Cleaning robot and cleaning system

Abstract

The present application discloses a cleaning robot and a cleaning system. The cleaning robot includes: a cleaning device including a first housing and a cleaning mechanism; a traveling device connected to the cleaning device, the traveling device including a second housing and a traveling mechanism, the traveling mechanism including traveling wheels and a driving mechanism, the traveling wheels being disposed on both sides of the second housing, a first partition and a second partition being provided in the second housing to form a control chamber, a power chamber, and a driving chamber, a control device being provided in the control chamber and covered with a first cover, the power chamber being used to install a battery and covered with a second cover, a driving mechanism being provided in the driving chamber and covered with a third cover, and the driving mechanism being connected to the traveling wheels, the control device being communicatively connected to the cleaning mechanism and the driving mechanism for controlling the cleaning mechanism to clean the photovoltaic panel and controlling the driving mechanism to drive the traveling wheels to travel along a preset path. By the above method, the cleaning robot provided by the present application can reduce the risk of failure of the remaining good components after maintenance.

Description

Technical Field

[0001] This application relates to the technical field of photovoltaic panel cleaning, and particularly to a cleaning robot and a cleaning system. Background Art

[0002] Photovoltaic panels are the basic components for generating electrical energy in solar power plants. The conversion efficiency of photovoltaic panels directly determines the power generation efficiency of solar power plants. During the use of photovoltaic panels, the power generation of photovoltaic power plants can be significantly reduced under the influence of dust, bird droppings, etc. Therefore, keeping the photovoltaic panels clean has become one of the key factors for maintaining the maximum power generation efficiency of photovoltaic power plants.

[0003] Existing equipment for cleaning photovoltaic panels is provided with various functional components inside. These various functional components are arranged in the same housing space. When the equipment fails, it is necessary to disassemble the entire front cover of the equipment, making other good components also exposed to the environment. As a result, substances harmful to other components in the environment are likely to enter the equipment during maintenance or repair, increasing the risk of subsequent failures of various components in the equipment. Summary of the Invention

[0004] This application provides a cleaning robot and a cleaning system to solve the problem of increased risk of component failures after the cleaning robot is repaired due to a failure.

[0005] To solve the above technical problems, one technical solution adopted in this application is: providing a cleaning robot. The cleaning robot includes: a cleaning device including a first housing and a cleaning mechanism disposed inside the first housing; a traveling device connected to the cleaning device. The traveling device includes a second housing and a traveling mechanism. The traveling mechanism includes traveling wheels and a driving mechanism. The traveling wheels are arranged on both sides of the second housing. The second housing is provided with a first partition and a second partition to form a control compartment, a power compartment, and a driving compartment. The control compartment is provided with a control device and covered with a first cover. The power compartment is used to install a battery and covered with a second cover. The driving compartment is provided with a driving mechanism and covered with a third cover. And the driving mechanism is connected to the traveling wheels. The battery is used to supply power to the cleaning mechanism, the control device, and the driving mechanism. The control device is communicatively connected to the cleaning mechanism and the driving mechanism, and is used to control the cleaning mechanism to clean the photovoltaic panel and control the driving mechanism to drive the traveling wheels to travel along a preset path.

[0006] To solve the above technical problems, another technical solution adopted in this application is: providing a cleaning system. The cleaning system includes a terminal device and the cleaning robot as described above. The terminal device is communicatively connected to the cleaning robot.

[0007] The beneficial effects of this application are as follows: Different from the prior art, this application discloses a cleaning robot and a cleaning system. By setting the cleaning robot as two interconnected cleaning devices and a traveling device, and dividing the internal space of the traveling device into a control compartment, a power compartment, and a drive compartment, with corresponding covers provided for each compartment, when a fault occurs in the cleaning device, the cleaning device can be separately disassembled for repair without affecting the traveling device. When a fault occurs in the traveling device, the traveling device can be separately disassembled for repair without affecting the cleaning device. And when a component in the corresponding compartment of the traveling device fails, the corresponding compartment can be opened for repair without affecting the components in the other compartments. Therefore, the cleaning robot provided by this application can relatively reduce the risk of failure of the remaining good components after the cleaning robot is repaired. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings, where:

[0009] Figure 1 is a schematic structural diagram of an embodiment of the cleaning robot provided by this application;

[0010] Figure 2 is Figure 1 a schematic structural diagram of the first quick-connecting part and the second quick-connecting part in the cleaning robot;

