An autonomous photovoltaic cleaning robot

Abstract

The present invention relates to an autonomously cleaning photovoltaic cleaning robot, which comprises a fuselage, a driving mechanism, a walking device and a cleaning mechanism arranged on the fuselage, the driving mechanism being electrically connected to the cleaning mechanism, the walking device driving the fuselage to walk, the cleaning mechanism being fixedly arranged on the outer side wall of the front end of the fuselage, and the cleaning mechanism performing cleaning operations under the drive of the driving mechanism, the photovoltaic cleaning robot walking on a photovoltaic panel array to perform cleaning operations thereon, the gap between two adjacent photovoltaic panel arrays being connected by a bridge deck, and a photovoltaic panel detection component and a metal sensing component being arranged on the fuselage. The present invention can simplify the detection structure of the photovoltaic cleaning robot, improve the applicability and automation degree of the photovoltaic cleaning robot, so as to achieve the continuous automatic control of stable walking by sensing the photovoltaic surface, autonomous cleaning, saving manpower and reducing the maintenance cost of the power station.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of cleaning robots, and in particular to an autonomous cleaning photovoltaic cleaning robot. Background Art

[0002] As a renewable and clean energy, solar photovoltaic has become an important force in today's global energy transformation. The surface of solar panels is prone to accumulation of sand, dust and other dirt. If not cleaned in a timely, scientific and professional manner, it can cause the power generation of the components to attenuate by up to 40% to 60%, and the power generation to drop by 20% to 30%. Therefore, the concept of improving the power generation and efficiency of power stations by cleaning solar panels reasonably and scientifically and maintaining the components carefully has been recognized by the industry.

[0003] When the photovoltaic cleaning walking robot is working, it is basically a fully automated process. At present, there is no mature mobile detection method on the market. It is necessary to add specific sensing devices or fixing devices to the photovoltaic panel array for positioning to maintain the walking and cleaning of the machine on the photovoltaic panel array; and the more mature autonomous selection of cleaning route technology is to manually clean the direction first, and then perform "N" or "Z" shaped path cleaning on the photovoltaic vertical or horizontal photovoltaic panel array. After cleaning the photovoltaic panel array, it needs to return to the original place in a straight line or clean it again along the original path and return to the original place, and then use the transport machine to transport it to the array with the same cleaning direction and vertical and horizontal distribution to continue cleaning in the same way.

[0004] Such a sensing method of adding specific sensing devices or fixed devices and automatically planning routes not only increases the equipment cost and reduces efficiency due to the need to return to the starting point of the photovoltaic panel array after each cleaning, but is also easily affected by the size and distribution of the photovoltaic panel array and has poor applicability. Summary of the invention

[0005] In view of the above-mentioned problems existing in the prior art, the main purpose of the present invention is to provide an autonomous cleaning photovoltaic cleaning robot, which can simplify the detection structure of the photovoltaic cleaning robot, improve the applicability and automation level of the photovoltaic cleaning robot, so as to achieve continuous automatic control of smooth walking and autonomous cleaning by sensing the photovoltaic surface, save manpower and reduce power station maintenance costs.

[0006] The technical solution of the present invention is as follows:

[0007] A self-cleaning photovoltaic cleaning robot, the photovoltaic cleaning robot comprises a fuselage, a driving mechanism, a walking device and a cleaning mechanism are arranged on the fuselage, the driving mechanism is electrically connected to the cleaning mechanism, the walking device drives the fuselage to walk, the cleaning mechanism is fixedly arranged on the outer side wall of the front end of the fuselage, and the cleaning mechanism performs a cleaning operation under the drive of the driving mechanism, the photovoltaic cleaning robot walks on a photovoltaic panel array to clean it, and the gap between two adjacent photovoltaic panel arrays is connected by a bridge deck, and a photovoltaic panel detection component and a metal sensing component are arranged on the fuselage, wherein:

[0008] The bridge deck is made of non-metallic material, and both ends of the bridge deck are connected to two adjacent photovoltaic panels through a connecting device. A plurality of mutually parallel first metal sheets are arranged on the upper surface of the end of the bridge deck close to the connecting device, and a second metal sheet is arranged at the center position of the upper surface of the bridge deck along the length direction;

[0009] The photovoltaic panel detection assembly includes a first photovoltaic panel detection module, a second photovoltaic panel detection module, a third photovoltaic panel detection module and a fourth photovoltaic panel detection module, wherein the first photovoltaic panel detection module is fixedly arranged at the front of the outer wall of the left end of the fuselage, the second photovoltaic panel detection module is fixedly arranged at the front of the outer wall of the right end of the fuselage, the third photovoltaic panel detection module is fixedly arranged at the rear of the outer wall of the right end of the fuselage, and the fourth photovoltaic panel detection module is fixedly arranged at the rear of the outer wall of the left end of the fuselage;

[0010] The metal sensing component includes a first metal sensor, a second metal sensor, a third metal sensor and a fourth metal sensor, wherein: the first metal sensor is fixedly set at the middle of the outer wall of the left end of the fuselage, the second metal sensor is fixedly set at the middle of the inner wall of the front end of the fuselage, the third metal sensor is fixedly set at the middle of the outer wall of the right end of the fuselage, and the fourth metal sensor is fixedly set at the middle of the outer wall of the rear end of the fuselage.

[0011] The bridge deck is made of glass or wood, is parallel to the photovoltaic panel array, has a width greater than a body width of the photovoltaic cleaning robot, and is located on the same side of two adjacent photovoltaic panel arrays.

[0012] The connecting device is made of glass or wood board, one end of the connecting device is arranged at the side end of the photovoltaic panel array along the length direction, and the other end of the connecting device is connected to the side end of the bridge deck along the length direction.

[0013] The walking device includes a track and a drive motor connected to the track, wherein the track includes a left wheel track and a right wheel track, and the drive motor includes a left wheel drive motor and a right wheel drive motor. The left wheel track is arranged on the left side of the bottom of the fuselage, and the left wheel track is moved by the drive of the left wheel drive motor. The right wheel track is arranged on the right side of the bottom of the fuselage, and the right wheel track is moved by the drive of the right wheel drive motor.

[0014] The first metal sheet and the second metal sheet are both rectangular in shape, the length of the first metal sheet is equal to the width of the bridge deck, and the first metal sheet and the second metal sheet are arranged perpendicular to each other.

[0015] The bottom of the fuselage is provided with a first adsorption component, a second adsorption component and a third adsorption component, wherein the first adsorption component is arranged at the front side of the bottom of the fuselage, the second adsorption component is arranged at the middle position of the bottom of the fuselage, and the third adsorption component is arranged at the rear side of the bottom of the fuselage.

[0016] The first adsorption assembly includes a first suction cup, the second adsorption assembly includes a second suction cup, and the outer diameter of the second suction cup is greater than the outer diameter of the first suction cup, and the third adsorption assembly includes a third suction cup, and the outer diameter of the third suction cup is equal to the outer diameter of the first suction cup.

[0017] The second adsorption assembly also includes a first fixing ring, a second fixing ring, a fixing bracket, a support frame and a servo, wherein: the first fixing ring is arranged inside the second fixing ring, and the first fixing ring moves up and down along a plurality of pulley tracks vertically arranged in the circumferential direction of the inner wall of the second fixing ring through a plurality of pulleys arranged in the circumferential direction of the outer wall thereof, the second fixing ring is fixedly connected to the chassis at the bottom of the fuselage through a plurality of fixing protrusions arranged in the circumferential direction of the outer wall thereof, a deep groove ball bearing is arranged in the first fixing ring, and a circular mounting protrusion is arranged in the circumferential direction of the lower part of the inner wall of the first fixing ring, the outer ring of the deep groove ball bearing is located on the mounting protrusion and is fixedly connected to the inner wall of the first fixing ring.

