged by collision is avoided. The dust collection system reduces dust raised in the cleaning process and improves the cleaning effect in a negative pressure air suction mode.

The photovoltaic panel cleaning device comprises a walking mechanism 10 (see fig. 1 and 2), wherein each component is arranged on the basis of an integral framework 100, a power battery is arranged on one side of the framework 100, a cab 5001 and a transmission system are arranged on the other side, which is opposite to the power battery, and an independent suspension device 400 is arranged below each of 4 upright posts of the framework 100. The transmission system is in hydraulic transmission, the power is supplied to the motor through the power battery, the motor drives the hydraulic system, and the hydraulic motor and the oil cylinder execute various actions. The independent suspension device 400 (see fig. 4) is connected with the frame 100 through the swing mechanisms 401, each swing mechanism 401 is provided with a rotary encoder to detect a rotation angle, and by controlling the combination of the rotation angles of the swing mechanisms 401, the walking mode can realize longitudinal running, transverse running, in-situ spin and the like, and the multiple running modes are convenient to adapt to various road conditions in the power station and convenient to pass. The suspension cylinder 404 connects the first connecting rod 402 with the second connecting rod 403, a displacement sensor is installed in the suspension cylinder 404, an inclination angle sensor is installed on the frame 100, the upper plane of the whole frame 100 can be adjusted to be horizontal by controlling the extending length of the 4 suspension cylinders 404 (in the walking process, a high point is pressed on a certain tire 405, the inclination angle sensor of the whole frame 100 can immediately control the suspension cylinder 404 corresponding to the tire 405 to contract after detecting that the angle has slight change, and correspondingly, when the tire passes through a pit, the suspension cylinder 404 is controlled to extend out, so that the whole frame 100 is ensured to be always horizontal in the precision range). The cab 5001 is a rotatable cab (see fig. 1, 2 and 3), a rotating mechanism 5002 is installed below the cab 5001, the steering of the cab 5001 can be realized, the cab 5001 is connected with the frame 100 through the force transmission connecting rod 5003 and the oil cylinder, the cab 5001 can swing when the oil cylinder is stretched, the cab 5001 can be rotated to the advancing direction no matter which direction the cab 5001 travels, and the driving and the surrounding conditions can be conveniently observed by a driver.

Photovoltaic board cleaning device still includes and rolls and sweeps mechanism 200, rolls and sweeps the last plane of mechanism 200, and the flexible steerable roll that sweeps mechanism 200 lateral shifting of sideslip hydro-cylinder (sideslip drive arrangement 1012) is swept through rolling, through the horizontal relative position of ultrasonic sensor and laser radar monitoring photovoltaic board and rolling brush subassembly 201 on the rolling brush subassembly 201, even the orbit of the operation of photovoltaic board clearance mechanism is not just striden the centre at the photovoltaic board, also can ensure that rolling brush subassembly 201 can wash whole photovoltaic board through sideslip rolling brush subassembly 201. The round brush subassembly 201 is fixed in sideslip track 1011 below through cutting fork mechanism 2031, cuts fork mechanism 2031 and can drive round brush subassembly 201 and carry out the elevating movement, satisfies the cleanness of not co-altitude photovoltaic board. The scissor mechanism 2031 is inverted, the upper part is a chute, the lower part is hung by a steel wire rope 20322, and the steel wire rope 20322 is turned backwards by a pulley 20323 and is connected with a lifting oil cylinder (a lifting control mechanism 203). The acting force of the rolling brush assembly 201 on the photovoltaic panel is obtained by subtracting the pulling force of the steel wire rope 20322 from the dead weight of the rolling brush assembly 201 and the scissor fork mechanism 2031, a tensile stress sensor is mounted on the steel wire rope 20322, in the operation process, when the height of the photovoltaic panel below changes, the tensile stress of the steel wire rope 20322 can be detected to change, the height of the rolling brush assembly 201 is adjusted by controlling the extension and retraction of the lifting oil cylinder, so that the rolling brush assembly 201 is just attached to the photovoltaic panel without damaging the photovoltaic panel (in the operation process, the distance of the photovoltaic panel relative to the upper plane of the frame 100 is reduced, the force of the rolling brush assembly 201 on the photovoltaic panel is increased, the pulling force detected by the tensile stress sensor is reduced, the lifting oil cylinder is controlled to contract to enable the steel wire rope 20322 to pull the rolling brush assembly 201 upwards, the action is stopped until the tensile stress returns to a set value, the attachment of the rolling brush assembly 201 and the photovoltaic panel reaches a set optimal value, and correspondingly, when the distance of the upper plane of the frame 100 and the photovoltaic panel is increased, the rolling brush assembly 201 is suspended in the air In a state, it is detected that the tensile force borne by the steel wire rope 20322 is increased, the lift cylinder is controlled to extend out to enable the steel wire rope 20322 to release the rolling brush assembly 201 downwards, and the rolling brush assembly 201 stops acting until the tensile stress returns to a set value, and at this time, the adhesion between the rolling brush assembly 201 and the photovoltaic panel reaches a set optimal value). The rolling brush assembly 201 and the scissor fork mechanism 2031 are connected by a deflection oil cylinder (deflection power device 2021), the inclination angle of the rolling brush assembly 201 is adjusted by controlling the expansion of the oil cylinder, the inclination angle of the rolling brush assembly 201 is ensured to be consistent with the inclination angle of the photovoltaic panel installation, a spring is installed at the end part of the deflection oil cylinder, the angle of the rolling brush assembly 201 can be passively adjusted, the angle is consistent in the better guarantee operation process, and the condition that one side of the rolling brush assembly 201 has too large pressure on the solar panel and the other side is suspended is avoided. During operation, the rolling brush assembly 201 is attached to the photovoltaic panel, and the motor (driving device) drives the rolling brush assembly 201 to rotate to clean the photovoltaic panel.

