A photovoltaic module cleaning robot system

Abstract

The present invention discloses a photovoltaic module cleaning robot system, which belongs to the field of robot technology. The cleaning robot is arranged on a walking trolley, and the positioning and lifting of the cleaning robot can be achieved through the walking track of the photovoltaic module and the transfer mechanism on the walking trolley; and the precise positioning of the lifting is achieved through the position adjustment mechanism on the walking trolley and the linear displacement mechanism, lifting mechanism and clamping mechanism in the transfer mechanism. The system has a reasonable structural design, and achieves the purpose of lifting the cleaning robot to the photovoltaic module for cleaning, thereby achieving the technical effect of stable cleaning of photovoltaic modules with a certain difference in installation height or installation angle, thereby solving the problem that the photovoltaic module cleaning robots in the related technology are mostly designed for specific photovoltaic arrangement scenes and have low adaptability, and have good application prospects.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a photovoltaic component cleaning robot system. Background Art

[0002] With the large-scale construction of solar photovoltaic power stations, photovoltaic power stations are facing the problem of component cleaning. At present, the cleaning of photovoltaic components is still mostly done manually, which is inefficient, costly, and usually requires a lot of water resources. In recent years, people have developed photovoltaic panel automatic cleaning robots that can be used in the cleaning of photovoltaic components.

[0003] For photovoltaic module installation sites, due to various human errors or terrain changes in actual construction, there are certain differences in the installation angle and installation height of photovoltaic modules. Due to these differences, it is very difficult to apply cleaning robots on a large scale. Currently, the applicable photovoltaic module cleaning robot systems are mostly designed for specific photovoltaic layout scenarios, with low adaptability and cannot be applied to a variety of different photovoltaic layout scenarios. Summary of the invention

[0004] In order to solve the defects in the above-mentioned prior art, the purpose of the present invention is to provide a photovoltaic component cleaning robot system, which has a reasonable structural design, good cleaning effect, can be applied to various forms of photovoltaic arrangement scenarios, and reduces design and manufacturing costs.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention discloses a photovoltaic module cleaning robot system, comprising a walking track, which is laid on the side of the photovoltaic module; a walking trolley that can move along the walking track is arranged on the walking track, and a control module, a cleaning robot and a transfer mechanism for moving the cleaning robot to the photovoltaic module are arranged on the walking trolley, and the walking trolley and the transfer mechanism are respectively connected to the control module; a plurality of first limit switches are arranged on the walking track, and each first limit switch corresponds to a row of photovoltaic modules; the walking trolley comprises a bottom plate, a position adjustment mechanism arranged on the bottom plate, and a bearing plate arranged on the position adjustment mechanism The cleaning robot and the transfer mechanism are both arranged on the carrying plate, the position adjustment mechanism is used to adjust the height and angle of the carrying plate, and the lower end of the bottom plate is provided with a first proximity switch that cooperates with the first limit switch to stop the walking trolley; the transfer mechanism is provided with two and is located at both ends of the carrying plate, the transfer mechanism includes a column and a linear displacement mechanism arranged at the upper end of the column, the linear displacement mechanism is arranged horizontally and faces the photovoltaic module, the output end of the linear displacement mechanism is provided with a cross bar, the lower end of the cross bar is provided with a lifting mechanism, the output end of the lifting mechanism is provided with a clamping mechanism, and the upper end of the walking trolley is provided with a clamping portion that cooperates with the clamping mechanism.

[0007] Preferably, it also includes a second limit switch arranged at both ends of the photovoltaic assembly, and both ends of the cleaning robot are provided with a second proximity switch that cooperates with the second limit switch; the lower end of the cleaning robot is provided with a first distance measuring device.

[0008] Preferably, the position adjustment mechanism includes a first support rod, a second support rod, a first electric rod and a second electric rod hinged on the base plate, the upper ends of the first support rod and the second support rod are respectively hinged to the two ends of the supporting plate; the upper ends of the first electric rod and the second electric rod are respectively hinged to the first support rod and the second support rod.

[0009] Preferably, the linear displacement mechanism includes a screw transmission mechanism arranged at the upper end of the column, the screw transmission mechanism is perpendicular to the column and arranged toward the photovoltaic component, and the cross bar is fixed on the sliding part of the screw transmission mechanism; the lifting mechanism includes a third electric rod fixed at the lower end of the cross rod, and the clamping mechanism is arranged at the output end of the third electric rod.

