CN218691775U

CN218691775U - Photovoltaic panel cleaning system and photovoltaic energy system

Info

Publication number: CN218691775U
Application number: CN202222708475.9U
Authority: CN
Inventors: 全鹏; 孙凯; 赵明; 董伟
Original assignee: Trina Solar Co Ltd
Current assignee: Trina Solar Co Ltd
Priority date: 2022-10-14
Filing date: 2022-10-14
Publication date: 2023-03-24
Anticipated expiration: 2032-10-14

Abstract

The embodiment of the present disclosure provides clean system of photovoltaic panel and photovoltaic energy system, and the system includes: the photovoltaic displacement mechanism is connected with at least one photovoltaic panel; a cleaning mechanism comprising: the cleaning device comprises at least two cleaning assemblies, a cleaning assembly and a control assembly, wherein the cleaning assemblies can move along the surface of a row of photovoltaic panels and can clean the photovoltaic panels; the cleaning docking mechanism comprises at least one pair of cleaning docking assemblies, and comprises a first cleaning docking assembly and a second cleaning docking assembly; the engagement of the first cleaning docking assembly with the second cleaning docking assembly forms a combined relationship between the first cleaning assembly and the second cleaning assembly; a cleaning control module, coupled to the cleaning mechanism, configured to control movement and cleaning of the cleaning mechanism. Through the gesture of each adjustable photovoltaic panel to and through the joint of clean subassembly, both satisfied the clean demand under the variable condition of photovoltaic panel inclination, can accomplish the multiseriate cleanness again high-efficiently, promote clean efficiency and nimble.

Description

Photovoltaic panel cleaning system and photovoltaic energy system

Technical Field

The present disclosure relates to the field of photovoltaic technology, and in particular, to a photovoltaic panel cleaning system and a photovoltaic energy system.

Background

The surface of a photovoltaic panel (also called a photovoltaic module) needs to be cleaned to reduce the exposure of dust to sunlight.

However, the current photovoltaic panel cleaning has a very harsh requirement, which causes the following problems in the existing cleaning scheme: (1) Due to the current use of photovoltaic tracking technology, the tilt angle of the photovoltaic panel may vary, which makes the current fixed angle cleaning method unsuitable. (2) Although a small mobile robot is adopted to clean the photovoltaic panel at present, the efficiency of the photovoltaic panel array of the integrated large-scale photovoltaic power station is low due to the low cleaning speed. (3) It is also difficult to effectively implement a photovoltaic power plant installed in a water-deficient area if natural phenomena such as rainfall or water-jet cleaning are utilized. (4) The existing surface cleaning technology adopts a vibration cleaning mode, and dust on the surface of an object can be shaken off by vibration, but the vibration is not suitable for a photovoltaic panel, and the vibration can damage the photovoltaic panel, so that the popularization and the application of the scene are difficult. (5) Cleaning devices using fixed frames are also used for cleaning photovoltaic panels, but the cleaning range is limited, the flexibility is poor, and the cleaning device is not suitable for cleaning photovoltaic panels with variable inclination angles.

Disclosure of Invention

In view of the above disadvantages of the related art, it is an object of the present disclosure to provide a photovoltaic panel cleaning system and a photovoltaic energy system to solve the problems in the related art.

A first aspect of the present disclosure provides a photovoltaic panel cleaning system, comprising: the photovoltaic displacement mechanism is connected with the at least one photovoltaic panel and is configured to adjust the posture of the at least one photovoltaic panel; a cleaning mechanism comprising: at least two cleaning assemblies; each cleaning assembly is configured to move along the surface of the row of photovoltaic panels and clean; a cleaning docking mechanism comprising at least one pair of cleaning docking assemblies; the at least one pair of cleaning docking assemblies comprises a first cleaning docking assembly arranged on the first cleaning assembly and a second cleaning docking assembly arranged on the second cleaning assembly and used for being jointed with the first cleaning docking assembly; the first cleaning assembly and the second cleaning assembly are respectively arranged on one row and the other row of the two adjacent rows of photovoltaic panels; the engagement of the first cleaning docking assembly with the second cleaning docking assembly forms a combined relationship between the first cleaning assembly and the second cleaning assembly; at least one cleaning control module, coupled to the cleaning mechanism, configured to control movement and cleaning of the cleaning mechanism.

In some embodiments of the present disclosure, the photovoltaic panel cleaning system comprises: at least one displacement control module, coupled to each photovoltaic displacement mechanism, configured to control the attitude of each photovoltaic displacement mechanism with respect to the photovoltaic panel; the cleaning control module is coupled to the cleaning docking mechanism and configured to control the cleaning docking mechanism to engage to position the first cleaning assembly and the second cleaning assembly in a combined relationship.

In some embodiments of the present disclosure, the photovoltaic panel cleaning system comprises: the main control module is coupled with the displacement control module and the cleaning control module and is configured to control the displacement control module to set the postures of the photovoltaic panels of all the rows to be flush with the surfaces of the photovoltaic panels; and controlling a cleaning control module to set the combination relationship between the first cleaning assembly and the second cleaning assembly, and enabling the combined cleaning mechanism to synchronously move along the panel array and clean.

In some embodiments of the present disclosure, the photovoltaic indexing mechanism comprises: the balance weight balancing mechanism, the damping balancing mechanism, the rotary arm, the pitching arm and the base are arranged on the base; the counterweight balance mechanism is connected to one end of the rotary arm; one end of the damping balance mechanism is hinged with the other end of the rotary arm; the other end of the damping balance mechanism is hinged with the pitching arm; one end of the pitching arm is connected with the revolving arm in a relatively pitching rotatable manner, and the other end of the pitching arm is fixedly connected to the photovoltaic panel; the rotary arm can be pivoted to the base in a relatively flat rotating mode; the balance weight balance mechanism and the damping balance mechanism are used for moment balance when the photovoltaic displacement mechanism moves.

In some embodiments of the present disclosure, the photovoltaic panel cleaning system further comprises: at least one photovoltaic docking mechanism, a group of photovoltaic panels fixedly arranged on one or the positioning connection, and a configuration that at least part of the mechanism can be controlled to move to be jointed with the photovoltaic docking mechanism of the adjacent photovoltaic panels in the same row so as to form the positioning relation between the adjacent photovoltaic panels.