[0011] Figure 3 is Figure 2 a schematic diagram of the state when the first quick-connecting part and the second quick-connecting part are assembled;

[0012] Figure 4 is Figure 2 a schematic diagram of the state after the first quick-connecting part and the second quick-connecting part are docked;

[0013] Figure 5 is Figure 1 an enlarged structural diagram of area A in;

[0014] Figure 6 is Figure 2 an enlarged structural diagram of an embodiment of area B in;

[0015] Figure 7 is Figure 2 a schematic structural diagram of an embodiment of the clamping part and / or the stop part in;

[0016] Figure 8 is Figure 2 a schematic structural diagram of the first quick-connecting part in;

[0017] Figure 9 Yes Figure 1 Schematic structural diagram of the traveling device in the cleaning robot with the first cover, the second cover, and the third cover removed;

[0018] Figure 10 Yes Figure 1 Schematic structural diagram of the traveling device in the cleaning robot;

[0019] Figure 11 Yes Figure 9 Schematic structural diagram of an embodiment of the control bin, the power bin, and the drive bin in the traveling device;

[0020] Figure 12 Yes Figure 9 Cross-sectional structural diagram of the control bin in the traveling device;

[0021] Figure 13 Yes Figure 1 Schematic structural diagram of the cleaning device in the cleaning robot;

[0022] Figure 14 Schematic structural diagram of an embodiment of the cleaning system provided by the present application. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0024] If the descriptions in the embodiments of the present application involve "first", "second", etc., such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of the technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0025] References herein to "embodiments" mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0026] Referring to Figure 1 , Figure 1 is a schematic structural diagram of an embodiment of a cleaning robot provided by the present application.

[0027] The cleaning robot 100 includes a cleaning device 10 and a traveling device 20, and the cleaning device 10 is connected to the traveling device 20. Among them, the cleaning device 10 is used to clean the solar photovoltaic panel, and the traveling device 20 is used to transport the cleaning device 10, so as to clean the photovoltaic panel area passed through on the path during walking.

[0028] Specifically, the cleaning device 10 includes a first housing 11, a cleaning mechanism 12, and a first quick connector 13. The cleaning mechanism 12 is disposed in the first housing 11. The cleaning structure 12 is used to clean the photovoltaic panel, and the first quick connector 13 is connected to the first housing 11.

[0029] The traveling device 20 includes a second housing 21, a traveling mechanism 22, and a second quick connector 23. The traveling mechanism 22 is disposed on the second housing 21. The traveling mechanism 22 is used to travel on the photovoltaic panel, and the second quick connector 23 is connected to the second housing 21.

[0030] Among them, the first quick connector 13 is connected to the second quick connector 23 so that the cleaning device 10 and the traveling device 20 can be quickly disassembled and assembled.

[0031] Specifically, referring to Figure 2 , the first quick connector 13 includes a main body portion 130 and a positioning insertion portion 131, a clamping portion 132, and a stop portion 133 extending from the main body portion 130. A first fitting groove 134 is formed between the positioning insertion portion 131 and the clamping portion 132, and a second fitting groove 135 is formed between the positioning insertion portion 131 and the stop portion 133.

[0032] The second quick connector 23 includes a mounting plate 230 and a clamping member 231 and a stop member 232 disposed on the mounting plate 230. The positioning insertion portion 131 is inserted between the clamping member 231 and the stop member 232. The positioning insertion portion 131 has a guiding function, so that the first fitting groove 134 is correspondingly clamped on the clamping member 231, and the second fitting groove 135 is correspondingly clamped on the stop member 232.

[0033] Optionally, as Figure 6As shown, the first mating groove 134 is a semi-circular groove, and the clamping member 231 is a cylinder. The size of the opening of the semi-circular groove is smaller than the diameter of the cylinder, and the diameter of the semi-circular groove is greater than or equal to the diameter of the cylinder. Thus, the clamping member 231 enters the first mating groove 134 through the opening of the first mating groove 134, and the clamping member 231 is limited by the first mating groove 134. The second mating groove 135 is a V-shaped groove and is correspondingly clamped to the stopper 232 to limit the relative rotation of the first quick-connecting member 13 with respect to the second quick-connecting member 23, thereby enabling the cleaning device 10 and the traveling device 20 to be quickly connected. When separating the cleaning device 10 from the traveling device 20, applying force to separate the clamping member 231 from the first mating groove 134 can quickly disassemble the cleaning device 10 from the traveling device 20, making it very convenient and efficient to replace and maintain the cleaning device 10.