[0010] Preferably, the clamping mechanism includes a main body, a cross brace, telescopic clamp legs and a clamp hook; the cross brace is arranged at the lower end of the main body, the telescopic clamp legs are arranged at both ends of the cross brace, and the clamp hook is arranged at the lower end of the telescopic clamp leg; a lifting status monitor is provided at the lower end of the cross brace, and the lifting status monitor includes a monitoring camera connected to the control module; an opening degree detection device for detecting the displacement of the telescopic clamp legs is provided on the cross brace, a position centering detection device is provided on the opposite side of the clamp hook, and a second ranging device is provided at the lower end of the clamp hook; a lifting ring cooperating with the clamp hook is provided at the upper end of the cleaning robot.

[0011] Further preferably, the opening degree detection device includes a laser ranging sensor for obtaining the position data of the telescopic clamp legs extending out of the cross brace; the position centering detection device includes an infrared sensor arranged on the opposite side of the clamp hook; the second ranging device adopts a laser ranging sensor; and a clamping ranging device composed of an infrared sensor is also arranged on the opposite side of the clamp hook.

[0012] Preferably, at least two limit plates are provided at the upper end of the carrier plate, and the cleaning robot is located between the two limit plates; a charging system is provided on the walking trolley, a main charging plate is provided on the opposite side of the limit plate, and an auxiliary charging plate matching the main charging plate is provided at one end of the cleaning robot close to the corresponding limit plate, a charging slot is provided on the main charging plate, and metal contacts connected to the charging slot are provided on the auxiliary charging plate, and the metal contacts are connected to the power supply of the cleaning robot.

[0013] Preferably, the cleaning robot includes a rectangular shell, the auxiliary charging plates are fixed at both ends of the shell, an installation cavity is provided in the shell, a plurality of cleaning brushes distributed along the width direction of the photovoltaic module and a driving mechanism for driving the cleaning brushes to rotate are provided in the installation cavity; an air path is also provided in the installation cavity, the air paths are respectively provided on both sides of the cleaning brush, a plurality of air nozzles are provided at the output end of the air path, an air supply device is provided at the input end of the air path, and the air supply device is fixed on the shell; self-propelled rollers are provided at the left and right ends of the shell, and tracks cooperating with the self-propelled rollers are provided at the left and right ends of the photovoltaic module.

[0014] Further preferably, the track includes a plurality of support columns fixedly connected to the photovoltaic components and a support plate arranged at the upper end of the support columns, the support plate is used to cooperate with the self-propelled roller, there is a gap between adjacent support columns, and the support columns are cylindrical; a battery is arranged in the outer shell, and a first photovoltaic panel connected to the battery is arranged on the upper end surface of the outer shell, and the battery is connected to the metal contacts on the auxiliary charging plate.

[0015] Further preferably, a camera for acquiring the surface image of the photovoltaic module is provided at the front end of the shell, and a marking module and an image transmission module are arranged inside the shell. The marking module is used to mark each image taken by the camera, and the mark is the coordinate position of the walking trolley when the camera is shooting. The marking module is connected to the camera module and the image transmission module, and the image transmission module is used to transmit the marked image to the terminal.

[0016] Compared with the prior art, the present invention has the following beneficial technical effects:

[0017] The present invention discloses a photovoltaic module cleaning robot system, in which the cleaning robot is arranged on a walking trolley, and the positioning and lifting of the cleaning robot can be realized through the walking track of the photovoltaic module and the transfer mechanism on the walking trolley; and the precise positioning of the lifting is realized through the position adjustment mechanism on the walking trolley and the linear displacement mechanism, lifting mechanism and clamping mechanism in the transfer mechanism. The system has a reasonable structural design, and achieves the purpose of lifting the cleaning robot to the photovoltaic module for cleaning, thereby achieving the technical effect of stable cleaning of photovoltaic modules with a certain difference in installation height or installation angle, thereby solving the problem that the photovoltaic module cleaning robots in the related technology are mostly designed for specific photovoltaic arrangement scenes and have low adaptability, and have good application prospects.