In some embodiments of the present disclosure, the photovoltaic docking mechanism comprises: the first photovoltaic butt joint component and the second photovoltaic butt joint component are respectively arranged on two opposite sides of one or a group of photovoltaic panels which are connected in a positioning mode; wherein the first photovoltaic docking assembly is configured for controlled telescopic movement to move into engagement with a second photovoltaic docking assembly disposed in a photovoltaic docking mechanism of an adjacent photovoltaic panel; the second photovoltaic docking assembly is configured to be controlled for opening/closing movement to receive the first photovoltaic docking assembly in an open state.

In some embodiments of the present disclosure, the photovoltaic docking mechanism is coupled to and controlled by an indexing control module.

In some embodiments of the present disclosure, the first cleaning docking assembly is configured to be controllable in an extension/retraction motion; the second cleaning docking assembly is configured for controlled on/off movement to receive the first cleaning docking assembly in an open state.

In some embodiments of the present disclosure, the cleaning assembly comprises: the movable limiting mechanism and the dust removing mechanism; remove stop gear includes: the bearing assembly is provided with a driving wheel mechanism and a first limiting mechanism at one end; the bearing assembly is provided with a supporting piece, and the supporting piece is provided with the dust removal mechanism; the other end of the bearing component is provided with a follow-up wheel mechanism and a second limiting mechanism; the first limiting mechanism and the second limiting mechanism respectively extend to and are arranged outside the edges of two opposite sides of the photovoltaic panel in a blocking manner to form limiting; the extending direction of the two opposite side edges is consistent with the extending direction of the row of the photovoltaic panels.

In some embodiments of the present disclosure, the first limiting mechanism and the second limiting mechanism each include a limiting wheel, and the limiting wheels are respectively rollably abutted against lateral surfaces of two opposite side edges of the photovoltaic panel.

In some embodiments of the present disclosure, the photovoltaic indexing mechanism, cleaning assembly docking structure has at least one motor; the master control module comprises: the system comprises a bus communication unit, an industrial control unit and a display unit; the industrial control unit is coupled with the display unit and the bus communication unit; the display unit is used for displaying a human-computer interaction interface; each of the shift control modules includes: the device comprises a first communication unit, a first control unit and a first driving unit; the first communication unit is coupled to the bus communication unit, the first control unit is coupled to the first communication unit and the first driving unit, and the first driving unit is coupled to a motor in the photovoltaic displacement mechanism; the cleaning control module includes: the second communication unit, the second control unit and the second driving unit; the second communication unit is coupled to the bus communication unit, the first control unit is coupled to the second communication unit and a second driving unit, and the second driving unit is coupled to the cleaning assembly and a motor in the cleaning docking mechanism; the human-computer interface is used for receiving user operation to form a control command, the control command is sent to the first communication unit and the second communication unit through the bus communication unit, and the first control unit and the second control unit respectively transmit control signals corresponding to the control command to the first driving unit and the second driving unit so as to drive the first driving unit and the second driving unit to respectively control the motors connected with the first driving unit and the second driving unit to drive the corresponding mechanisms.

A second aspect of the present disclosure provides a photovoltaic energy system, comprising: an array of photovoltaic panels; the photovoltaic panel cleaning system of any of the first aspects disposed on the array of photovoltaic panels.

A third aspect of the present disclosure provides a photovoltaic panel cleaning method applied to the photovoltaic panel cleaning system according to the first aspect; the method comprises the following steps: in response to the user input, performing a cleaning procedure includes; adjusting the postures of the photovoltaic panels in the adjacent rows to be flush with the surfaces of the photovoltaic panels; engaging the individual cleaning elements in adjacent rows in a combined relationship; the combined cleaning mechanisms are driven to synchronously move and clean along the surfaces of the photovoltaic panels in each row.

As described above, embodiments of the present disclosure provide a photovoltaic panel cleaning system and a photovoltaic energy system, the system including: the photovoltaic displacement mechanism is connected with the at least one photovoltaic panel and is configured to adjust the posture of the at least one photovoltaic panel; a cleaning mechanism comprising: at least two cleaning assemblies; each cleaning assembly is configured to move along the surface of the row of photovoltaic panels and clean; a cleaning docking mechanism comprising at least one pair of cleaning docking assemblies; the at least one pair of cleaning butt joint assemblies comprises a first cleaning butt joint assembly arranged on the first cleaning assembly and a second cleaning butt joint assembly arranged on the second cleaning assembly and used for being jointed with the first cleaning butt joint assembly; the first cleaning assembly and the second cleaning assembly are respectively arranged on one row and the other row of the two adjacent rows of photovoltaic panels; the engagement of the first cleaning docking assembly with the second cleaning docking assembly forms a combined relationship between the first cleaning assembly and the second cleaning assembly; at least one cleaning control module, coupled to the cleaning mechanism, configured to control movement and cleaning of the cleaning mechanism. The gesture of each photovoltaic panel can be adjusted through the photovoltaic position changing mechanism, and the cleaning of multiple rows of photovoltaic panels can be synchronously performed through the connection of adjacent cleaning assemblies, so that the cleaning requirement under the condition that the inclination of the photovoltaic panels is variable can be met, the multiple rows of cleaning can be efficiently and quickly completed, the cleaning efficiency is improved, and the cleaning of each row of photovoltaic panels can be flexibly selected.

Drawings

Fig. 1 shows a schematic view of a scenario in which a photovoltaic panel cleaning system is applied in an embodiment of the present disclosure.

Fig. 2 shows a schematic structural diagram of a photovoltaic displacement mechanism in an embodiment of the disclosure.

Fig. 3 is a schematic view showing an application structure of a plurality of photovoltaic displacement mechanisms in a photovoltaic panel array according to an embodiment of the present disclosure.

Fig. 4 shows a schematic structural diagram of a photovoltaic docking mechanism in an embodiment of the present disclosure.

Fig. 5 shows a schematic structural diagram of a photovoltaic cleaning assembly in an embodiment of the present disclosure.

Fig. 6 shows a schematic structural diagram of a movement limiting mechanism in an embodiment of the present disclosure.

Fig. 7 shows a schematic structural view of the interface between a pair of photovoltaic cleaning assemblies in an embodiment of the present disclosure.

Fig. 8 shows a schematic structural view of cleaning performed on the photovoltaic cleaning assembly after docking in an embodiment of the disclosure.