[0018] A fixed disc is fixedly provided on the upper surface of the second suction cup, and an annular fixed base is fixedly provided on the upper surface of the fixed disc, the fixed base is located inside the deep groove ball bearing, and the fixed base is fixedly connected to the inner ring of the deep groove ball bearing, the inner ring of the deep groove ball bearing rotates relative to the deep groove ball outer ring, and a first fixed groove is provided on the fixed base, a limiting portion is fixedly provided in the first fixed groove, and an annular limiting convex ring is extended outwardly in the circumferential direction of the outer side wall of the upper end of the limiting portion, and the limiting convex ring is located on the outer side of the upper end of the deep groove ball bearing to limit the upward movement of the deep groove ball bearing.

[0019] The cam is fixedly mounted on a bottom surface of the chassis, the cam being fixedly mounted on the upper end of the cam by a mounting plate, the end of a driving shaft of the cam being fixedly mounted on a steering disc, the steering disc being fixedly mounted with a connecting rod, the end of the connecting rod away from the steering disc being fixedly mounted on the supporting frame, the supporting frame comprising a supporting rod and a first supporting portion and a second supporting portion fixedly mounted below both ends of the supporting rod, the inner side wall of the first supporting portion being provided with a first arc-shaped sliding groove, the inner side wall of the second supporting portion being provided with a second arc-shaped sliding groove, and the first sliding groove and the second sliding groove both being matched with the outer side wall of the first fixing ring, the supporting frame being tightly matched with the outer side wall of the first fixing ring through the first sliding groove and the second sliding groove, and the fuselage is rotatably connected with the second suction cup through the deep groove ball bearing.

[0020] The present invention has the following advantages and beneficial effects: by connecting the gap between two adjacent photovoltaic panel arrays through a bridge deck, the photovoltaic cleaning robot can achieve continuous cleaning operations between the photovoltaic panel arrays through the bridge deck, and at the same time, a photovoltaic panel detection component and a metal sensing component are arranged on the body, thereby improving the applicability of the photovoltaic cleaning robot and improving the cleaning efficiency of the photovoltaic cleaning robot, so as to achieve the purpose of automatic sensing and driving through the photovoltaic panel detection component and the metal sensing component on the bridge deck built between the photovoltaic arrays, and finally realize continuous automatic control and smooth walking cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the top view of the autonomous cleaning photovoltaic cleaning robot provided in an embodiment of the present invention.

[0022] Figure 2 A schematic diagram of the rotation of the body of the autonomous cleaning photovoltaic cleaning robot provided in an embodiment of the present invention during a turning operation.

[0023] Figure 3 A schematic diagram of the three-dimensional structure of the second adsorption component provided in an embodiment of the present invention.

[0024] Figure 4 A schematic diagram of the exploded structure of the second adsorption component provided in an embodiment of the present invention.

[0025] Figure 5 This is a schematic diagram of the enlarged structure of the support frame in the second adsorption assembly provided in an embodiment of the present invention.

[0026] Figure 6 A schematic structural diagram of the coordination between a bridge deck and two adjacent photovoltaic panels provided in an embodiment of the present invention.

[0027] Figure 7 A schematic diagram of a photovoltaic cleaning robot guided by a bridge deck for driving according to an embodiment of the present invention.

[0028] Figure 8 A schematic diagram of a photovoltaic robot provided in an embodiment of the present invention performing corrections while traveling on a bridge deck.

[0029] Fig. 9 A schematic diagram of the three-dimensional structure of an air pressure detection device provided in an embodiment of the present invention.

[0030] Fig.10 A schematic diagram of the exploded structure of an air pressure detection device provided in an embodiment of the present invention.

[0031] Fig.11 A schematic diagram of the exploded structure of a first adsorption component in one direction provided in an embodiment of the present invention.

[0032] Fig.12 A schematic diagram of the exploded structure of the first adsorption component in another direction provided in an embodiment of the present invention.

[0033] Fig.13 A schematic diagram of the three-dimensional structure of the first adsorption component provided in an embodiment of the present invention.

[0034] Fig.14 A schematic diagram of an autonomous cleaning photovoltaic cleaning robot provided in an embodiment of the present invention performing cleaning in an N-shaped cleaning manner.

[0035] Fig.15 A schematic diagram of an autonomous cleaning photovoltaic cleaning robot provided in an embodiment of the present invention performing cleaning in a zigzag cleaning manner.

[0036] Fig.16 A schematic diagram of the three-dimensional structure of a fixed base in a second adsorption assembly provided in an embodiment of the present invention.

[0037] Fig.17 A schematic structural diagram of the cooperation between a limiting portion, a deep groove ball bearing and a first fixing ring in a second adsorption assembly provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] like Figures 1 to 17As shown: is an autonomous cleaning photovoltaic cleaning robot according to an embodiment of the present invention, the photovoltaic cleaning robot comprises a body 100, on which a driving mechanism (not shown), a walking device and a cleaning mechanism 102 are arranged, the driving mechanism is electrically connected to the cleaning mechanism, the walking device drives the body 100 to walk, the cleaning mechanism 102 is fixedly arranged on the outer side wall of the front end of the body 100, and the cleaning mechanism 102 performs a cleaning operation under the drive of the driving mechanism, the photovoltaic cleaning robot walks on the photovoltaic panel array 600 to perform a cleaning operation, and the gap between two adjacent photovoltaic panel arrays 600 is connected by a bridge deck 700, and a photovoltaic panel detection component and a metal sensing component are arranged on the body 100, wherein:

[0040] The walking device includes tracks and drive motors connected to the tracks, wherein the tracks include a left track 101 and a right track 104, and the drive motors include a left drive motor 105 and a right drive motor 106. The left track 101 is arranged on the left side of the bottom of the fuselage 100, and the left track 101 is moved by the drive of the left drive motor 105, and the right track 104 is arranged on the right side of the bottom of the fuselage 100, and the right track 104 is moved by the drive of the right drive motor 106;

[0041] The bridge deck 700 is made of non-metallic material, and both ends of the bridge deck 700 are connected to two adjacent photovoltaic panels through a connecting device 800. A plurality of mutually parallel first metal sheets 701 are arranged on the upper surface of the end of the bridge deck 700 close to the connecting device 800, and a second metal sheet 702 is arranged at the center position of the upper surface of the bridge deck 700 along the length direction; the connecting device 800 is made of glass or wood, that is, the connecting device 800 is made of a non-metallic material with a certain hardness, one end of the connecting device 800 is arranged at the side end of the photovoltaic panel array along the length direction, and the other end of the connecting device 800 is connected to the side end of the bridge deck 700 along the length direction.

[0042] The photovoltaic panel detection component includes a first photovoltaic panel detection module 111, a second photovoltaic panel detection module 112, a third photovoltaic panel detection module 113 and a fourth photovoltaic panel detection module 114, wherein the first photovoltaic panel detection module 111 is fixedly arranged at the front of the outer wall of the left end of the fuselage 100, the second photovoltaic panel detection module 112 is fixedly arranged at the front of the outer wall of the right end of the fuselage 100, the third photovoltaic panel detection module 113 is fixedly arranged at the rear of the outer wall of the right end of the fuselage 100, and the fourth photovoltaic panel detection module 114 is fixedly arranged at the rear of the outer wall of the left end of the fuselage 100; the above-mentioned first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 can all be composed of an STM32 control chip + 0V7725 camera + E18-D80NK diffuse reflection infrared photoelectric switch to realize the detection function.

[0043] The metal sensor assembly includes a first metal sensor 121, a second metal sensor 122, a third metal sensor 123 and a fourth metal sensor 124, wherein: the first metal sensor 121 is fixedly arranged at the middle of the left outer wall of the fuselage 100, the second metal sensor 122 is fixedly arranged at the middle of the inner wall at the front end of the fuselage 100, the third metal sensor 123 is fixedly arranged at the middle of the right outer wall of the fuselage 100, and the fourth metal sensor 124 is fixedly arranged at the middle of the outer wall at the rear end of the fuselage 100. The first metal sensor 121, the second metal sensor 122, the third metal sensor 123 and the fourth metal sensor 124 are all LJA30M-40N1 metal sensors.