Photovoltaic board clearance mechanism, still include dust collecting system (dust extraction 300) and be negative pressure dust collector, rose box internally mounted has air filter and pulse vibrations ash removal device, the negative pressure fan that driving motor drove is installed to the rose box top induced drafts, the air around with round brush subassembly 201 is taken out the rose box through the wind channel and is filtered the clean air of back discharge, the dust adhesion that round brush subassembly 201 was raised during the operation is on the air filter surface, pulse vibrations ash removal device shakes off the dust again and stores in the collection ash box, the butterfly valve is opened after the operation a period and the dust of collecting is emitted. The system can avoid secondary pollution to cleaning operation caused by ash flying during operation.

The photovoltaic panel cleaning mechanism disclosed by the invention adopts a cross-transport structure, 4 wheels of the travelling mechanism 10 are independently controlled, the travelling in all directions can be realized through different combination forms, the travelling in various complex road conditions can be well adapted, the position adjustment of lifting and translation of the rolling brush can be realized, the control of the rolling brush is pre-judged in advance by matching with a visual feedback system, and the position of the rolling brush can be quickly adjusted under the condition of height difference or transverse position difference when the photovoltaic panel is crossed. Auxiliary facilities such as rails are not required to be specially paved for cleaning the mechanism. In order to ensure that the rolling brush is well attached to the photovoltaic panel during operation and the photovoltaic panel is not damaged, a specific three-level damping scheme is provided, a crossbeam of the walking mechanism 10 is controlled to be always kept horizontal to achieve one-level damping, the rolling brush and the photovoltaic panel are controlled to be attached to achieve two-level damping through constant force, and a rolling sweeping nylon strip with reasonable hardness is selected to ensure that the rolling sweeping effect and the photovoltaic panel attaching effect are three-level damping. Under the assistance of the three-level shock absorption, the traveling mechanism 10 can run at a higher speed to ensure the operation effect, and compared with the existing cleaning device, the photovoltaic panel cleaning mechanism has the advantages of better operation cleaning effect and higher speed.

The cleaning of the photovoltaic panel is realized by driving the rolling brush by the 4-wheel independently controlled straddle type traveling mechanism, the traffic capacity of the mechanism in a power station is improved, the suspension oil cylinder 404 of the independent suspension device 400 is controlled to level the whole frame 100, the transverse movement, lifting and deflection of the rolling sweeping mechanism 200 are controlled, and finally the technology that the rolling brush is always attached to the photovoltaic panel during operation and the photovoltaic panel cannot be crushed is realized. The working efficiency and the safety are improved.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A photovoltaic panel cleaning device is characterized in that,

comprises a walking mechanism (10), a rolling sweeping mechanism (200), a dust suction device (300) and a control system,

the rolling sweeping mechanism (200) and the dust suction device (300) are arranged on the travelling mechanism (10),

the control system is connected with and controls the travelling mechanism (10) to travel and turn and keep the top surface of the travelling mechanism (10) horizontal,

the control system is connected with and controls the rolling sweeping mechanism (200) to clean the photovoltaic panel,

the control system is connected with and controls the dust suction device (300) to suck and collect dust generated by cleaning.