Fig. 9 shows a schematic diagram of an electrical connection structure of a photovoltaic cleaning system in an embodiment of the disclosure.

Detailed Description

Embodiments of the present disclosure are described below with reference to specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure. The disclosure may be embodied or carried out in various other specific embodiments and with various modifications or alterations from various aspects and applications of the disclosure without departing from the spirit of the disclosure. It is to be noted that the embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings so that those skilled in the art to which the present disclosure pertains can easily carry out the embodiments. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

In representations of the present disclosure, references to the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like indicate that a particular feature, structure, material, or characteristic is included in at least one embodiment or example of the present disclosure. Furthermore, the particular features, structures, materials, or characteristics illustrated may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of different embodiments or examples presented in this disclosure can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the expressions of the present disclosure, "plurality" means two or more unless specifically defined otherwise.

In order to clearly explain the present disclosure, components that are not related to the description are omitted, and the same reference numerals are given to the same or similar components throughout the specification.

Throughout the specification, when a device is referred to as being "connected" to another device, this includes not only the case of being "directly connected" but also the case of being "indirectly connected" with another element interposed therebetween. In addition, when a device "includes" a certain component, unless otherwise stated, the device does not exclude other components, but may include other components.

Although the terms first, second, etc. may be used herein to describe various elements in some instances, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface are represented. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, modules, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, modules, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "a, B or C" or "a, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations performed are inherently mutually exclusive in some manner.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" include plural forms as long as the words do not expressly indicate a contrary meaning. The terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, regions, integers, steps, elements, and/or components, but do not preclude the presence or addition of other features, regions, integers, steps, elements, components, and/or groups thereof.

Terms representing relative spatial terms such as "lower", "upper", and the like may be used to more readily describe one element's relationship to another element as illustrated in the figures. Such terms are intended to have not only the meaning indicated in the drawings, but also other meanings or executions of the device in use. For example, if the device in the figures is turned over, elements described as "below" other elements would then be oriented "above" the other elements. Thus, the exemplary terms "under" and "beneath" all include above and below. The device may be rotated 90 or other angles and the terminology representing relative space is also to be interpreted accordingly.

Although not defined differently, including technical and scientific terms used herein, all have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms defined in commonly used dictionaries are to be additionally interpreted as having meanings consistent with those of related art documents and currently prompted messages, and should not be excessively interpreted as having ideal or very formulaic meanings unless defined.

Solar energy is an extremely important one of the renewable energy sources. Photovoltaic power generation is to convert solar energy into electric energy through a photovoltaic power generation device, and the principle of the photovoltaic power generation is the photovoltaic effect of a semiconductor. In an actual scene, a photovoltaic power generation device includes a solar cell panel (also referred to as a photovoltaic panel or a photovoltaic module) and is a large-area sheet structure formed by connecting a plurality of solar cells in a series/parallel connection manner and then encapsulating the solar cells by glass, glue and the like. Each cell in the photovoltaic panel receives sunlight irradiation and generates current, and the current of a plurality of cells is output after being converged by the photovoltaic panel. From this, it is understood that the area of the cell sheet that can receive the solar light is correlated with the amount of power generation. However, since the scene of photovoltaic power generation is usually outdoors, dust inevitably accumulates to block sunlight, and the power generation efficiency is reduced.

Therefore, cleaning of the surface of the photovoltaic panel is required. Currently, common cleaning methods, such as mobile robots, cleaning devices that utilize natural phenomena (e.g., rainfall) or water spray, vibratory cleaning methods, fixed frames, and the like, each have disadvantages. For example, mobile robots are low in cleaning efficiency; cleaning by natural phenomena or water spray is very limited in water-deficient areas; the vibration cleaning mode has the risk of damaging the photovoltaic panel; the cleaning range of the cleaning device for fixing the frame is limited, and the photovoltaic panel moving along with the photovoltaic tracking support cannot be flexibly cleaned.

In view of the above, embodiments of the present disclosure provide a photovoltaic panel cleaning system for solving the problems in the related art.

As shown in fig. 1, a schematic view of a scenario in which the photovoltaic panel cleaning system according to an embodiment of the present disclosure is applied is shown.

The photovoltaic panel cleaning system may include: the device comprises at least one photovoltaic displacement mechanism 1, a cleaning mechanism 2, a cleaning docking mechanism 4 and a cleaning control module 7.

The at least one photovoltaic displacement mechanism 1 is connected with at least one photovoltaic panel 15 and is configured to adjust the posture of the at least one photovoltaic panel 15. In some embodiments, each photovoltaic indexing mechanism 1 can be connected to a plurality of photovoltaic panels 15, for example in fig. 1, the photovoltaic indexing mechanism 1 connects a group of photovoltaic panels 15 (illustratively shown as 4 photovoltaic panels 15) that can adjust the attitude of the group of photovoltaic panels 15 together. The cleaning control module 7 is coupled to the cleaning mechanism 2 and configured to control the movement and cleaning of the cleaning mechanism 2.

Illustratively, the photovoltaic panel cleaning system may include at least one indexing control module 6 coupled to each photovoltaic indexing mechanism 1, such as to a motor in each photovoltaic indexing mechanism 1, configured to control the attitude of each photovoltaic indexing mechanism 1 with respect to the photovoltaic panel 15. For example, each photovoltaic indexing mechanism 1 and the indexing control module 6 may be coupled one-to-one, and optionally, the indexing control module 6 may be disposed on the photovoltaic indexing mechanism 1. Alternatively, in another example, the displacement control module 6 may be coupled to each photovoltaic displacement mechanism 1 in a one-to-many manner, such as being connected by a cable (which may be used for both power supply and communication, and transmitting control signals), or a cable and a communication line (which may be used for power supply and communication), and the like, so as to perform control respectively; accordingly, the shift control module 6 needs to be distinguished and controlled according to the address to which each photovoltaic shift mechanism 1 is assigned.

Fig. 2 is a schematic structural diagram of a photovoltaic shift mechanism according to an embodiment of the disclosure.

As shown, the back sides of a set of photovoltaic panels 15 may be connected, such as by a connecting frame, for example, to facilitate movement together. In some embodiments, the attitude may include a pitch angle, a yaw angle, and the like. For example, the photovoltaic displacement mechanism 1 may be connected to the back of the photovoltaic panel 15 to avoid shielding the front from sunlight.