[0044] Through the above design, four photovoltaic panel detection modules (the first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) are distributed at the four corners of the fuselage 100 to sense the three different states of the photovoltaic panel, namely the frame, the plane and the suspended state; and metal sensors (namely the first metal sensor 121, the second metal sensor 122, the third metal sensor 123 and the fourth metal sensor 124) are placed at the center positions of the four edges of the left, front, right and rear of the fuselage 100 to sense whether there are photovoltaic panels near the fuselage; the four photovoltaic detection modules provide data for the decision-making of the machine's straight-line walking and cross-seam cleaning; the four metal sensors provide data for the decision-making of the machine's continuous cleaning and autonomous cleaning; the integrated data of the four photovoltaic detection modules and the four metal sensors provide data for the decision-making of the photovoltaic cleaning robot's cross-seam cleaning, continuous cleaning, autonomous cleaning and cross-bridge driving, so as to realize the above functions.

[0045] When the above four photovoltaic panel detection modules are working, they judge whether the module is in a flat state (i.e. inside the photovoltaic panel), a frame state (i.e. just along the frame) and a suspended state (i.e. outside the photovoltaic panel); the four photovoltaic detection modules distributed in the four corners of the fuselage take effect respectively when the photovoltaic cleaning robot is cleaning along the left and right edges.

[0046] When the photovoltaic cleaning robot is cleaning the left side edge of the photovoltaic panel (i.e. the left edge), the two photovoltaic panel detection modules on the left side (i.e. the first photovoltaic panel detection module 111 and the fourth photovoltaic panel detection module 114) play the role of providing data for straight line correction control; the two photovoltaic panel detection modules in the front (i.e. the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) play the role of detecting the photovoltaic panel frame in the front, and the two photovoltaic detection modules in the rear (i.e. the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) play the role of detecting the photovoltaic panel frame in the rear, providing data for front and rear cross-seam cleaning and stopping cleaning.

[0047] When the photovoltaic cleaning robot is cleaning the right side edge (i.e. the right edge) of the photovoltaic panel, the two photovoltaic detection modules on the right side (i.e. the second photovoltaic panel detection module 112 and the third photovoltaic panel detection module 113) play the role of providing data for straight line correction control; the two photovoltaic detection modules in the front (i.e. the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) play the role of detecting the photovoltaic panel frame in the front, and the two photovoltaic detection modules in the rear, i.e. the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114, play the role of detecting the photovoltaic panel frame in the rear, providing data for front and rear cross-seam cleaning and stopping cleaning.

[0048] The above photovoltaic cleaning robot has metal sensors (i.e., the second metal sensor 122 and the fourth metal sensor 124) distributed at the center of the front and rear edges of the fuselage, which play a role in detecting whether there are photovoltaic panels in the front and rear of the fuselage. When the two photovoltaic detection modules in the front or the two photovoltaic detection modules in the rear detect the frame of the photovoltaic panel, the second metal sensor 122 and the fourth metal sensor 124 can be used to sense whether there are photovoltaic panels in the front and rear, and the data master can be given to determine whether to clean along the current direction; in addition, it also cooperates with the photovoltaic detection module to play an auxiliary and anti-fall role. When the photovoltaic detection module (i.e., the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) unexpectedly fails to detect the frame, the second metal sensor 122 is used to determine whether there is a photovoltaic panel in the front of the forward direction. If it is sensed that there is no photovoltaic panel in the front, and the photovoltaic detection module (i.e., the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) is in a suspended state (outside the photovoltaic panel), the master immediately releases a stop forward state, which plays an auxiliary detection and anti-fall role.

[0049] The above photovoltaic cleaning robot has metal sensors (i.e., the first metal sensor 121 and the third metal sensor 123) distributed at the center of the left and right edges of the body, which play the role of detecting whether there are photovoltaic panels on the left and right sides. When the photovoltaic robot is started, the photovoltaic robot can determine the cleaning direction through the data of the photovoltaic detection component and the metal sensing component. At the edge of the photovoltaic panel array, if the photovoltaic panel is sensed on the left side, it will clean to the left, and if the photovoltaic panel is sensed on the right side, it will clean to the right; during the movement, according to the cleaning path planning given by the photovoltaic robot, when it is necessary to determine whether to work, if it is necessary to continue working on the left side, the first metal sensor 121 on the left side is used to detect whether there is a photovoltaic panel, and if it is necessary to continue working on the right side, the third metal sensor 123 on the right side is used to detect whether there is a photovoltaic panel. If there is, it will turn and reach the new photovoltaic panel row and continue cleaning, otherwise the cleaning is over.

[0050] When the photovoltaic cleaning robot is crossing the bridge (passing through the bridge deck), it detects through the second metal sensor 122 in front to determine whether it has reached the end of the front direction. When it reaches the end, it determines the rotation direction by judging whether there is metal on the left and right sides, and then rotates to continue crossing the bridge. If it reaches the end of the front direction and there is no metal on the left and right sides, it rotates according to its own direction until the body faces downward to complete the travel on the bridge deck. The width of the bridge deck is slightly wider than the critical distance between the photovoltaic detection modules on both sides when detecting the plane. When the fuselage is completely on the bridge deck, the four photovoltaic panel detection modules all detect the plane, and the speed is maintained to walk in a straight line. When the photovoltaic cleaning robot deviates to the left in front of the bridge, the photovoltaic detection modules distributed in the rear of the photovoltaic detection assembly sense the same state, and the first photovoltaic detection module 111 in the upper left corner cannot sense the plane; or the fourth photovoltaic detection module 114 in the lower left corner senses the plane, and the third photovoltaic detection module 113 in the lower right corner cannot sense the plane. At this time, the deviation can be corrected by adjusting the driving speed to achieve the effect of straight-line correction walking. For example, when the photovoltaic cleaning robot deviates to the right in front of the bridge, the photovoltaic detection modules distributed at the rear of the photovoltaic detection assembly sense the same state, and the second photovoltaic detection module 112 at the upper right corner cannot sense the plane; or the third photovoltaic detection module 113 at the lower right corner senses the plane, and the fourth photovoltaic detection module 114 at the lower left corner cannot sense the plane. At this time, the deviation can be corrected by adjusting the driving speed to achieve the effect of straight-line correction walking.

[0051] The chassis 103 at the bottom of the body 100 is provided with a first adsorption assembly 300, a second adsorption assembly 400 and a third adsorption assembly 500, wherein the first adsorption assembly 300 is provided at the front side of the chassis 103 at the bottom of the body, the second adsorption assembly 300 is provided at the middle position of the chassis 103 at the bottom of the body 100, and the third adsorption assembly 500 is provided at the rear side of the chassis 103 at the bottom of the body 100. When the cleaning robot performs a turning operation, the second adsorption assembly 400 is opened, and the cleaning robot 100 is provided with a second adsorption assembly 400. The air pressure detection device 200 detects the air pressure inside the second adsorption component 400. When the detected air pressure is lower than the expected value of the preset air pressure, the second adsorption component 400 adsorbs the fuselage on the working plane and closes the first adsorption component 300 and the third adsorption component 500 at the same time. The second adsorption component 400 can make the fuselage 100 rotate with the second adsorption component 400 as the center of the circle. At the same time, the fuselage 100 is driven by the left wheel track 101 and the right wheel track 104 to make the fuselage 100 turn.