[0018] Furthermore, the expansion degree detection device can realize real-time monitoring of the extension length of the telescopic clamp legs, and the telescopic clamp legs drive the clamp hook to move relative to each other to clamp the cleaning robot. During the lifting of the cleaning robot, the lifting status of the cleaning robot can be obtained in real time through the monitoring camera. The second distance measuring device is used to obtain the distance between the lower end of the clamp hook and the cleaning robot, so as to accurately clamp the cleaning robot.

[0019] Furthermore, the cleaning robot can be charged through the first photovoltaic panel, and the walking vehicle can be charged through the second photovoltaic panel, thereby improving energy utilization and improving work efficiency.

[0020] Furthermore, since the surface of the photovoltaic module is mainly dust and gravel, in order to further remove impurities on the surface of the photovoltaic module, an air path and an air nozzle are added in the installation cavity. Gas is input into the air nozzle through the air supply device to blow away the impurities on the surface of the photovoltaic module, and the cleaning effect is good.

[0021] Furthermore, the gaps between the support columns can facilitate the discharge of impurities that are swept and blown. Setting the support columns to a cylindrical shape makes the discharge of impurities easier. The battery in the outer shell can be charged through a walking trolley or through a first photovoltaic panel to ensure the normal use of the cleaning robot.

[0022] Furthermore, the cleaning robot takes pictures of the photovoltaic modules at set intervals during the cleaning process, uses the pictures as the surface images of the photovoltaic modules, and then marks each image through the marking module. The marking content is the coordinate position of the walking car when the camera is shooting. The coordinate position is obtained by the positioning system inside the cleaning robot. The marked image is sent to the terminal by the image transmission module, and the staff views the image. If a defective image of the photovoltaic module is found, the position of the defective photovoltaic module is determined according to the coordinate position, which is convenient for the staff to check. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view schematic diagram of the overall structure of the present invention;

[0024] Figure 2 is a cross-sectional schematic diagram of the cleaning robot of the present invention;

[0025] Figure 3 It is a schematic diagram of the overall structure of the clamping mechanism of the present invention.

[0026] In the figure: 1 walking track, 2 first limit switch, 3 photovoltaic module, 4 track, 41 support column, 42 support plate, 5 first proximity switch, 6 first electric rod, 7 first support rod, 8 air nozzle, 9 main charging board, 10 cleaning robot, 11 cleaning brush, 110 rotating shaft, 112 brush body, 113 transmission wheel, 12 first photovoltaic panel, 13 air supply device, 14 camera, 15 lifting mechanism, 16 cross bar, 17 clamping mechanism, 171 opening detection device, 172 main body, 173 lifting status monitor, 174 telescopic Clamp legs, 175 centering detection device, 176 clamp hook, 177 second distance measuring device, 178 cross brace, 18 linear displacement mechanism, 19 clamping part, 20 column, 21 self-propelled roller, 22 limit plate, 23 first distance measuring device, 24 bearing plate, 25 second support rod, 26 second electric rod, 27 bottom plate, 28 second photovoltaic panel, 29 secondary charging plate, 30 metal contact, 31 transmission belt, 32 air circuit, 33 mounting plate, 34 motor, 35 mounting cavity, 36 housing, 37 second proximity switch, 38 second limit switch. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so as to describe the embodiments of the present application described herein.

[0029] In this application, the terms "upper", "lower", "inner", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0030] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0031] In addition, the terms "disposed", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0032] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] like Figure 1 As shown, the photovoltaic assembly cleaning robot system of the present invention comprises:

[0034] A walking track 1 is laid on the side of the photovoltaic module 3, and a walking trolley that can move along the walking track 1 is arranged on the walking track 1. The walking trolley is provided with a cleaning robot 10 and a transfer mechanism for moving the cleaning robot 10 to the photovoltaic module 3, and a control module electrically connected to the walking trolley and the transfer mechanism; wherein, a plurality of first limit switches 2 are arranged on the walking track 1, and each first limit switch 2 corresponds to a row of photovoltaic modules 3.

[0035] The walking trolley includes a base plate 27, a position adjustment mechanism arranged on the base plate 27 and a supporting plate 24 arranged on the position adjustment mechanism. The cleaning robot 10 and the transfer mechanism are both arranged on the supporting plate 24. The position adjustment mechanism is used to adjust the height and angle of the supporting plate 24. The lower end of the base plate 27 is provided with a first proximity switch 5 that cooperates with the first limit switch 2 to stop the walking trolley.