As shown in fig. 2, the attitude may be, for example, in at least two degrees of freedom, including pitch and yaw, i.e., corresponding to pitch and yaw. Pitch rotation is shown by the arrow a in fig. 3 and yaw rotation is shown by the arrow B in fig. 3. Wherein the pitch rotation and yaw occur in two orthogonal degrees of freedom, and the lateral rotation is performed about a vertical axis if pitch/yaw is performed relatively about a horizontal axis. The photovoltaic displacement mechanism 1 includes: a counterweight balance mechanism 14, a damping balance mechanism 13, a rotary arm 11, a pitching arm 12 and a base. The counterweight balance mechanism 14 is connected to one end of the swivel arm 11. One end of the damping balance mechanism 13 is hinged with the other end of the rotary arm 11, and the other end of the damping balance mechanism 13 is hinged with the pitching arm 12; one end of the pitch arm 12 is connected to the swivel arm 11 in a manner of being able to rotate in a pitch manner, and the other end of the pitch arm 12 is fixedly connected to the photovoltaic panel 15, which may be, for example, a screw lock connection manner in fig. 2. In addition, since the photovoltaic panels 15 are fixedly mounted on the carrier, the pitch arm 12 can be connected to the carrier. The swivel arm 11 is pivotally connected to the base in a relatively flat manner, so that the swivel arm 11 can rotate transversely with respect to the base. Accordingly, the photovoltaic panel 15 can undergo pitch/elevation changes with the pitch motion of the pitch arm 12 relative to the swivel arm 11, and panel orientation changes with the lateral rotation of the swivel arm 11 relative to the base.

Illustratively, the counterweight balance mechanism 14 and the damping balance mechanism 13 are used for moment balance when the photovoltaic displacement mechanism 1 moves. Specifically, the counterweight balance mechanism 14 is disposed at a far end of the photovoltaic panel 15, so as to balance a partial moment generated by the gravity of the photovoltaic panel 15. Illustratively, the damping balance mechanism 13 can perform extension/contraction movement with the pitch/tilt movement of the pitch arm 12, and is configured to provide a certain damping effect corresponding to the extension/contraction movement, and the damping effect can also be used for balancing a partial moment generated by the weight of a photovoltaic panel 15. By the moment balance effect of the balance mechanism 14 and the damping balance mechanism 13, the effective load ratio driven by the photovoltaic displacement mechanism 1 can be improved.

As shown in fig. 3, a schematic view of an application structure of a plurality of photovoltaic shift mechanisms 1 in a photovoltaic panel 15 array according to an embodiment of the present disclosure is shown.

Two rows of photovoltaic panels 15 are schematically shown in fig. 3, which may be only a part of a photovoltaic array in a photovoltaic power plant, which may consist of hundreds, thousands or more of photovoltaic panels 15. In the example of fig. 3, each of the pv modules 1 is connected to and controls the postures of the pv panels 15, and the pv modules 1 arranged in a row can control the postures of the pv panels 15 in a row, and the posture of 12 pv panels 15 controlled by 3 pv modules 1 is exemplarily shown in the figure. The principle of the left row of photovoltaic panels 15 in the figure is similar. It will be appreciated that by providing a sufficient number of photovoltaic indexing mechanisms 1, for example, the ratio of the number of photovoltaic panels 15 connected to each other is 1: n, n ≧ 1, e.g., n =4 in the figure, the entire photovoltaic array can be pose-adjusted.

In addition, the postures of the two rows of photovoltaic panels 15 as shown in fig. 3 have been adjusted to be cleanable postures. Specifically, the photovoltaic panels 15 in each row are substantially flush with each other in the upper surface, and the photovoltaic panels 15 in two rows are substantially flush with each other in the upper surface, that is, the postures of the photovoltaic panels 15 are the same. Thus, referring to fig. 8, the cleaning mechanism 2 can be smoothly moved and cleaned along each row of the photovoltaic panels 15.

To reduce relative movement between the photovoltaic panels 15 to facilitate cleaning operations, in some embodiments, as shown in fig. 1, each photovoltaic panel 15 may be provided with a photovoltaic docking mechanism 3 for positioning connection between the photovoltaic panels 15. The photovoltaic docking mechanism 3 is fixedly arranged on each photovoltaic panel 15, and at least part of the mechanism can be controlled to move to be jointed with the photovoltaic docking mechanism 3 of the adjacent photovoltaic panel 15 in the same row so as to form a positioning relation between the adjacent photovoltaic panels 15.

Fig. 4 is a schematic structural diagram of a photovoltaic docking mechanism according to an embodiment of the present disclosure.

The photovoltaic docking mechanism 3 includes a first photovoltaic docking assembly 31 and a second photovoltaic docking assembly 32, which are respectively disposed on two opposite sides of a group of photovoltaic panels 15, for example, two ends of the group of photovoltaic panels 15 shown in fig. 2 are respectively disposed. Of course, in other embodiments, if each photovoltaic panel 15 is not mutually positioned, for example, one photovoltaic shifting mechanism 1 controls the posture of one photovoltaic panel 15, each photovoltaic panel 15 may be provided with one photovoltaic docking mechanism 3 to dock with the adjacent photovoltaic panel 15. Wherein the first photovoltaic docking assembly 31 is configured to be controlled to perform telescopic/retractable movement, such as being provided with a motor and a telescopic structure to be electrically driven to extend and retract, so as to move to engage with the second photovoltaic docking assembly 32 provided in the photovoltaic docking mechanism 3 of the adjacent photovoltaic panel 15, i.e. the first photovoltaic docking assembly 31 of each photovoltaic panel 15 is extended and retracted to engage with the other photovoltaic panels 15 on the right side as shown in fig. 4. The second photovoltaic docking assembly 32 is configured to be controlled to perform an opening/closing movement (such as an openable bayonet) to receive the first photovoltaic docking assembly 31 in an open state. Illustratively, the first photovoltaic docking assembly 31 has a cross section of a retractable head portion which is square, triangular, trapezoidal circular, oval, etc., and the second photovoltaic docking assembly 32 has a bayonet shape which can be matched with the retractable head portion.