[0052] The first adsorption assembly 300 includes a first suction cup (not shown in the figure), the second adsorption assembly 400 includes a second suction cup 401, and the outer diameter of the second suction cup 401 is greater than the outer diameter of the first suction cup, and the third adsorption assembly 500 includes a third suction cup (not shown in the figure), and the outer diameter of the third suction cup is equal to the outer diameter of the first suction cup. Through the above design, the outer diameter of the second suction cup at the middle position of the bottom of the fuselage 100 is greater than the outer diameters of the first suction cup and the second suction cup, that is, a large-sized second suction cup is set at the middle position of the bottom of the fuselage 100 to increase the adsorption force of the cleaning robot when turning, and the safety and reliability are improved to a certain extent.

[0053] The second adsorption assembly 400 also includes a first fixing ring 402, a second fixing ring 403, a fixing bracket 404, a support frame 405 and a steering gear 406, wherein: the first fixing ring 402 is arranged inside the second fixing ring 403, and the first fixing ring 402 moves up and down along a plurality of pulley tracks 408 vertically arranged in the circumferential direction of the inner wall of the second fixing ring 403 through a plurality of pulleys 407 arranged in the circumferential direction of the outer wall thereof; the second fixing ring 403 is fixedly connected to the chassis 103 at the bottom of the fuselage 100 through a plurality of fixing protrusions 409 arranged in the circumferential direction of the outer wall thereof; a deep groove ball bearing 410 is arranged in the first fixing ring 402, and a circular mounting protrusion 411 is arranged in the circumferential direction of the lower part of the inner wall of the first fixing ring 402; the outer ring of the deep groove ball bearing (not shown in the figure) is located on the mounting protrusion 411 and is fixedly connected to the inner wall of the first fixing ring 402.

[0054] A fixed disc 412 is fixedly provided on the upper surface of the second suction cup 401, and a circular ring-shaped fixed base 413 is fixedly provided on the upper surface of the fixed disc 412. The fixed base 413 is located inside the deep groove ball bearing 410, and the fixed base 413 is fixedly connected to the inner ring of the deep groove ball bearing (not shown in the figure), and the inner ring of the deep groove ball bearing rotates relative to the outer ring of the deep groove ball bearing. A first fixed groove 414 is provided on the fixed base 413, and a limiting portion 415 is fixedly provided in the first fixed groove 414, and an annular limiting convex ring 416 is extended outwardly in the circumferential direction of the upper outer side wall of the limiting portion 415, and the limiting convex ring 416 is located on the outer side of the upper end of the deep groove ball bearing 410 to limit the upward movement of the deep groove ball bearing 410. Through the above design, the limiting portion 415 and the fixed base 413 are fixedly connected to the fixed disc 412 , and the fixed disc 412 is fixedly connected to the second suction cup 401 , so that the second suction cup 401 can rotate together with the fixed base 413 .

[0055] The lower end of the fixed bracket 404 is fixedly arranged on the chassis 103 at the bottom of the fuselage 100, the steering gear 406 is fixedly arranged on the upper end of the fixed bracket 404 through the mounting plate 417, and the end of the driving shaft (not shown in the figure) of the steering gear 406 is fixedly arranged with a steering plate 418, and the steering plate 418 is fixedly arranged with a connecting rod 419, and the end of the connecting rod 419 away from the steering plate 418 is fixedly arranged on the support frame 405, and the support frame 405 includes a support rod 420 and a first support portion fixedly arranged below both ends of the support rod 420 421 and a second support portion 422, the inner side wall of the first support portion 421 is provided with a first arc-shaped slide groove 423, the inner side wall of the second support portion is provided with a second arc-shaped slide groove 424, and the first slide groove 423 and the second slide groove 424 are both matched with the outer side wall of the first fixing ring 402, the support frame 405 is tightly matched with the outer side wall of the first fixing ring 402 through the first slide groove 423 and the second slide groove 424, and the fuselage 100 is rotatably connected with the second suction cup 401 through the deep groove ball bearing 410.

[0056] A limiting hole 425 is provided in the first fixing groove 414 of the fixed base 413, a second fixing groove 426 is provided in the limiting portion 415, a positioning protrusion (not shown in the figure) is extended downwardly from the bottom lower surface of the second fixing groove 426, and the positioning protrusion is located in the limiting hole 425, a plurality of first mounting holes 427 are provided in the second fixing groove 426, a plurality of second mounting holes 428 are provided in the first fixing groove 414, and the second mounting holes 428 correspond to the first mounting holes 427, and a plurality of third mounting holes 429 are provided on the fixed disk 412, and the third mounting holes 429 correspond to the second mounting holes 428. Through the above design, that is, a limiting hole 425 is provided in the first fixing groove 414 and a positioning protrusion is extended downward on the bottom lower surface of the second fixing groove 426, it is convenient to accurately position the limiting part 415 on the fixed base 413. At the same time, through the first mounting hole 427, the second mounting hole 428 and the third mounting hole 429, it is convenient to firmly fix the limiting part 415 and the fixed base on the fixed disk 412 by tightening screws, thereby improving safety and reliability.

[0057] The outer wall of the first fixing ring 402 is extended outward to be provided with a plurality of limiting protrusions 430, and the limiting protrusions 430 are integrally formed with the first fixing ring 402. The outer wall of the limiting protrusions 430 is vertically provided with limiting grooves 431, and a plurality of pulleys 407 are installed in the limiting grooves 431 along the vertical direction. The first fixing ring 402 moves up and down along the pulley track 408 provided on the inner wall of the second fixing ring 403 through the pulleys 407. Through the above design, the steering wheel 418 is driven to rotate by the driving shaft of the steering gear 406, and the rotation of the steering wheel 418 drives the connecting rod 419 to move, and the connecting rod 419 pulls up or down the support frame 405, and the support frame 405 drives the suction cup to rise or fall through the first fixing ring 402.

[0058] The support frame 405 is located inside the second fixing ring 403, and a mounting portion 432 is provided at the center of the upper end of the support rod 420. The mounting portion 432 is fixedly connected to the lower end of the connecting rod 419 by a fastening bolt (not shown in the figure), the upper end of the first support portion 421 is fixedly connected to the lower surface of one end of the support rod 420, and the upper end of the second support portion 422 is fixedly connected to the lower surface of the other end of the support rod 420. The first slide groove 423 is provided at the lower part of the inner side wall of the first support portion 421, and the second slide groove 424 is provided at the lower part of the inner side wall of the second support portion 422.

[0059] In the embodiment of the present invention, the structure of the third adsorption assembly 500 can be the same as that of the first adsorption assembly 300 to improve the interchangeability of parts and facilitate subsequent maintenance. At the same time, the first adsorption assembly 300 also includes a third fixing ring 308, a fixing portion 302, a fixing plate 303 and an upper cover 304, wherein:

[0060] The fixing portion 302 is in the shape of a circular ring and is located in the third fixing ring 308. A third fixing groove 305 is provided on the upper surface of the fixing portion 302, and a plurality of fourth mounting holes 306 are provided in the third fixing groove 305. A fourth fixing groove 307 is provided on the lower surface of the fixing portion 302, and the fourth mounting holes 306 extend to the bottom of the fourth fixing groove 307. A plurality of second limiting protrusions 309 are provided on the upper portion of the outer wall of the fixing portion 302 in the circumferential direction and extend outwardly. A second limiting groove 310 is vertically provided on the outer wall of the second limiting protrusion 309. A plurality of second pulleys 311 are installed in the second limiting groove 310 along the vertical direction. The fixing portion 302 is connected to the fixing portion 302 by the second pulley 311. The second pulley track 312 arranged along the inner wall of the third fixing ring 308 moves up and down; the fixing plate 303 is in the shape of a circular ring and is fixedly arranged on the upper surface of the first suction cup 301, the fixing plate 303 and the first suction cup 301 are both located in the fourth fixing groove 307 of the fixing part 302, and the first suction cup 301 is fixedly connected to the bottom of the fourth fixing groove 307 through the fixing plate 303, and the plane where the lower end of the first suction cup 301 is located is flush with the plane where the lower end of the fixing part 302 is located; a plurality of second fixing protrusions 313 are arranged in the circumferential direction of the lower part of the outer wall of the third fixing ring 308, and the third fixing ring 308 is fixedly connected to the chassis at the bottom of the fuselage 100 through the second fixing protrusions 313.