[0034] Alternatively, the characteristics of the second mating groove 135 are the same as those of the first mating groove 134. Or, the second mating groove 135 is a semi-circular groove, the size of the opening of the semi-circular groove is smaller than the diameter of the cylinder, the diameter of the semi-circular groove is greater than or equal to the diameter of the cylinder, and the first mating groove 134 is a V-shaped groove.

[0035] Optionally, as Figure 7 shown, the clamping member 231 and / or the stopper 232 includes a threaded post 2311 and an abutting post 2312 connected coaxially. The threaded post 2311 is connected to the mounting plate 230. The first mating groove 134 and / or the second mating groove 135 is clamped on the threaded post 2311 and is screwed and fastened to the mounting plate 230 by the abutting post 2312. Thus, after the first quick-connecting member 13 and the second connecting member 23 are quickly aligned and clamped, they are also fixed by the clamping member 231 and / or the stopper 232 to achieve quick disassembly between the cleaning device 10 and the traveling device 20.

[0036] That is, the clamping member 231 and / or the stopper 232 also functions as a fastener connected to the mounting plate 230. After the first mating groove 134 is clamped on the clamping member 131, it is also locked and fixed by the clamping member 231, and / or after the second mating groove 135 is clamped on the stopper 232, it is also locked and fixed by the stopper 232, making the disassembly between the cleaning device 10 and the traveling device 20 very convenient and efficient.

[0037] For example, both the first mating groove 134 and the second mating groove 135 are V-shaped grooves. The V-shaped grooves are clamped on the threaded post 2311 and are screwed and fastened by the abutting post 2312 to achieve quick connection. Rotating the abutting post 2312 loosens the first quick-connecting member 13 and the second connecting member 23, and separates the first quick-connecting member 13 from the second quick-connecting member 23 to achieve quick separation.

[0038] Optionally, as Figures 2 to 5As shown, a first connection hole 136 is provided on the main body portion 130, and a second connection hole 233 is provided on the mounting plate 230. The first fitting groove 134 is engaged with the engaging member 231, and the second fitting groove 135 is engaged with the stopper member 232, so that the first connection hole 136 and the second connection hole 233 are automatically aligned. The first connection hole 136 and the second connection hole 233 are connected by a locking member 234, thereby realizing the quick connection between the cleaning device 10 and the traveling device 20. Loosen the locking member 234 to release the first quick-connecting member 13 and the second connecting member 23, and separate the first quick-connecting member 13 and the second quick-connecting member 23 to achieve quick separation.

[0039] Specifically, as Figure 8 shown, the alignment insertion portion 131 includes two first sides 1311 parallel to each other. The stopper portion 133 includes a second side 1330, and the second side 1330 is disposed at a preset angle with respect to the first side 1311. One of the first sides 1311 is arc-transitionally connected to the second side 1330 to form the second fitting groove 135. The engaging portion 132 includes two third sides 1320 parallel to the second side 1330 and spaced apart from each other. The other first side 1311 is connected to one of the third sides 1320, and the two third sides 1320 are arc-transitionally connected to each other to form the first fitting groove 134. The two third sides 1320 and the arc therebetween are engaged with the circumferential side of the engaging member 231, and the second side 1330 abuts against the stopper member 232.

[0040] Referring to Figure 4 、 Figure 8 together, the engaging member 231 and the stopper member 232 are both columnar structures and are fixedly connected to the mounting plate 230. When the first quick-connecting member 13 and the second quick-connecting member 23 are connected, the first side 1311 abuts against the engaging member 231 or the stopper member 232, so that the alignment insertion portion 131 is inserted between the engaging member 231 and the stopper member 232 under the guidance of the engaging member 231 and the stopper member 232. Further, the first fitting groove 134 is automatically assembled with the engaging member 231, and the second fitting groove 135 is automatically assembled with the stopper member 232. Under the action of the gravity of the cleaning device 10 itself, the first quick-connecting member 13 is further hooked on the second quick-connecting member 23, and the connection hole 136 and the second connection hole 233 are automatically aligned. Then, the first quick-connecting member 13 and the second quick-connecting member 23 are locked by the locking member 234 to achieve the quick disassembly and assembly between the cleaning device 10 and the traveling device 20.