In some embodiments, the movement of the photovoltaic docking mechanism 3 may also be controlled. The photovoltaic docking mechanism 3 may include a motor that is coupled to and controlled by the indexing control module 6. Alternatively, a photovoltaic docking control module for independently controlling the photovoltaic docking mechanism 3 may be additionally provided.

It can be understood that the displacement control module 6 can issue a control command to control each photovoltaic displacement mechanism 1 to adjust the posture of each photovoltaic panel 15 as shown in fig. 3, and further, as shown in fig. 4, the displacement control module 6 can issue a control command to control each photovoltaic docking mechanism 3 to extend/retract to each first photovoltaic docking assembly 31 and to control the corresponding second photovoltaic docking assembly 32 of the corresponding adjacent photovoltaic panel 15 to open/close correspondingly, so as to complete the mutual docking connection, or the separation after the cleaning is completed.

The cleaning mechanism 2 includes at least two cleaning assemblies 20, respectively disposed in one row and the other row of adjacent rows of photovoltaic panels 15. In the example of fig. 1, a state is schematically shown in which one cleaning assembly 20 is installed, and fig. 8 shows that two cleaning assemblies 20 are respectively arranged on one row of photovoltaic panels 15, so that the two cleaning assemblies 20 can move and walk along the two rows of photovoltaic panels 15 from right to left and clean each photovoltaic panel 15 passing below, and the cleaning can comprise a sweeping and/or washing action.

The structure of the photovoltaic cleaning assembly 20 is described below by way of example. As shown in fig. 5, a schematic structural diagram of a photovoltaic cleaning assembly 20 according to an embodiment of the disclosure is shown.

In order to realize the movement and the cleaning along a row of photovoltaic panels 15, the cleaning assembly 20 may include a movement limiting mechanism 21 and a dust removing mechanism 22, the movement limiting mechanism 21 may realize the movement and limit the photovoltaic cleaning assembly 20 to be separated from the photovoltaic panels 15 during the movement, and the dust removing mechanism 22 is used for removing dust from the surfaces of the photovoltaic panels 15.

Please refer to fig. 5 and fig. 6. As shown in fig. 6, a schematic structural diagram of the movement limiting mechanism 21 in an embodiment of the present disclosure is shown. The limiting mechanism comprises a bearing assembly, the bearing assembly is exemplarily shown as two traveling shafts 211, the two traveling shafts 211 are erected on the photovoltaic panel 15 and arranged along the length direction from one side of the photovoltaic panel 15 to the other side, and the length direction is perpendicular to the extending direction of the row of photovoltaic panels 15. The carrier assembly has two ends corresponding to two sides of the photovoltaic panel 15, respectively. The bearing component is provided with a driving wheel mechanism 212 and a first limiting mechanism 216 at one end. The driving wheel mechanism 212 may include a driver 2121 and a driving wheel 2122 connected to each other; the driver 2121 comprises a motor, which can be coupled to the cleaning control module 7 to control the driving wheel 2122 to roll, and the rolling direction of the driving wheel 2122 is consistent with the extending direction of the row of photovoltaic panels 15. One end of each traveling shaft 211 in the bearing assembly can be penetrated with a driving wheel. The supporting member 213 is disposed on the carrying assembly, the supporting member 213 is disposed in the middle of the two traveling shafts 211 in the figure, the dust removing mechanism 22 can be mounted on the supporting member 213, and the position of the supporting member 213 on the traveling shafts 211 can be adjustable or non-adjustable. The other end of the bearing assembly is provided with a follower wheel mechanism 214 and a second limit mechanism 215. The follower wheel mechanism 214 includes a follower wheel 2141, the follower wheel 2141 is disposed in the same rolling direction as the driving wheel 2122, the driving wheel 2122 drives the traveling shaft 211 to rotate so as to drive the driven wheel 2141 to roll, and the movement limiting mechanism 21 is moved by the rolling of the driving wheel 2122 and the driven wheel 2141. In this example, the carriage assembly is provided with a pair of traveling shafts 211 and corresponding driving wheels 2122 and driven wheels 2141, which facilitates smooth traveling and placement of the dust removing mechanism 22, but it is not excluded that the carriage assembly may include only one traveling shaft 211 for the purpose of moving and carrying the dust removing mechanism 22.

The first limiting mechanism 216 and the second limiting mechanism 215 respectively extend to and block the edges of the two opposite sides of the photovoltaic panel 15 to form limiting. For example, the first limiting mechanism 216 may include a first limiting wheel 2161, and the second limiting mechanism 215 may include a second limiting wheel 2151, which is rollably abutted against lateral surfaces of two opposite side edges of the photovoltaic panel 15, respectively, and the extending direction of the two opposite side edges is consistent with the extending direction of the row of the photovoltaic panel 15. Illustratively, the central axis directions of the first and second limiting

wheels

2161 and 2151 may be perpendicular to the central axis directions of the driving wheel 2122 and the driven wheel 2141. It should be noted that the first limiting mechanism 216 and the second limiting mechanism 215 may also be implemented in other structures, for example, the flanges and the like are not limited by limiting wheels, but the limiting wheels can effectively reduce the friction force during movement.

In some embodiments, the position of the second spacing wheel is adjustable. For example, as indicated by the arrow in fig. 6, the second limiting wheel can rotate around the traveling shaft 211 to unblock the edge of the photovoltaic panel 15.

In some embodiments, the height positions of the first limiting mechanism 216 and the second limiting mechanism 215 are adjustable, so that the left-right lifting and falling motion states can be switched to adapt to cleaning of photovoltaic panels 15 with different thicknesses.

Referring again to fig. 5, it is exemplarily shown that the dust removing mechanism 22 may include a dust suction part 221 and a roll brush 222. For example, the dust suction part 221 may have a plurality of stages, and each stage is provided with a dust suction port to form an array type dust suction covering the entire width direction of the photovoltaic panel 15. Each of the dust suction ports is disposed downward so that when the photovoltaic cleaning assembly 20 is installed on the photovoltaic panel 15, the dust suction port corresponds to the surface of the photovoltaic panel 15 below. Illustratively, the rolling brushes 222 are provided in two numbers, one on each side of the dust suction member 221, to roll off dust when rolling over the surface of the photovoltaic panel 15.