[0036] Two transfer mechanisms are provided and are located at both ends of the carrying plate 24. The transfer mechanism includes a column 20, a linear displacement mechanism 18 provided at the upper end of the column 20, the linear displacement mechanism 18 is arranged horizontally and faces the photovoltaic component 3, a cross bar 16 is provided at the output end of the linear displacement mechanism 18, a lifting mechanism 15 is provided at the lower end of the cross bar 16, a clamping mechanism 17 is provided at the output end of the lifting mechanism 15, and a clamping portion 19 cooperating with the clamping mechanism 17 is provided at the upper end of the walking trolley.

[0037] A driving wheel is installed on the bottom plate 27 of the walking trolley to drive the movement of the walking trolley on the walking track 1. The driving wheel can be a self-propelled driving wheel. When in use, the walking trolley carries the cleaning robot 10 to move on the walking track 1, and under the action of the first limit switch 2 and the first proximity switch 5, the walking trolley is controlled to stop at the side of the photovoltaic component 3 to be cleaned, and the position adjustment mechanism is controlled to adjust the height and angle of the carrying plate 24 so that it is higher than the height of the photovoltaic component 3 as a whole. The lifting mechanism 15 is controlled to move the clamping mechanism 17 down to the clamping part 19 at the upper end of the cleaning robot 10, the clamping mechanism 17 clamps the clamping part 19, the lifting mechanism 15 lifts the cleaning robot 10, and the linear displacement mechanism 18 drives the cleaning robot 10 to move horizontally above the photovoltaic component 3, and the lifting mechanism 15 descends to clean The robot 10 is placed at the starting end of the photovoltaic module 3. The cleaning robot 10 moves back and forth on the photovoltaic module 3 to clean and then returns to the starting end. The lifting mechanism 15 lifts the cleaning robot 10 and moves it to the supporting plate 24 through the linear displacement mechanism 18. Finally, the walking car walks to the side of the next photovoltaic module 3 to be cleaned. Due to the installation error and the influence of the terrain, there are certain differences between each row of photovoltaic modules 3 in the same installation site. In most cases, the difference is within a certain range, but for the cleaning robot 10 in the related art, the difference will cause the cleaning robot 10 to be unable to operate normally. In this embodiment, by adjusting the supporting plate 24 to a height higher than the photovoltaic module 3, and then hoisting the cleaning robot 10 to the photovoltaic module 3, the influence caused by the difference is eliminated. Thereby achieving the technical effect of stable cleaning of photovoltaic modules 3 with a certain difference in installation height or installation angle, thereby solving the problem that the cleaning robot 10 of the photovoltaic module 3 in the related art is mostly designed for specific photovoltaic arrangement scenes and has low adaptability.

[0038] like Figure 1 and Figure 2 As shown, the system also includes a second limit switch 38 arranged at both ends of the photovoltaic component 3, and both ends of the cleaning robot 10 are provided with a second proximity switch 37 that cooperates with the second limit switch 38; the lower end of the cleaning robot 10 is provided with a first ranging device 23, and the first ranging device 23 is at least two and is respectively located at both ends of the cleaning robot 10.

[0039] After the cleaning robot 10 is lifted onto the photovoltaic component 3, it is located at the left end of the photovoltaic component 3. At this time, the second limit switch 38 at the left end of the photovoltaic component 3 and the second proximity switch 37 at the left end of the cleaning robot 10 cooperate to make the cleaning robot 10 start to move. The cleaning robot 10 moves from the left end to the right end on the photovoltaic component 3, and completes the cleaning of the surface of the photovoltaic component 3 during the movement. When the cleaning robot 10 moves to the right end of the photovoltaic component 3, the second proximity switch 37 at the right end of the cleaning robot 10 and the second limit switch 38 at the right end of the photovoltaic component 3 cooperate to make the cleaning robot 10 stop and move in the opposite direction, so that it moves from the right end to the left end to complete the second cleaning. When the cleaning robot 10 moves to the left end of the photovoltaic component 3, the second limit switch 38 at the left end of the photovoltaic component 3 and the second proximity switch 37 at the left end of the cleaning robot 10 cooperate to stop the cleaning robot 10. At this time, the cleaning robot 10 is lifted to the load-bearing plate 24 at the upper end of the walking trolley through the transfer mechanism.