2. Photovoltaic panel cleaning device according to claim 1,

the walking mechanism (10) comprises a frame (100), an independent suspension device (400) arranged at the bottom of the frame (100) and a rotatable driving system (500) rotationally connected to the frame (100),

the upper part of the frame (100) is provided with a horizontal base plate (101) for bearing the rolling and sweeping mechanism (200) and the dust suction device (300).

3. Photovoltaic panel cleaning device according to claim 2,

the independent suspension device (400) comprises a swing mechanism (401) rotatably connected to the bottom of the frame (100), a first connecting rod (402) with a first end connected to a power output end of the swing mechanism (401), a second connecting rod (403) with a first end hinged to a second end of the first connecting rod (402), a tire (405) rotatably connected to a second end of the second connecting rod (403), and a suspension cylinder (404) arranged between the first connecting rod (402) and the second connecting rod (403);

and two ends of the suspension oil cylinder (404) are respectively hinged on the first connecting rod (402) and the second connecting rod (403).

4. Photovoltaic panel cleaning device according to claim 3,

the first connecting rod (402) and the second connecting rod (403) are arranged in a bent way on a vertical plane,

and two ends of the suspension oil cylinder (404) are respectively hinged at the bending corner of the first connecting rod (402) and the bending corner of the second connecting rod (403).

5. Photovoltaic panel cleaning device according to claim 3,

a rotary encoder for detecting a rotation angle is arranged on the slewing mechanism (401);

a tilt angle sensor is arranged on the frame (100) and/or the horizontal substrate (101);

and a displacement sensor and a pressure sensor are arranged in the suspension oil cylinder (404).

6. Photovoltaic panel cleaning device according to claim 5,

the control system comprises a controller and a suspension control system;

the output end of the controller is provided with an electromagnetic valve to carry out coordinated control according to the internal pressure of the suspension oil cylinder (404), the expansion displacement of the suspension oil cylinder (404) and the inclination angle of the horizontal base plate (101) which are respectively detected so as to ensure that the horizontal base plate (101) is kept horizontal,

the controller, the electromagnetic valve, the displacement sensor, the pressure sensor and the inclination angle sensor form a suspension control system.

7. Photovoltaic panel cleaning device according to claim 5,

the control system also comprises a steering control system, the slewing mechanism (401) also comprises a motor and a worm gear,

the motor drives a swing mechanism (401) through a worm gear and a worm, a rotary encoder is arranged on the worm gear and the worm,

the output end of the controller is connected with and controls the motor through the electromagnetic valve,

the slewing mechanism (401), the rotary encoder and the controller constitute a steering control system.

8. Photovoltaic panel cleaning device according to one of claims 2 to 7,

the rotatable driving system (500) comprises a driving cab (5001), a rotating mechanism (5002) connected with the driving cab (5001) and used for driving the driving cab (5001) to steer, a force transmission connecting rod (5003) connected with the rotating mechanism (5002) and used for transmitting force and pushing the rotating mechanism (5002) to swing, and an oil cylinder connected with the force transmission connecting rod (5003) and used for driving the force transmission connecting rod (5003) to move;

the fixed end of the oil cylinder is hinged on the frame (100), the movable end of the oil cylinder is hinged on the side wall of the force transmission connecting rod (5003), the first end of the force transmission connecting rod (5003) is hinged on the frame (100), the second end of the force transmission connecting rod (5003) is fixed on the rotating mechanism (5002),

slewing mechanism (5002) include motor and turbine worm, and the motor drives slewing mechanism (5002) through turbine worm and drives the driver's cabin (5001) and rotate, and rotary encoder installs on the turbine worm, and the output of controller passes through the solenoid valve and connects and control the motor.

9. Photovoltaic panel cleaning device according to one of claims 2 to 7,

the rolling sweeping mechanism (200) comprises a rolling brush component (201) which is used for being attached to the surface of a photovoltaic panel in a suspension state to clean the photovoltaic panel, an angle control mechanism (202) which is used for controlling the inclination angle of the rolling brush component (201), and a lifting control mechanism (203) which is used for controlling the rolling brush component (201) to lift;

the horizontal base plate (101) is provided with a transverse moving track (1011) and a transverse moving driving device (1012), the lifting control mechanism (203) is arranged on the transverse moving track (1011) and connected with a power output end of the transverse moving driving device (1012), a movable end of the lifting control mechanism (203) is connected with the rolling brush assembly (201), and the angle control mechanism (202) is arranged between the movable end of the lifting control mechanism (203) and the rolling brush assembly (201).

10. Photovoltaic panel cleaning device according to claim 9,

the lifting control mechanism (203) comprises a scissor mechanism (2031) which is connected on the horizontal base plate (101) in a sliding way and arranged in an inverted way and a traction mechanism (2032) which is arranged on the horizontal base plate (101),

the output end of the traction mechanism (2032) is connected with the movable end of the scissors fork mechanism (2031) and realizes the lifting control of the scissors fork mechanism (2031).