In some embodiments, the dust suction part 221 may not be provided, and a dust scraping part may be substituted for the dust scraping part to scrape dust off the photovoltaic panel 15 with the movement of the cleaning assembly 20, so that the structure of the cleaning assembly 20 may be simplified and the cost may be reduced. In some embodiments, the cleaning assembly 20 may also be configured with a cleaning member to enhance the cleaning of the photovoltaic panel 15 by spraying water or a cleaning agent. It will be appreciated that the configuration of the cleaning assembly 20 may vary depending on the manner of cleaning, and that the above list is merely exemplary and may vary in practical scenarios and is not limited to the above.

As shown in conjunction with fig. 5, 7 and 8, for the purpose of describing the combined use of the cleaning assemblies. Fig. 7 shows a schematic structural view of the interface between a pair of photovoltaic cleaning assemblies in an embodiment of the present disclosure. Fig. 8 shows a schematic structural view of cleaning performed on the photovoltaic cleaning assembly after docking in an embodiment of the disclosure.

In some embodiments, the cleaning docking mechanism 4 includes at least one pair of cleaning docking assemblies. The at least one pair of cleaning docking assemblies includes a first cleaning docking assembly 41 and a second cleaning docking assembly 42. The first cleaning docking assembly 41 and the second cleaning docking assembly 42 are respectively located on two cleaning assemblies in two adjacent rows, namely, the first cleaning assembly 20a on one row and the second cleaning assembly 20b on the other row in the figure. Illustratively, the first cleaning docking assembly 41 and the second cleaning docking assembly 42 may be disposed at corresponding ends of the first cleaning assembly 20a and the second cleaning assembly 20b, respectively.

In some embodiments, the first cleaning docking assembly 41 is configured for controlled extension/retraction movement and the second cleaning docking assembly 42 is configured for controlled extension/retraction movement to receive the first cleaning docking assembly 41 in an open position.

It should be noted that although only the first and

second cleaning assemblies

20a and 20b and a corresponding one of the cleaning docking mechanisms 4 are shown, in other embodiments, not shown, a pair of cleaning docking assemblies may be provided on each cleaning assembly. For example, similar to the structural features of the photovoltaic docking mechanism 3, a first cleaning docking assembly and a second cleaning docking assembly may be respectively disposed at opposite ends of each cleaning assembly in the length direction, the first cleaning docking assembly being configured to be engaged with the second cleaning docking assembly of the other cleaning assembly adjacent to one side, and the second cleaning docking assembly being configured to be engaged with the first cleaning docking assembly of the other cleaning assembly adjacent to the other side. Therefore, the cleaning assemblies can be connected end to form the cleaning mechanism, the photovoltaic panels in rows corresponding to the number of the cleaning assemblies are cleaned synchronously, and cleaning efficiency is improved.

The cleaning control module 7 may control the movement of the movement limiting mechanism 21 of the first cleaning assembly 20a and the second cleaning assembly 20b, the dust removal of the dust removing mechanism 22, and the like. In some embodiments, the cleaning control module 7 is further coupled to the cleaning docking mechanism 4 and configured to control the cleaning docking mechanism 4 to engage to position the first cleaning assembly 20a and the second cleaning assembly 20b in a combined relationship, such as to control extension/retraction of the first cleaning docking assembly 41, opening/closing of the second cleaning docking assembly 42, and the like. Of course, the docking of the first cleaning docking assembly 41 and the second cleaning docking assembly 42 may be controlled not by an automatic control method, but by a manual control method, for example. The cleaning control module 7 may be connected to the motors in the movement limiting mechanism 21 and the cleaning mechanism 2 through cables (power and communication can be achieved through cables), cables and communication lines (power and communication can be achieved through cables), and the like, so as to control and achieve corresponding actions respectively.

To implement the operation of, for example, the photovoltaic displacement mechanism 1, the photovoltaic docking mechanism 3, the cleaning docking mechanism 4, the cleaning mechanism 2, etc. to implement the cleaning of each row of photovoltaic panels 15, in some embodiments, the photovoltaic panel cleaning system includes a main control module 5, coupled to the displacement control module 6 and the cleaning control module 7, configured to control the displacement control module 6 to set the posture of each row of photovoltaic panels 15 to be flush with each other surface, i.e. the posture to be cleaned as shown in fig. 3. Optionally, the main control module 5 may be further configured to control the shift control module 6 to control the docking of the adjacent multiple or adjacent multiple groups of photovoltaic docking mechanisms 3 to position, so as to present the state shown in fig. 4. In addition, the main control module 5 may be further configured to control the cleaning control module 7 to set a combined relationship between the first cleaning assembly 20a and the second cleaning assembly 20b, i.e., the state shown in fig. 7, and to synchronously move and clean the combined cleaning mechanism 2 along the panel array, i.e., the state shown in fig. 8.

In conjunction with the foregoing, the photovoltaic indexing mechanism 1 illustratively includes at least one motor for powering pitch, yaw, etc. movement thereof. Illustratively, the photovoltaic docking mechanism 3 includes at least one, such as a motor, connected to the first photovoltaic docking assembly 31 to power the extension/retraction of the first photovoltaic docking assembly 31. The main control module 5 is respectively coupled with motors in the photovoltaic displacement mechanism 1 and the photovoltaic docking mechanism 3 through the displacement control module 6 to form a control channel, and the control channel is used for controlling the actions of the photovoltaic displacement mechanism 1 and the photovoltaic docking mechanism 3 by issuing a control command.

Illustratively, the cleaning docking assembly includes at least one motor, as the first cleaning docking assembly 41 in the previous embodiments may have a motor to power the extension/retraction movement of the first cleaning docking assembly 41. Illustratively, the cleaning assembly 20 includes a motor. Like the first cleaning assembly 20a and the second cleaning assembly 20b in the previous embodiments, the drivers in the drive wheel mechanisms 212 of their travel limiting mechanisms 21 include motors for powering the traveling of the cleaning assemblies 20. The dust removing mechanism 22 also includes a motor for powering dust suction of, for example, the dust suction part 221. The main control module 5 is coupled to the motors in the cleaning mechanism 2 and the cleaning docking mechanism 4 through a cleaning control module 7 to form a control path, and the actions of the cleaning mechanism 2 and the cleaning docking mechanism 4 are controlled by issuing control commands to the control path.

Therefore, the master control module 5, the displacement control module 6 and the cleaning control module 7 work in a master-slave mode, and functions of stable walking, accurate cleaning, starting/stopping and the like of the cleaning mechanism 2 on the photovoltaic panel 15 array adjusted to be in the cleaning posture can be realized.