[0061] Through the above design, when the photovoltaic cleaning robot needs to make a turn, the second adsorption component is opened, and after the second suction cup in the second adsorption component is firmly adsorbed to the working plane, the first adsorption component 300 and the third adsorption component 500 are closed, and the exhaust solenoid valve (not shown in the figure) provided in the first adsorption component 300 and the third adsorption component 500 is started at the same time, so that the gas in the first suction cup and the third suction cup can be quickly discharged, so that the servo (not shown in the figure) provided in the first adsorption component enables the fixing part 302 to move upward through the second pulley 311 along the second pulley track 312 provided on the inner wall of the third fixing ring 308, thereby making the first suction cup leave the working plane, and the third suction cup is also in the same way, so as to facilitate the photovoltaic cleaning robot to perform the turning operation smoothly.

[0062] The air pressure detection device 200 is arranged on the chassis 103 of the fuselage 100, and the air pressure detection device 200 includes an upper shell 201, a base 202 and a lower shell 203. The upper shell 201 is arranged above the base 202, and the lower shell 203 is arranged below the base 202. A plurality of first fixing holes 204 are arranged at the left end of the base 202, and a plurality of second fixing holes 205 are arranged at the right end of the base 202. A plurality of first pressure sensors 206 are installed on the upper surface of the base 202. A plurality of first mounting grooves (not shown in the figure) are arranged inside the upper shell 201. The first mounting grooves extend from the upper surface of the base 202 to the lower surface of the base 202. The upper shell 201 extends to the lower surface and corresponds to the first pressure sensor 206. The upper shell 201 is provided with a first input interface 207 and a first output interface 208 connected to the first mounting groove. The lower surface of the base 202 is provided with a plurality of second pressure sensors (not shown in the figure). The lower shell 203 is provided with a plurality of second mounting grooves 209. The second mounting grooves 209 extend to the upper surface of the lower shell 203 and correspond to the second pressure sensor. The lower shell 203 is provided with a second input interface 210 and a second output interface 211 connected to the second mounting grooves 209. Through the above design, the above air pressure detection device has multi-channel air pressure detection, which is convenient for use by various machines and industrial equipment.

[0063] The upper shell 201 has a first mounting portion 212 and a second mounting portion (not shown) extending outward at both ends thereof, and the upper shell 201 is fixedly mounted above the base 202 via the first mounting portion 212 and the second mounting portion. The above design, i.e., the first mounting portion 212 and the second mounting portion are arranged at both ends of the upper shell 201, facilitates the installation between the upper shell 201 and the base 202 and subsequent maintenance, and the operation is convenient and quick.

[0064] A first mounting hole 213 is provided on the first mounting portion 212, and the first mounting hole 213 corresponds to the first fixing hole 204. A second mounting hole (not shown in the figure) is provided on the second mounting portion, and the second mounting hole corresponds to the second fixing hole 205. The upper shell 201 is fixedly connected to the base 202 through the cooperation between the first mounting hole 213 and the first fixing hole 204 and the cooperation between the second mounting hole and the second fixing hole 205.

[0065] The lower shell 203 is provided with a third mounting portion 216 and a fourth mounting portion 217 at both ends thereof, and the lower shell 203 is fixedly provided below the base 202 by the third mounting portion 216 and the fourth mounting portion 217. Through the above design, i.e., by providing the third mounting portion 216 and the fourth mounting portion at both ends of the lower shell 203, the installation between the lower shell 203 and the base 202 and the subsequent maintenance are facilitated, and the operation is convenient and quick.

[0066] A third mounting hole 218 is provided on the third mounting portion 216, and the third mounting hole 218 corresponds to the first fixing hole 204. A fourth mounting hole 219 is provided on the fourth mounting portion 217, and the fourth mounting hole 219 corresponds to the second fixing hole 205. The lower shell 203 is fixedly connected to the base 202 through the cooperation between the third mounting hole 218 and the first fixing hole 204 and the cooperation between the fourth mounting hole 219 and the second fixing hole 205.

[0067] Through the above design, that is, the first mounting hole 213 is set on the first mounting part 212, the second mounting hole is set on the second mounting part, the first fixing hole 204 and the second fixing hole 205 are correspondingly set on the left and right ends of the base 205, the third mounting hole 218 is set on the third mounting part 216, and the fourth mounting hole 219 is set on the fourth mounting part 217. That is, two fastening screws are respectively passed through the first mounting hole 213 or the second mounting hole, and then through the first fixing hole 204 or the second fixing hole 205 on the base 202, and then through the third mounting hole 218 or the fourth mounting hole 219, and finally the fastening screws are tightened, so as to realize the fastening between the upper shell 201 and the lower shell 203 and the base 202, and the safety and reliability are improved to a certain extent, thereby extending the service life of the above-mentioned air pressure monitoring device.

[0068] The base 202 is a PCB circuit board, and the base 202 is rectangular in shape, and the length and width of the base 202 are 70 mm and 35 mm respectively. The left end of the base 202 is extended outwardly to be provided with a mounting portion 220, and the mounting portion 220 is provided with a data output interface 221, and the first pressure sensor 206 and the second pressure sensor are both connected to the data output interface 221. The mounting portion 220 and the base 202 can be formed in one piece, which is convenient for processing and improves the strength between the mounting portion 220 and the base 202, thereby extending the service life.

[0069] The first pressure sensor 206 and the second pressure sensor are both BMP 180 high-precision digital pressure sensors. By using BMP 180 high-precision digital pressure sensors for both the first pressure sensor 206 and the second pressure sensor, the detection accuracy and sensitivity of the air pressure detection device can be improved; a first sealing gasket (not shown in the figure) is arranged above the base 202. The first sealing gasket is in the shape of a rectangular parallelepiped and the length, width and height of the first sealing gasket are 50mm, 10mm and 3mm respectively, and a first opening (not shown in the figure) is arranged on the first sealing gasket, and the first pressure sensor 206 is located in the first opening. By setting the first sealing gasket, the upper shell 201 and the base 202 can have good sealing when combined, so that the first pressure sensor 206 arranged on the upper surface of the base is completely sealed by the upper shell 201.

[0070] A second sealing gasket (not shown in the figure) is arranged below the base 202. The second sealing gasket is in the shape of a rectangular parallelepiped and has a length, a width and a height of 50 mm, 10 mm and 3 mm respectively. The second sealing gasket is provided with a second opening, and the second pressure sensor is located in the second opening. The second sealing gasket can improve the sealing performance when the lower housing 217 is combined with the base 202, so that the second pressure sensor arranged on the lower surface of the base is completely sealed by the lower housing 217.

[0071] The first mounting groove is in a square shape, and a third sealing gasket (not shown in the figure) is arranged in the first mounting groove. By means of the third sealing gasket, when the upper shell 202 and the base 202 are fixedly mounted, the first pressure sensor 206 is located in the first mounting groove, so that the first pressure sensor 206 can be well sealed to prevent the first pressure sensor 206 from being affected by external dust and ensure good air circulation, so that the data detected by the above-mentioned air pressure detection device 200 has good accuracy and reliability.

[0072] The second mounting groove 209 is in a square shape, and a fourth sealing gasket (not shown in the figure) is disposed in the second mounting groove 209. With the fourth sealing gasket, when the lower housing 217 and the base 202 are mounted and fixed, the second pressure sensor is located in the second mounting groove 209, so that the second pressure sensor can be well sealed to prevent the second pressure sensor from being affected by external dust and ensure good air circulation, so that the data detected by the above-mentioned air pressure detection device 200 has good accuracy and reliability.