[0041] Of course, the first fitting groove 134 and the second fitting groove 135 may also have other shapes, and the first quick-connecting member 13 may also have a third fitting groove, etc. The present application does not limit this.

[0042] Specifically, as Figure 9As shown, second quick connectors 23 are connected to opposite sides of the second housing 21, and first quick connectors 13 are correspondingly and spacedly connected to the first housing 11. The first quick connectors 13 are connected to the second quick connectors 23 in alignment, and the second quick connectors 23 are all located between two spaced first quick connectors 13, thereby ensuring the lateral stability of the cleaning device 10 and the traveling device 20.

[0043] Optionally, a cleaning device 10 is connected to one end of the traveling device 20 in the traveling direction.

[0044] Optionally, cleaning devices 10 are connected to both ends of the traveling device 20 along the traveling direction, so as to clean the photovoltaic panels more efficiently.

[0045] Optionally, as Figure 1 shown, the width of the cleaning device 10 in the direction perpendicular to the traveling direction is greater than the width of the traveling device 20 in the same direction, so that the cleaning robot 100 has a larger cleaning range. Thus, when cleaning a photovoltaic panel area of the same area, the cleaning robot 100 provided by the present application can complete the cleaning in less time.

[0046] The traveling device 20 and the cleaning device 10 will be introduced separately below.

[0047] Specifically, referring to Figure 9 、 Figure 10 , the traveling device 20 includes a second housing 21 and a traveling mechanism 22. The traveling mechanism 22 includes traveling wheels 220 and a driving mechanism 221. The traveling wheels 220 are arranged on both sides of the second housing 21 and are used to carry the second housing 21; the driving mechanism 221 is arranged in the second housing 21 and is connected to the traveling wheels 220, and is used to drive the traveling wheels 220 to rotate to cause the traveling device 20 to move.

[0048] A first partition 210 and a second partition 211 are provided in the second housing 21 to divide the space in the second housing 21 into a control compartment 212, a power compartment 214, and a driving compartment 216. A control device 24 is provided in the control compartment 212 and is covered with a first cover 213. The power compartment 214 is used to install a battery 25 and is covered with a second cover 215. The driving mechanism 221 is provided in the driving compartment 216 and is covered with a third cover 217. The driving mechanism 221 is connected to the traveling wheels 220. The battery 25 is used to supply power to the cleaning mechanism 12, the control device 24, and the driving mechanism 221. The control device 24 is communicatively connected to the cleaning mechanism 12 and the driving mechanism 221, and is used to control the cleaning mechanism 12 to clean the photovoltaic panels and control the driving mechanism 221 to drive the traveling wheels 220 to travel along a preset path.

[0049] The internal space of the second housing 21 is partitioned into independent control compartment 212, power compartment 214, and drive compartment 216, and corresponding covers are provided and connected to the control compartment 212, power compartment 214, and drive compartment 216, such that subsequent maintenance, repair, replacement, etc. of the components within the traveling device 20 can be completed without extensively disassembling the traveling device 20, facilitating the maintenance of the cleaning robot 100; and after a component within the corresponding compartment of the traveling device 20 fails, the corresponding compartment can be opened for repair without affecting the components in the remaining compartments. Thus, the cleaning robot 100 provided in the present application can relatively reduce the risk of failure of the remaining good components after the cleaning robot 100 is repaired.

[0050] Optionally, the first partition 210 and the second partition 211 are disposed on the second housing 21 parallel to each other at intervals along the traveling direction of the cleaning robot 100, and successively form the control compartment 212, power compartment 214, and drive compartment 216 with the second housing 21, that is, the control compartment 212, power compartment 214, and drive compartment 216 are adjacent to each other in sequence. Among them, the drive compartment 216 is located on the side away from the cleaning device 10. Alternatively, the positions of the control compartment 212 and the power compartment 214 are interchanged.

[0051] Optionally, as Figure 11 shown, the second partition 211 is connected to the second housing 21 to form the drive compartment 216; the first partition 210 is connected to the second partition 211 and the second housing 21 to form the control compartment 212 and the power compartment 214. That is, the control compartment 212, power compartment 214, and drive compartment 216 are arranged in an inverted product shape layout, where the drive compartment 216 is located on the same side of the control compartment 212 and the power compartment 214, and the positions of the control compartment 212 and the power compartment 214 can be interchanged.

[0052] Specifically, the control compartment 212 and the power compartment 214 are waterproof and sealed compartments to prevent the control device 24 and the battery 25 from being damaged by water ingress.