As shown in fig. 9, a schematic view of an electrical connection structure of a photovoltaic cleaning system according to an embodiment of the disclosure is shown.

The main control module 5 includes: a bus communication unit 51, an industrial control unit 52 and a display unit 53. The industrial control unit 52 is coupled to the display unit 53 and the bus communication unit 51. The display unit 53 is used for displaying a human-computer interaction interface for accepting user operation to generate a control command. In some embodiments, the bus communication unit 51 may be an industrial bus communication card; the industrial control unit 52 may be an industrial control computer; the display unit 53 may include a display.

Each of the shift control modules 6 includes: a first communication unit 61, a first control unit 62, and a first driving unit 63; the first communication unit 61 is coupled to the bus communication unit 51, the first control unit 62 is coupled to the first communication unit 61 and a first driving unit 63, and the first driving unit 63 is coupled to a motor in the photovoltaic displacement mechanism 1. In the case of the photovoltaic docking mechanism 3, the first driving unit 63 is also coupled to the photovoltaic displacement mechanism 1.

The cleaning control module 7 includes: a second communication unit 71, a second control unit 72, and a second driving unit 73; the second communication unit 71 is coupled to the bus communication unit 51, the first control unit 62 is coupled to the second communication unit 71 and a second driving unit 73, and the second driving unit 73 is coupled to the cleaning assembly 20 and the motor in the cleaning docking mechanism 4.

In some embodiments, the first communication unit 61 and the second communication unit 71 may comprise EtherCAT slave station controllers. EtherCAT is a real-time industrial ethernet technology, and a standard ethernet controller is used as the main control module 5 of the main station without a special communication controller. A common ethernet cable connection may be used between the master and slave stations. The EtherCAT protocol modifies the traditional Ethernet protocol, fills the data frame of the EtherCAT in the standard Ethernet data frame, and marks the data frame by using a special frame type, so that the Ethernet data frame has good compatibility with the standard Ethernet.

The human-computer interface is used for receiving user operations to form control commands, the control commands are sent to the first communication unit 61 and the second communication unit 71 through the bus communication unit 51, the first control unit 62 and the second control unit 72 respectively transmit control signals corresponding to the control commands to the first driving unit 63 and the second driving unit 73, and the first driving unit 63 and the second driving unit 73 are driven to respectively control the motors connected with the first driving unit 63 and the second driving unit 73 so as to drive the corresponding mechanisms.

In some embodiments, the first and

second control units

62 and 72 may be connected to the first and

second driving units

63 and 73 through IO interfaces, respectively. The first control unit 62 can analyze the received control command, form a corresponding control signal, and send the control signal to the first driving unit 63, so as to complete the unified control and management of the motors, the switching values and the encoders of the photovoltaic displacement mechanism 1 and the photovoltaic docking mechanism 3; the second control unit 72 can analyze the received control command and form a corresponding control signal to be sent to the second driving unit 73, so as to complete the unified control and management of the motors, the switching values and the encoders of the cleaning mechanism 2 and the cleaning docking mechanism 4; the first driving unit 63 drives the photovoltaic displacement mechanism 1 and the photovoltaic docking mechanism 3 to execute each time sequence action, so that the photovoltaic panel array arrangement and docking tasks are completed, the second driving unit 73 drives the cleaning mechanism 2 and the cleaning docking mechanism 4 to execute each time sequence action, and the tasks of docking arrangement, stable walking, accurate cleaning and the like of the cleaning mechanism 2 are completed.

The present disclosure may also provide in some embodiments a photovoltaic energy system comprising: an array of photovoltaic panels; the photovoltaic panel cleaning system as described in the previous embodiments is disposed on the photovoltaic panel array. Specifically, the photovoltaic energy system can be a photovoltaic power station and the like, the photovoltaic panel cleaning system is used for cleaning the photovoltaic panel, the adaptability to the type (such as tracking) of a photovoltaic panel array and the environment (such as a water-deficient area) is strong, the number of synchronously cleaned panels is large, the cleaning efficiency is high, the structure is simple and easy to implement, the cost is low, and the photovoltaic panel cannot be damaged.

This disclosure does not protect the software improvement scheme.

In summary, the embodiment of the present disclosure provides a photovoltaic panel cleaning system and a photovoltaic energy system, and the system includes: the photovoltaic displacement mechanism is connected with the at least one photovoltaic panel and is configured to adjust the posture of the at least one photovoltaic panel; a cleaning mechanism comprising: at least two cleaning assemblies; each cleaning assembly is configured to move along the surface of the row of photovoltaic panels and clean; a cleaning docking mechanism comprising at least one pair of cleaning docking assemblies; the at least one pair of cleaning docking assemblies comprises a first cleaning docking assembly arranged on the first cleaning assembly and a second cleaning docking assembly arranged on the second cleaning assembly and used for being jointed with the first cleaning docking assembly; the first cleaning assembly and the second cleaning assembly are respectively arranged on one row and the other row of the two adjacent rows of photovoltaic panels; the engagement of the first cleaning docking assembly with the second cleaning docking assembly forms a combined relationship between the first cleaning assembly and the second cleaning assembly; at least one cleaning control module, coupled to the cleaning mechanism, configured to control movement and cleaning of the cleaning mechanism. The gesture of each photovoltaic panel can be adjusted through the photovoltaic position changing mechanism, and the cleaning of multiple rows of photovoltaic panels can be synchronously performed through the connection of adjacent cleaning assemblies, so that the cleaning requirement under the condition that the inclination of the photovoltaic panels is variable can be met, the multiple rows of cleaning can be efficiently and quickly completed, the cleaning efficiency is improved, and the cleaning of each row of photovoltaic panels can be flexibly selected.

The above-described embodiments are merely illustrative of the principles of the present disclosure and their efficacy, and are not intended to limit the disclosure. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present disclosure. Accordingly, it is intended that all equivalent modifications or changes be made by those skilled in the art without departing from the spirit and technical spirit of the present disclosure and be covered by the claims of the present disclosure.