[0073] The upper shell 201 is in the shape of a cuboid, and a plurality of first input interfaces 207 are evenly arranged on one side of the upper shell 201 along its length direction, and a plurality of first output interfaces 208 are evenly arranged on the other side of the upper shell 201 along its length direction.

[0074] The lower shell 203 is in the shape of a cuboid, and a plurality of second input interfaces 210 are evenly arranged on one side of the lower shell 203 along its length direction, and a plurality of second output interfaces 211 are evenly arranged on the other side of the lower shell 203 along its length direction; the second input interface 207, the first output interface 208, the second input interface 210 and the second output interface 211 are all pluggable air tube type interfaces.

[0075] The plurality of first pressure sensors 206 are four first pressure sensors 206 , which are evenly arranged on the upper surface of the base 202 along its length direction; the plurality of second pressure sensors are three second pressure sensors, which are evenly arranged on the lower surface of the base 202 along its length direction.

[0076] The above-mentioned air pressure detection device adopts multi-channel air pressure detection based on the BMP180 high-precision digital pressure sensor. It has the characteristics of small size, high sensitivity, wide application range, and easy installation. It can not only be used to test the vacuum pressure of small robots (such as cleaning robots) when using suction cups to move, but also can be used for air pressure detection of large industrial equipment.

[0077] The method for turning operation of the photovoltaic cleaning robot according to the embodiment of the present invention is as follows:

[0078] When the photovoltaic cleaning robot is turning, the second adsorption component 400 is opened, and the second adsorption component 400 drives the steering wheel 418 to rotate through the driving shaft of the servo 406, and the rotation of the steering wheel 418 can drive the connecting rod 419 to move, so the support frame 405 moves downward through the connecting rod 419. Since the support frame 405 is tightly fixed with the first fixing ring 402, the first fixing ring 402 is driven by the downward force of the support frame 405 to move downward through the roller along the pulley track 408 set on the inner wall of the second fixing ring 403, thereby driving the second suction cup to descend and be tightly adsorbed to the working plane; then the air pressure inside the second suction cup in the second adsorption component 400 is detected by the air pressure detection device 200. When the detected air pressure is lower than the expected value of the preset air pressure, the second adsorption component 400 firmly adsorbs the body of the cleaning robot on the working plane; then the first adsorption component 300 and the third adsorption component 500 are closed, and at the same time At the same time, the exhaust valves provided in the first adsorption component 300 and the third adsorption component 500 are started to accelerate and weaken the adsorption force of the first suction cup and the third suction cup so that the first suction cup and the third suction cup move upward and leave the working plane. The left wheel tracks 101 on the left and right sides of the fuselage 100 are driven by the left wheel drive motor 105 and the right wheel tracks 104 are driven by the right wheel drive motor 106 to move at the same speed and in opposite directions, so that the fuselage 100 passes through the second adsorption component 400 when turning and rotates with the second adsorption component 400 as the center of the circle; at the same time, after the fuselage 100 is driven by the left wheel tracks 101 and the right wheel tracks 104 to make the fuselage 100 turn to a specified angle, the first adsorption component and the third adsorption component are turned on for adsorption. When the air pressure detected in the first adsorption component and the third adsorption component is lower than the expected value of the preset air pressure, the second adsorption component is closed, and the cleaning robot starts the cleaning operation through the first adsorption component and the third adsorption component.

[0079] An embodiment of the present invention provides an autonomous photovoltaic cleaning robot, wherein the bridge deck 700 is made of glass or wood, the bridge deck 700 is parallel to the photovoltaic panel array 600, the width of the bridge deck 700 is greater than the width of the body 100 of the photovoltaic cleaning robot, and the bridge deck 700 is located on the same side of two adjacent photovoltaic panel arrays 600. The width of the bridge deck 700 is slightly greater than the distance between the center points of the detection planes of the photovoltaic panel detection modules (such as the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112) on both sides of the body 100, which is 20-40 mm. Assuming that the distance between the center points of the detection planes of the photovoltaic panel detection modules on both sides of the photovoltaic cleaning robot is 670 mm, the bridge deck width of 700 mm is more appropriate.

[0080] The first metal sheet 701 and the second metal sheet 702 are both rectangular in shape. The length of the first metal sheet 701 is equal to the width of the bridge deck, and the first metal sheet 701 and the second metal sheet 702 are arranged perpendicular to each other.

[0081] A completely non-metallic plane without metal sheet guidance is also required between the photovoltaic panel array and the bridge deck, that is, a connecting device, to prevent the photovoltaic panel detection component from misjudging it as the photovoltaic panel surface. Its length is 100-150mm to avoid misjudgment due to too short distance, and too long distance affects the subsequent driving guidance and construction costs.

[0082] The bridge deck connecting the two photovoltaic panel arrays has a non-metallic connection exit area (i.e., connection device) built from the top of the original photovoltaic panel array, and a non-metallic connection entrance area (i.e., connection device) built straight from the main bridge deck to the new photovoltaic panel array.

[0083] After passing through the connection device of the above-mentioned connecting exit area, the second metal sheet is laid on the bridge deck as a driving guide for the photovoltaic cleaning robot. At this time, the photovoltaic cleaning robot should continue to move forward and cross the bridge deck, and the second metal sheet is laid in the middle of the direction (bridge deck) until the edge of the bridge deck. When the second metal sensor in front of the fuselage of the photovoltaic cleaning robot cannot sense the presence of metal, it is determined that the photovoltaic cleaning robot has driven to the edge of the bridge deck.

[0084] According to the actual distribution of photovoltaic panel arrays, assuming that the new photovoltaic panel array is on the right side of the original photovoltaic panel array, the first metal sheet 701 is laid on the right side of the bridge deck edge at this time. At this time, only the third metal sensor on the right end of the first metal sensor and the third metal sensor on the left and right sides of the fuselage detects metal, and the photovoltaic cleaning robot is guided to turn right. After turning right, the second metal sheet 702 is laid in the center along the forward direction of the bridge deck, and similarly reaches the edge of the bridge deck.

[0085] If the photovoltaic cleaning robot is guided to the edge of the bridge deck by the second metal sheet 702, and the first metal sensor 121 and the third metal sensor 123 on the left and right sides of the body do not sense the existence of the second metal sheet, then it has reached the other end of the bridge deck and is ready to continue cleaning on the new photovoltaic panel array. At this time, according to the data of the photovoltaic cleaning robot's own direction, it turns to the downward direction of the body and prepares to climb to the new photovoltaic panel array, and then moves to the end of the all-non-metallic connection entrance area (i.e., the connection device). At this time, it has completed automatic driving on the bridge deck and entered the continuous operation bridge exploration state.

[0086] During the process of traveling on the bridge deck, the photovoltaic panel detection modules (i.e., the first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113, and the fourth photovoltaic panel detection module 114) around the fuselage detect whether continuous correction is performed on the bridge deck to maintain the photovoltaic cleaning robot traveling relatively straight on the bridge deck. Considering that when the rear part of the fuselage may be partially suspended when it first goes on the bridge deck, such as when the photovoltaic cleaning robot drives to the left in front of the bridge, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 distributed behind the fuselage 100 sense the same state, and the first photovoltaic panel detection module 111 in the upper left corner cannot sense the plane; or the fourth photovoltaic panel detection module 114 in the lower left corner senses the plane, and the third photovoltaic panel detection module 113 in the lower right corner cannot sense the plane. At this time, by adjusting the speed of the left wheel drive motor and the right wheel drive motor, the speed of the left wheel crawler is greater than the speed of the right wheel crawler to correct the deviation and achieve the effect of walking in a straight line. Considering that the rear part of the fuselage may be partially suspended when the robot is first on the bridge, for example, when the photovoltaic cleaning robot is driving right in front of the bridge, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114 distributed behind the fuselage 100 sense the same state, and the second photovoltaic panel detection module 112 at the upper right corner cannot sense the plane; or the third photovoltaic panel detection module 113 at the lower right corner senses the plane, and the fourth photovoltaic panel detection module 114 at the lower left corner cannot sense the plane. At this time, by adjusting the speed of the left wheel drive motor and the right wheel drive motor, the speed of the left wheel crawler is made less than the speed of the right wheel crawler to correct the deviation and achieve the effect of walking in a straight line.