[0053] As Figure 12 shown, sealing members 218 are connected to the first cover 213 and the second cover 215. The control compartment 212 and the power compartment 214 are both provided with waterproof flanges 219. The first cover 213 and the second cover 215 are covered on the corresponding waterproof flanges 219, and the sealing members 218 are located between the waterproof flanges 219 and the first cover 213 or the second cover 215, thereby realizing the waterproof sealing of the control compartment 212 and the power compartment 214.

[0054] The sealing member 218 is, for example, a gasket, and is fixedly connected to the first cover 213 and the second cover 215 to facilitate the installation connection between the cover and the housing.

[0055] In addition, waterproof connectors are provided on the outside of the control compartment 212 and the power compartment 214. The control device 24 and the battery 25 are wired to the other components through these waterproof connectors.

[0056] Specifically, continue to refer to Figure 9 , the traveling wheels 220 include a plurality of rollers 223 and a crawler 224 provided on the plurality of rollers 223. The crawler 224 contacts the photovoltaic panel to reduce the pressure exerted by the cleaning robot 100 on the photovoltaic panel and avoid damaging the photovoltaic panel.

[0057] A brush 225 is also connected to the second housing 21. The brush 225 is arranged corresponding to the crawler 224 and contacts the crawler 224 to continuously clean the crawler 224 when the crawler 224 rotates, thereby avoiding the cleaning robot 100 leaving stains on the photovoltaic panel when walking on the photovoltaic panel, and further improving the cleaning ability of the cleaning robot 100 for the photovoltaic panel.

[0058] Furthermore, the cleaning robot 100 further includes a cruise positioning device 26. The cruise positioning device 26 is arranged on the second housing 21. The cruise positioning device 26 includes a positioning antenna 260. The positioning antenna 260 is connected to the control device 24. The positioning antenna 26 is used to determine the real-time position of the cleaning robot 100 and receive a preset path. The control device 24 adjusts the cleaning robot 100 to walk along the preset path according to the coincidence relationship between the preset path received by the positioning antenna 260 and the real-time position of the cleaning robot 100.

[0059] Specifically, the cruise positioning device 26 includes a positioning antenna 260 and a base station. The base station is used to communicate with the global navigation satellite system. The base station receives the signal sent by the positioning antenna 260 and communicates with the global navigation satellite system to determine the position of the cleaning robot 100 in real time, and is used to plan the running path of the cleaning robot 100 on the photovoltaic panel and transmit the preset path to the control device 24 through the positioning antenna 260.

[0060] The control device 24 receives the preset path and correspondingly adjusts the motion posture of the cleaning robot 100 according to the coincidence relationship between the preset path and the real-time position. For example, if the real-time position of the cleaning robot 100 is not on the preset path, that is, the real-time position does not coincide with the preset path, the control device 24 controls the drive mechanism 221 to adjust the motion posture of the cleaning robot 100 so that the cleaning robot 100 returns to the preset path and continues to walk along the preset path to automatically clean the entire area of the photovoltaic panel.

[0061] Specifically, the positioning antenna 260 is an RTK (Real-time kinematic) antenna.

[0062] Further, the cleaning robot 100 further includes a first communication module 27 and a second communication module 28, which are used to communicate with a workstation and / or a terminal device.

[0063] For example, the first communication module 27 is a WiFi module (Wireless Fidelity, wireless local area network), and the cleaning robot 100 communicates with a terminal device (such as a tablet computer, etc.) through a WiFi network. Then, the terminal device can obtain the operating status, preset path, current speed, etc. of the cleaning robot 100, and can interact with the cleaning robot 100 through the WiFi network to control the cleaning robot 100. The second communication module 28 is a 4G module, and the cleaning robot 100 can communicate with the terminal device through a 4G network. Then, the terminal device can start the cleaning robot 100 through the 4G network, etc.

[0064] Alternatively, the first communication module 27 is a ZigBee module, and the second communication module 28 is a 3G module. The present application does not limit this.

[0065] Optionally, the workstation can communicate with multiple cleaning robots 100 simultaneously. For example, the workstation communicates with multiple cleaning robots 100 through a 4G network. Then, the user can monitor the operating status of multiple cleaning robots 100, start and stop the cleaning robots 100, and control the running trajectory of the cleaning robots 100 at the workstation, greatly improving the efficiency of controlling multiple cleaning robots 100 by labor.