Claims

1. A photovoltaic panel cleaning system, comprising:

the photovoltaic displacement mechanism is connected with the at least one photovoltaic panel and is configured to adjust the posture of the at least one photovoltaic panel;

a cleaning mechanism comprising: at least two cleaning assemblies; each cleaning assembly is configured to move along the surface of the row of photovoltaic panels and clean;

a cleaning docking mechanism comprising at least one pair of cleaning docking assemblies; the at least one pair of cleaning docking assemblies comprises a first cleaning docking assembly arranged on the first cleaning assembly and a second cleaning docking assembly arranged on the second cleaning assembly and used for being jointed with the first cleaning docking assembly; the first cleaning assembly and the second cleaning assembly are respectively arranged on one row and the other row of the two adjacent rows of photovoltaic panels; the engagement of the first cleaning docking assembly with the second cleaning docking assembly forms a combined relationship between the first cleaning assembly and the second cleaning assembly;

at least one cleaning control module, coupled to the cleaning mechanism, configured to control movement and cleaning of the cleaning mechanism.

2. The photovoltaic panel cleaning system of claim 1, comprising:

at least one displacement control module, coupled to each photovoltaic displacement mechanism, configured to control the attitude of each photovoltaic displacement mechanism with respect to the photovoltaic panel;

the cleaning control module is coupled to the cleaning docking mechanism and configured to control the cleaning docking mechanism to engage to position the first cleaning assembly and the second cleaning assembly in a combined relationship.

3. The photovoltaic panel cleaning system of claim 2, comprising: the main control module is coupled with the displacement control module and the cleaning control module and is configured to control the displacement control module to set the postures of the photovoltaic panels in each row to be flush with the surfaces of the photovoltaic panels, control the cleaning control module to set the combination relationship between the first cleaning assembly and the second cleaning assembly and enable the combined cleaning mechanism to synchronously move and clean along the panel array.

4. The photovoltaic panel cleaning system of claim 1, wherein the photovoltaic indexing mechanism comprises: the balance weight balancing mechanism, the damping balancing mechanism, the rotary arm, the pitching arm and the base are arranged on the base;

the counterweight balance mechanism is connected to one end of the rotary arm;

one end of the damping balance mechanism is hinged with the other end of the rotary arm; the other end of the damping balance mechanism is hinged with the pitching arm;

one end of the pitching arm is connected with the revolving arm in a relatively pitching rotating mode, and the other end of the pitching arm is fixedly connected to the photovoltaic panel;

the rotary arm can be pivoted to the base in a relatively flat rotating mode;

the balance weight balance mechanism and the damping balance mechanism are used for moment balance when the photovoltaic displacement mechanism moves.

5. The photovoltaic panel cleaning system of claim 1, further comprising: at least one photovoltaic docking mechanism, a group of photovoltaic panels fixedly arranged on one or the positioning connection, and a configuration that at least part of the mechanism can be controlled to move to be jointed with the photovoltaic docking mechanism of the adjacent photovoltaic panels in the same row so as to form the positioning relation between the adjacent photovoltaic panels.

6. The photovoltaic panel cleaning system of claim 5, wherein the photovoltaic docking mechanism comprises: the first photovoltaic butt joint component and the second photovoltaic butt joint component are respectively arranged on two opposite sides of one or a group of photovoltaic panels which are connected in a positioning mode; wherein the first photovoltaic docking assembly is configured for controlled telescopic movement to move into engagement with a second photovoltaic docking assembly disposed in a photovoltaic docking mechanism of an adjacent photovoltaic panel; the second photovoltaic docking assembly is configured to be controlled for opening/closing movement to receive the first photovoltaic docking assembly in an open state.

7. The photovoltaic panel cleaning system according to claim 5 or 6, wherein the photovoltaic docking mechanism is coupled to and controlled by an indexing control module.

8. The photovoltaic panel cleaning system of claim 1, wherein the first cleaning docking assembly is configured for controlled telescopic/retractable movement; the second cleaning docking assembly is configured for controlled on/off movement to receive the first cleaning docking assembly in an open state.

9. The photovoltaic panel cleaning system of claim 1, wherein the cleaning assembly comprises: the movable limiting mechanism and the dust removing mechanism;

remove stop gear includes: the device comprises at least one bearing assembly, a driving wheel mechanism and a first limiting mechanism, wherein one end of the bearing assembly is provided with the driving wheel mechanism and the first limiting mechanism; the bearing assembly is provided with a supporting piece, and the supporting piece is provided with the dust removal mechanism; the other end of the bearing component is provided with a follow-up wheel mechanism and a second limiting mechanism; the first limiting mechanism and the second limiting mechanism respectively extend to and are arranged outside the edges of two opposite sides of the photovoltaic panel in a blocking manner to form limiting; the extending direction of the two opposite side edges is consistent with the extending direction of the row of the photovoltaic panels.

10. The photovoltaic panel cleaning system according to claim 9, wherein the first and second limiting mechanisms each comprise a limiting wheel rollably abutting against lateral surfaces of opposite side edges of the photovoltaic panel, respectively.

11. The photovoltaic panel cleaning system of claim 3, wherein the photovoltaic indexing mechanism, cleaning assembly docking structure has at least one motor;

the master control module comprises: the system comprises a bus communication unit, an industrial control unit and a display unit; the industrial control unit is coupled with the display unit and the bus communication unit; the display unit is used for displaying a human-computer interaction interface;

each of the shift control modules includes: the device comprises a first communication unit, a first control unit and a first driving unit; the first communication unit is coupled to the bus communication unit, the first control unit is coupled to the first communication unit and the first driving unit, and the first driving unit is coupled to a motor in the photovoltaic displacement mechanism;

the cleaning control module includes: the second communication unit, the second control unit and the second driving unit; the second communication unit is coupled to the bus communication unit, the first control unit is coupled to the second communication unit and a second driving unit, and the second driving unit is coupled to the cleaning assembly and a motor in the cleaning docking mechanism;

the human-computer interaction interface is used for receiving user operation to form a control command, the control command is sent to the first communication unit and the second communication unit through the bus communication unit, and the first control unit and the second control unit respectively transmit control signals corresponding to the control command to the first driving unit and the second driving unit so as to drive the first driving unit and the second driving unit to respectively control the motors connected with the first driving unit and the second driving unit to drive the corresponding mechanisms.

12. A photovoltaic energy system, comprising:

an array of photovoltaic panels;

the photovoltaic panel cleaning system according to any one of claims 1 to 11, disposed on the array of photovoltaic panels.