11. Photovoltaic panel cleaning device according to claim 10,

the traction mechanism (2032) comprises a lifting power device (20321) arranged on the horizontal base plate (101), a steel wire rope (20322) connected with the power output end of the lifting power device (20321) and a pulley (20323) rotationally arranged on the horizontal base plate (101),

the first end of the steel wire rope (20322) is connected with the power output end of the lifting power device (20321), and the second end of the steel wire rope (20322) is turned backwards through the pulley (20323) and is connected with the movable end of the scissor fork mechanism (2031).

12. Photovoltaic panel cleaning device according to claim 11,

the angle control mechanism (202) comprises a yaw power device (2021),

one end of the deflection power device (2021) is hinged and fixed on the movable end of the scissor mechanism (2031), and the other end of the deflection power device (2021) is hinged and fixed on the rolling brush component (201);

two groups of the deflection power devices (2021) are arranged, and the two groups of the deflection power devices (2021) are respectively arranged at two sides of the movable end of the scissor fork mechanism (2031) and are positioned on the same plane.

13. Photovoltaic panel cleaning device according to claim 12,

and a spring mechanism is arranged at the connecting end of the deflection power device (2021).

14. Photovoltaic panel cleaning device according to claim 12,

the rolling brush assembly (201) is provided with a position sensing device for sensing the relative position between the rolling brush assembly and the photovoltaic panel, and the sensing device is electrically connected with the controller;

and a tensile stress sensor is arranged on the lifting control mechanism (203), and the tensile stress sensor is electrically connected with the controller.

15. Photovoltaic panel cleaning device according to claim 12,

the rolling brush assembly (201) comprises a rolling brush support, a rolling brush rotationally connected to the rolling brush support and a driving device connected with the rolling brush.

16. Photovoltaic panel cleaning device according to one of claims 1 to 7,

the dust collection device (300) comprises a driving motor (3001), a negative pressure fan (3002), a filter box (3003), a dust collection box (3004), an air duct (3005) and a butterfly valve (3006);

the power take off end of driving motor (3001) connects negative pressure air fan (3002), the fresh air inlet orientation of negative pressure air fan (3002) is swept the mechanism (200) and is seted up, the air outlet of negative pressure air fan (3002) is connected to in rose box (3003), the output of rose box (3003) passes through wind channel (3005) are connected to collection ash box (3004), the output of collection ash box (3004) is equipped with butterfly valve (3006), butterfly valve (3006) are used for opening the back discharge the dust of storing in collection ash box (3004).

17. A cleaning method of a photovoltaic panel using the cleaning apparatus of any one of claims 1 to 16,

the method comprises the following steps:

the walking mechanism (10) is controlled to walk and/or turn along a straight line and enter the photovoltaic panel array, the horizontal base plate (101) on the upper portion of the frame (100) is adjusted to be horizontal through the independent suspension device (400) in time, then the frame walks to the position of the photovoltaic panel to be cleaned, and the horizontal base plate (101) is kept horizontal;

the rolling brush component (201) of the rolling sweeping mechanism (200) obtains the relative position between the rolling brush component (201) and the photovoltaic panel to be cleaned through a position sensing device, and sends a signal to a controller, and the controller receives the signal and controls the rolling sweeping mechanism (200) to slide on a horizontal substrate (101) so that the rolling brush component (201) can be suspended above the photovoltaic panel to be cleaned;

the controller controls a lifting control mechanism (203) of the rolling sweeping mechanism (200) to drive the rolling brush assembly (201) to descend and controls an angle control mechanism (202) to adjust the inclination angle of the rolling brush assembly (201), so that the working surface of the rolling brush assembly (201) is matched with the photovoltaic panel to be cleaned;

the lifting control mechanism (203) acquires the acting force of the rolling brush assembly (201) on the photovoltaic panel to be cleaned in time through the tensile stress sensor, and the acting force is controlled to be a preset value by the lifting control mechanism (203);

starting the rolling brush assembly (201) to clean the surface of a photovoltaic panel to be cleaned, starting the dust suction device (300) at the same time, and sucking and collecting dust generated in the cleaning process through the dust suction device (300);

the controller controls the lifting control mechanism (203) to drive the rolling brush assembly (201) to ascend, controls the traveling mechanism (10) to travel to the position of the next group of photovoltaic panels to be cleaned, and repeats the steps until all the photovoltaic panels in the photovoltaic panel array are cleaned.