[0066] Referring to Figure 1 、 Figure 13 The cleaning device 10 includes a first housing 11 and a cleaning mechanism 12 disposed inside the first housing 11. The cleaning mechanism 12 includes a cleaning member 120 and a motor. The cleaning member 120 is rotatably connected to the first housing 11, and the motor is fixedly connected to the first housing 11. The motor drives the cleaning member 120 to rotate through a belt or a chain, etc., to clean the photovoltaic panel in contact with the cleaning member 120.

[0067] For example, the cleaning member 120 includes a rotating cylinder and a brush disposed on the rotating cylinder.

[0068] Further, radar detection devices 13 are provided at both ends of the first housing 11 in a direction perpendicular to the traveling direction of the traveling device 20. When the radar detection device 13 detects that the distance from an obstacle is less than or equal to a first preset distance, the control device 24 controls the traveling mechanism 22 to adjust the traveling trajectory to avoid the cleaning robot 100 colliding with the obstacle.

[0069] The radar detection device 13 continuously detects the distance between the cleaning robot 100 itself and surrounding obstacles, and feeds back the detected distance to the control device 24. The control device 24 adjusts the real-time walking trajectory of the cleaning robot 100 according to the comparison result between the detected distance and the first preset distance. When the detected distance is greater than the first preset distance, the control device 24 maintains the current operating posture of the cleaning robot 100.

[0070] Further, a distance detection device 14 is also provided on the first housing 11. The distance detection device 14 is used to detect the distance between the cleaning device 10 and the support surface supporting the cleaning robot 100. When the distance detected by the distance detection device 14 is greater than the second preset distance, the control device 24 controls the walking mechanism 22 to adjust the walking trajectory to prevent the cleaning robot 100 from falling off the photovoltaic panel.

[0071] The distance between the cleaning device 10 itself and the support surface is generally constant. If the distance detected by the distance detection device 14 is greater than the second preset distance, the control device 24 can determine that the cleaning device 10 has been suspended at the edge of the photovoltaic panel, and if the cleaning robot 100 continues to move forward, it will fall off the photovoltaic panel, which will seriously damage the cleaning robot 100. Therefore, when it is determined that the detected distance is greater than the second preset distance, the control device 24 adjusts the walking trajectory of the cleaning robot 100 to prevent it from falling and being damaged.

[0072] Specifically, the distance detection device 14 includes a first distance sensor 140 and a second distance sensor 142, where the type of the first distance sensor 140 is different from that of the second distance sensor 142 to ensure the reliability of the detection result.

[0073] Refer to Figure 14 , Figure 14 which is a schematic structural diagram of an embodiment of the cleaning system provided by the present application.

[0074] The cleaning system 200 includes a terminal device 300 and the cleaning robot 100 as described above. The terminal device 200 is communicatively connected to the cleaning robot 100 and is used to regulate the operating state of the cleaning robot 100.

[0075] At the same time, the present application also protects a quick-release component, which includes the first quick-connecting piece 13 and the second quick-connecting piece 14 in the above embodiment, and the first quick-connecting piece 13 and the second quick-connecting piece 14 can be quickly disassembled and assembled.

[0076] Differing from the prior art, the present application discloses a cleaning robot and a cleaning system. By setting the cleaning robot as two interconnected cleaning devices and a traveling device, and dividing the internal space of the traveling device into a control compartment, a power compartment, and a driving compartment, each compartment is covered with a corresponding cover. Thus, after a failure occurs in the cleaning device, the cleaning device can be separately disassembled for repair without affecting the traveling device. After a failure occurs in the traveling device, the traveling device can be separately disassembled for repair without affecting the cleaning device. And after a failure occurs in the components in the corresponding compartment of the traveling device, the corresponding compartment can be opened for repair without affecting the components in the remaining compartments. Therefore, the cleaning robot provided by the present application can relatively reduce the risk of failure of the remaining good components after the cleaning robot is repaired.

[0077] The above are only embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall similarly be included in the patent protection scope of the present application.