[0087] An autonomous photovoltaic cleaning robot provided by an embodiment of the present invention has the following working process:

[0088] After the photovoltaic cleaning robot is powered on, it is placed on the photovoltaic panel in the lower left or lower right corner of the first photovoltaic panel array that needs to be cleaned, and the body is adjusted so that the photovoltaic panel detection component set on the body senses that the photovoltaic cleaning robot is placed on the edge of the corner below the photovoltaic panel array.

[0089] If the photovoltaic cleaning robot is placed in the lower left corner of the photovoltaic panel array, the photovoltaic panel detection components should be that except for the second photovoltaic panel detection module 112 in the upper right corner that senses the plane of the photovoltaic panel, the remaining three photovoltaic panel detection modules (i.e., the first photovoltaic panel detection module 111, the third photovoltaic panel detection module 113, and the fourth photovoltaic panel detection module 114) should sense the frame of the photovoltaic panel. At this time, the first metal sensor 121 on the left side of the fuselage 100 and the fourth metal sensor 124 at the rear should not detect metal, that is, the photovoltaic panel, while the third metal sensor 123 on the right side of the fuselage 100 and the second metal sensor 122 in the front should sense the existence of the photovoltaic panel. At this time, the cleaning direction of the photovoltaic cleaning robot should be to the right, such as Fig.14 shown.

[0090] If the photovoltaic cleaning robot is placed in the lower right corner of the photovoltaic panel array, the photovoltaic panel detection components should be that except for the first photovoltaic panel detection module 111 in the upper left corner that senses the plane of the photovoltaic panel, the remaining three photovoltaic panel detection modules (i.e., the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113, and the fourth photovoltaic panel detection module 114) should sense the frame of the photovoltaic panel. At this time, the third metal sensor 123 on the right side of the fuselage and the fourth metal sensor 124 at the rear should not detect metal, that is, the photovoltaic panel, while the first metal sensor 121 on the left side of the fuselage and the second metal sensor 122 in the front should sense the existence of the photovoltaic panel. At this time, the cleaning direction of the photovoltaic cleaning robot should be to the left, such as Fig.15 shown.

[0091] If the placement of the photovoltaic cleaning robot meets the above conditions, the indicator light of the photovoltaic cleaning robot will be always on to prompt that the start cleaning command can be sent through the button. When the start cleaning command is sent, the corresponding cleaning direction is set according to the detection data of different photovoltaic panel detection modules at this time.

[0092] After determining the cleaning direction, the photovoltaic cleaning robot moves forward a specific distance [(LH)+(WH)] / 2, where: L is the length of the photovoltaic panel, H is the length of the photovoltaic cleaning robot body, and W is the width of the photovoltaic panel. For a general 300W monocrystalline silicon module, its size is about 1650*990*40mm. Assuming that the length of the photovoltaic cleaning robot body is 620mm, the photovoltaic cleaning robot can be set to move forward a specific distance of 700mm. If the data of the photovoltaic panel detection component always shows that there is no photovoltaic panel frame in front of the body during this distance, the photovoltaic panels of this photovoltaic panel array are vertically arranged, and the walking path should be an "N" shaped path. The photovoltaic cleaning robot cleans from the bottom along the photovoltaic panel frame to the top of the photovoltaic panel array, and then rotates the body downward, and cleans along the photovoltaic panel frame to the bottom of the photovoltaic panel array. Turn according to the cleaning direction, clean to the other side of the photovoltaic panel, turn upward and continue cleaning, so that a row of photovoltaic panels is cleaned. In the process of driving to the other side of the photovoltaic panel, in order to avoid the photovoltaic panel detection component failing to detect the photovoltaic panel frame in front and causing the vehicle to go beyond the photovoltaic panel, the mileage information in this process needs to be recorded by the encoder for limiting, such as 400mm. Similarly, turn according to the cleaning direction, move forward within a certain limit, and complete the cross-row. Turn again so that the fuselage faces upwards, and continue to clean the row until the entire photovoltaic panel array is cleaned.

[0093] If the photovoltaic cleaning robot detects the presence of a photovoltaic panel frame in front of the fuselage while moving forward a specific distance of 700mm, the photovoltaic panels of this photovoltaic panel array are horizontal at this time, and the walking path should be a "Z"-shaped path. The photovoltaic cleaning robot retreats straight back to the original corner position and turns according to the cleaning direction until it reaches the other end of the photovoltaic panel array. Turn according to the cleaning direction, so that the fuselage faces upward, and the cleaning moves forward to the other side of the photovoltaic panel. Turn in the opposite direction of the cleaning direction and continue cleaning until the side of the starting position, thus completing the cleaning of a row of photovoltaic panels. In the process of driving to the other side of the photovoltaic panel, in order to avoid the photovoltaic panel detection component failing to detect the presence of the photovoltaic panel frame in front of the fuselage and causing it to go beyond the photovoltaic panel, it is also necessary to record the mileage information in this process through the encoder for limiting, such as 400mm. Similarly, turn according to the cleaning direction, move forward within a certain limit, and complete the cross-row. Turn again so that the fuselage faces the cleaning direction, and continue to clean the starting row until the entire photovoltaic panel array is cleaned. After the photovoltaic cleaning robot completes cleaning, it will stay at the upper corner of the cleaning starting point. The photovoltaic cleaning robot also needs to return to the upper corner on the other side to meet the starting requirements of crossing to another photovoltaic panel array.

[0094] When cleaning the edge, the two photovoltaic panel detection modules on the side of the edge (the first photovoltaic panel detection module 111 and the fourth photovoltaic panel detection module 114 or the second photovoltaic panel detection module 112 and the third photovoltaic panel detection module 113) play a role in straight line correction; the two photovoltaic panel detection modules in the driving direction play a role in detecting the photovoltaic panel frame in the driving direction, and the second metal sensor 122 in the metal sensing component senses whether there is a photovoltaic panel in front, so as to maintain the photovoltaic cleaning robot driving from the edge of the photovoltaic panel array to the edge of another photovoltaic panel array in a straight line correction; when the original edge of the photovoltaic panel array is reached again, the first metal sensor 121 and the third metal sensor 123 in the metal sensing component sense whether there are photovoltaic panels on the left and right sides of the fuselage. If there are photovoltaic panels on the uncleaned side, the robot turns and drives across the gap to the photovoltaic panels on the uncleaned side for continuous cleaning. If there are no photovoltaic panels on the uncleaned side, the cleaning of this photovoltaic panel array is completed.

[0095] After the photovoltaic panel array is cleaned, it goes to the designated location to perform the bridge crossing operation. When driving on the bridge deck, the second metal sensor 122 in front of the fuselage 100 detects the driving direction on the bridge deck and stops driving. The width of the bridge deck is slightly larger than the distance between the two corresponding photovoltaic panel detection modules on both sides (for example, the first photovoltaic panel detection module 111 and the second photovoltaic panel detection module 112). The four photovoltaic panel detection modules in the photovoltaic panel detection assembly (i.e., the first photovoltaic panel detection module 111, the second photovoltaic panel detection module 112, the third photovoltaic panel detection module 113 and the fourth photovoltaic panel detection module 114) play the role of offset correction to maintain the driving of the photovoltaic cleaning robot on the bridge deck.