Claims

1. A cleaning robot, It is characterized in that include: A cleaning device, comprising a first shell and a cleaning mechanism disposed in the first shell; A walking device connected to the cleaning device, the walking device includes a second shell and a walking mechanism, the walking mechanism includes walking wheels and a driving mechanism, the walking wheels are arranged on both sides of the second shell, a first partition and a second partition are arranged in the second shell, the first partition and the second partition divide the internal space of the second shell into an independent control compartment, a power compartment and a driving compartment, a control device is arranged in the control compartment and is covered with a first cover body, the power compartment is used to install a battery and is covered with a second cover body, the driving compartment is arranged in the driving compartment and is covered with a third cover body, and the driving mechanism is connected to the walking wheels, the battery is used to supply power to the cleaning mechanism, the control device and the driving mechanism, the control device is communicatively connected with the cleaning mechanism and the driving mechanism, and is used to control the cleaning mechanism to clean the photovoltaic panel and control the driving mechanism to drive the walking wheels to walk along a preset path; The second housing is connected to two opposite sides thereof with second quick-connectors, and the first housing is correspondingly connected to first quick-connectors at intervals, and the first quick-connectors are connected to the second quick-connectors in an aligned manner, so that the cleaning device and the walking device can be quickly disassembled and assembled, and the second quick-connectors are located between the first quick-connectors arranged at intervals; The first quick connector includes a main body, an aligning inserting part, a clamping part, and a stopper part extending from the main body, a first matching groove is formed between the aligning inserting part and the clamping part, and a second matching groove is formed between the aligning inserting part and the stopper part; The second quick connector includes a mounting plate, a clamping member and a stopper provided on the mounting plate, the alignment insertion portion is inserted between the clamping member and the stopper, the first matching groove is clamped on the clamping member, the second matching groove is clamped on the stopper, and the main body and the mounting plate abut against each other; The clamping member and / or the stop member include a coaxially connected threaded column and an abutment column, the threaded column is connected to the mounting plate, the first mating groove and / or the second mating groove are clamped on the threaded column and are screwed and fastened to the mounting plate by the abutment column.

2. The cleaning robot according to claim 1, It is characterized in that The cleaning robot also includes a cruise positioning device, which includes a positioning antenna, which is connected to the control device. The positioning antenna is used to determine the real-time position of the cleaning robot and receive the preset path. The control device adjusts the cleaning robot to walk along the preset path based on the overlap between the preset path received by the positioning antenna and the real-time position of the cleaning robot.

3. The cleaning robot according to claim 2, It is characterized in that The positioning antenna is an RTK antenna.

4. The cleaning robot according to claim 1, It is characterized in that The first partition plate and the second partition plate are arranged parallel to each other at intervals along the traveling direction of the cleaning robot on the second housing, and the control chamber, the power chamber, and the driving chamber are sequentially formed with the second housing.

5. The cleaning robot according to claim 1, wherein, the second partition plate is connected to the second housing to form the driving chamber; the first partition plate is connected to the second partition plate and the second housing to form the control chamber and the power chamber.

6. The cleaning robot according to claim 1, wherein, sealing members are connected to the first cover body and the second cover body, waterproof flanges are provided in both the control chamber and the power chamber, the first cover body and the second cover body are covered on the corresponding waterproof flanges, and the sealing members are located between the waterproof flanges and the first cover body or the second cover body.

7. The cleaning robot according to claim 1, wherein, the traveling wheels include a plurality of rollers and a crawler provided on the plurality of rollers, and a brush is further connected to the second housing, and the brush is arranged corresponding to the crawler and in contact with the crawler.

8. The cleaning robot according to claim 1, wherein, radar detection devices are provided at both ends of the first housing in a direction perpendicular to the traveling direction of the traveling device. When the distance detected by the radar detection device from an obstacle is less than or equal to a first preset distance, the control device controls the traveling mechanism to adjust the traveling trajectory to prevent the cleaning robot from colliding with the obstacle.

9. The cleaning robot according to claim 1, wherein, a distance detection device is further provided on the first housing for detecting the distance between the cleaning device and the support surface supporting the cleaning robot. When the distance detected by the distance detection device is greater than a second preset distance, the control device controls the traveling mechanism to adjust the traveling trajectory to prevent the cleaning robot from falling off the photovoltaic panel.

10. The cleaning robot according to claim 9, wherein, the distance detection device includes a first distance sensor and a second distance sensor, and the type of the first distance sensor is different from the type of the second distance sensor.

11. The cleaning robot according to claim 1, wherein, cleaning devices are connected to both ends of the traveling device along the traveling direction.

12. A cleaning system, wherein, it includes a terminal device and the cleaning robot according to any one of claims 1 to 11, and the terminal device is communicatively connected to the cleaning robot for regulating the operating state of the cleaning robot.

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