[0096] When the photovoltaic cleaning robot climbs onto the new photovoltaic panel array, the body of the photovoltaic cleaning robot is above the photovoltaic panel array, and the body is moving downward. The photovoltaic cleaning robot first moves forward for a specific distance, and uses the photovoltaic panel detection component to determine whether there is a photovoltaic panel frame in the path of the photovoltaic cleaning robot, and whether the photovoltaic panels in the photovoltaic panel array are placed vertically or horizontally, so as to determine whether the "N" or "Z" shaped path is cleaned. After determining the cleaning path, continue to move forward and use the second metal sensor 122 in the metal sensing component to determine whether there are photovoltaic panels in front, so as to reach the bottom of the photovoltaic panel array. When reaching the bottom of the photovoltaic panel array, use the first metal sensor 121 and the third metal sensor 123 in the metal sensing component to determine whether there is metal on the left and right sides of the body, that is, photovoltaic panels, to determine the cleaning direction. Determine the cleaning direction and cleaning path of the new photovoltaic panel array, and complete the autonomous selection cleaning of the new photovoltaic panel array, so as to achieve complete autonomous selection cleaning in this cleaning process.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An autonomous photovoltaic cleaning robot, comprising a body, a driving mechanism, a walking device and a cleaning mechanism arranged on the body, the driving mechanism being electrically connected to the cleaning mechanism, the walking device driving the body to walk, the cleaning mechanism being fixedly arranged on the outer side wall of the front end of the body, and the cleaning mechanism performing cleaning operations under the drive of the driving mechanism, characterized in that: The photovoltaic cleaning robot walks on the photovoltaic panel array to clean it, and the gap between two adjacent photovoltaic panel arrays is connected by a bridge deck. The body is provided with a photovoltaic panel detection component and a metal sensing component, wherein: The bridge deck is made of non-metallic material, and both ends of the bridge deck are connected to two adjacent photovoltaic panels through a connecting device. A plurality of mutually parallel first metal sheets are arranged on the upper surface of the end of the bridge deck close to the connecting device, and a second metal sheet is arranged at the center position of the upper surface of the bridge deck along the length direction; The photovoltaic panel detection assembly includes a first photovoltaic panel detection module, a second photovoltaic panel detection module, a third photovoltaic panel detection module and a fourth photovoltaic panel detection module, wherein the first photovoltaic panel detection module is fixedly arranged at the front of the outer wall of the left end of the fuselage, the second photovoltaic panel detection module is fixedly arranged at the front of the outer wall of the right end of the fuselage, the third photovoltaic panel detection module is fixedly arranged at the rear of the outer wall of the right end of the fuselage, and the fourth photovoltaic panel detection module is fixedly arranged at the rear of the outer wall of the left end of the fuselage; The metal sensor assembly includes a first metal sensor, a second metal sensor, a third metal sensor and a fourth metal sensor, wherein: the first metal sensor is fixedly arranged at the middle of the outer wall of the left end of the fuselage, the second metal sensor is fixedly arranged at the middle of the inner wall of the front end of the fuselage, the third metal sensor is fixedly arranged at the middle of the outer wall of the right end of the fuselage, and the fourth metal sensor is fixedly arranged at the middle of the outer wall of the rear end of the fuselage; The walking device includes a crawler and a drive motor connected to the crawler, wherein the crawler includes a left wheel crawler and a right wheel crawler, and the drive motor includes a left wheel drive motor and a right wheel drive motor, the left wheel crawler is arranged on the left side of the bottom of the fuselage, and the left wheel crawler is moved by the drive of the left wheel drive motor, and the right wheel crawler is arranged on the right side of the bottom of the fuselage, and the right wheel crawler is moved by the drive of the right wheel drive motor; The bottom of the fuselage is provided with a first adsorption assembly, a second adsorption assembly and a third adsorption assembly, wherein the first adsorption assembly is arranged at the front side of the bottom of the fuselage, the second adsorption assembly is arranged at the middle position of the bottom of the fuselage, and the third adsorption assembly is arranged at the rear side of the bottom of the fuselage; The first adsorption assembly includes a first suction cup, the second adsorption assembly includes a second suction cup, and the outer diameter of the second suction cup is greater than the outer diameter of the first suction cup, and the third adsorption assembly includes a third suction cup, and the outer diameter of the third suction cup is equal to the outer diameter of the first suction cup; The second adsorption assembly further includes a first fixing ring, a second fixing ring, a fixing bracket, a support frame and a steering gear, wherein: the first fixing ring is arranged inside the second fixing ring, and the first fixing ring moves up and down along a plurality of pulley tracks arranged vertically in the circumferential direction of the inner side wall of the second fixing ring through a plurality of pulleys arranged in the circumferential direction of the outer side wall thereof, the second fixing ring is fixedly connected to the chassis at the bottom of the fuselage through a plurality of fixing protrusions arranged in the circumferential direction of the outer side wall thereof, a deep groove ball bearing is arranged in the first fixing ring, and a circular mounting protrusion is arranged in the circumferential direction of the lower part of the inner side wall of the first fixing ring, the outer ring of the deep groove ball bearing is located on the mounting protrusion and is fixedly connected to the inner side wall of the first fixing ring; The bridge deck is made of glass or wood, the bridge deck is parallel to the photovoltaic panel array, the width of the bridge deck is greater than the body width of the photovoltaic cleaning robot, and the bridge deck is located on the same side of two adjacent photovoltaic panel arrays; the connecting device is made of glass or wood, one end of the connecting device is arranged at the side end of the photovoltaic panel array along the length direction, and the other end of the connecting device is connected to the side end of the bridge deck along the length direction; the first metal sheet and the second metal sheet are both rectangular in shape, the length of the first metal sheet is equal to the width of the bridge deck, and the first metal sheet and the second metal sheet are arranged perpendicular to each other; When the photovoltaic cleaning robot passes through the bridge deck, it uses the second metal sensor in front to detect whether it has reached the end of the front direction. When it reaches the end, it determines the rotation direction by judging whether there is metal on the left or right sides and then rotates to continue crossing the bridge; if it reaches the end of the front direction and there is no metal on the left or right sides, it rotates according to its own direction until the body is facing downward and completes the driving on the bridge deck.

2. The autonomous cleaning photovoltaic cleaning robot according to claim 1, characterized in that: A fixed disc is fixedly provided on the upper surface of the second suction cup, and a circular fixed base is fixedly provided on the upper surface of the fixed disc. The fixed base is located inside the deep groove ball bearing, and the fixed base is fixedly connected to the inner ring of the deep groove ball bearing. The inner ring of the deep groove ball bearing rotates relative to the outer ring of the deep groove ball.

3. The autonomous cleaning photovoltaic cleaning robot according to claim 2, characterized in that: A first fixing groove is provided on the fixed base, a limiting portion is fixedly provided in the first fixing groove, and a circular limiting convex ring is provided on the outer side wall of the upper end of the limiting portion extending outward in the circumferential direction, and the limiting convex ring is located on the outer side of the upper end of the deep groove ball bearing to limit the upward movement of the deep groove ball bearing.

4. The autonomous cleaning photovoltaic cleaning robot according to claim 3, characterized in that: The lower end of the fixed bracket is fixedly arranged on the chassis at the bottom of the fuselage, the servo is fixedly arranged on the upper end of the fixed bracket through a mounting plate, a steering disc is fixedly arranged on the end of the driving shaft of the servo, a connecting rod is fixedly arranged on the steering disc, and one end of the connecting rod away from the steering disc is fixedly arranged on the support frame.

5. The autonomous cleaning photovoltaic cleaning robot according to claim 4, characterized in that: The support frame includes a support rod and a first support part and a second support part fixedly arranged below the two ends of the support rod, the inner side wall of the first support part is provided with a first arc-shaped slide groove, the inner side wall of the second support part is provided with a second arc-shaped slide groove, and the first slide groove and the second slide groove are both matched with the outer side wall of the first fixing ring, the support frame is tightly matched with the outer side wall of the first fixing ring through the first slide groove and the second slide groove, and the fuselage is rotatably connected with the second suction cup through the deep groove ball bearing.

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