[0040] like Figure 1 As shown, the position adjustment mechanism includes a first support rod 7 and a second support rod 25 hinged on the bottom plate 27, and the upper ends of the first support rod 7 and the second support rod 25 are respectively hinged to the two ends of the carrier plate 24; and a first electric rod 6 and a second electric rod 26 hinged on the bottom plate 27, and the upper ends of the first electric rod 6 and the second electric rod 26 are respectively hinged to the first support rod 7 and the second support rod 25. The movement of the first electric rod 6 and the second electric rod 26 drives the movement of the first support rod 7 and the second support rod 25 to achieve the height and angle adjustment of the carrier plate 24, so that each is adapted to more photovoltaic assembly 3 cleaning work.

[0041] like Figure 1 As shown, the linear displacement mechanism 18 includes a screw transmission mechanism fixed on the upper end of the column 20, the screw transmission mechanism is perpendicular to the column 20 and arranged toward the photovoltaic module 3, and the cross bar 16 is fixed on the sliding part of the screw transmission mechanism; the lifting mechanism 15 includes a third electric rod fixed on the lower end of the cross bar 16, and the clamping mechanism 17 is fixed at the output end of the third electric rod. The cross bar 16 is driven to move toward the photovoltaic module 3 through the action of the screw transmission mechanism, so that the cleaning robot 10 is moved onto the photovoltaic module 3.

[0042] like Figure 3As shown, the clamping mechanism 17 includes a main body 172, a cross brace 178 arranged at the lower end of the main body 172, telescopic clamp legs 174 arranged at both ends of the cross brace 178, and a clamp hook 176 arranged at the lower end of the telescopic clamp legs 174; a lifting status monitor 173 is provided at the lower end of the cross brace 178, and the lifting status monitor 173 includes a monitoring camera 14 electrically connected to the control module, which is used for the lifting status of the cleaning robot 10; an opening degree detection device 171 for detecting the displacement of the telescopic clamp legs 174 is provided on the cross brace 178, a position centering detection device 175 is provided on the opposite side of the clamp hook 176, and a second distance measuring device 177 is provided at the lower end of the clamp hook 176; a lifting ring cooperating with the clamp hook 176 is provided at the upper end of the cleaning robot 10.

[0043] The opening detection device 171 includes a laser distance sensor for obtaining the position data of the telescopic clamp leg 174 extending out of the horizontal support. The position centering detection device 175 includes an infrared sensor arranged on the opposite side of the clamp hook 176. The second distance measuring device 177 adopts a laser distance measuring sensor. A clamping distance measuring device composed of an infrared sensor is also arranged on the opposite side of the clamp hook 176. The opening detection device 171 is used to monitor the extension length of the telescopic clamp leg 174 in real time. The telescopic clamp leg 174 drives the clamp hook 176 to move relatively to achieve the clamping of the cleaning robot 10. In the process of hoisting the cleaning robot 10, the monitoring camera 14 is used to obtain the lifting state of the cleaning robot 10 in real time. The second distance measuring device 177 is used to obtain the distance between the lower end of the clamp hook 176 and the cleaning robot 10, so as to accurately clamp the cleaning robot 10.

[0044] like Figure 1 As shown, at least two limit plates 22 are provided on the upper end of the carrier plate 24, and the cleaning robot 10 is located between the two limit plates 22; a charging system is provided on the walking trolley, a main charging plate 9 is provided on the opposite side of the limit plate 22, and an auxiliary charging plate 29 overlapped with the main charging plate 9 is provided at one end of the cleaning robot 10 close to the corresponding limit plate 22, a charging slot is provided on the main charging plate 9, and a metal contact 30 electrically connected to the charging slot is provided on the auxiliary charging plate 29, and the metal contact 30 is electrically connected to the power supply of the cleaning robot 10; the main charging plate 9 and the auxiliary charging plate 29 are fixed by magnetic attraction.

[0045] When the cleaning robot 10 is placed on the supporting plate 24, it is located between the two limit plates 22. Two second photovoltaic panels 28 are pulled out and set on the bottom plate 27 of the walking trolley. The second photovoltaic panels 28 are connected to the charging system on the walking trolley to power the equipment on the walking trolley. The excess electricity is stored by the charging system. When the cleaning robot 10 stays between the two limit plates 22, the auxiliary charging plates 29 at both ends of the cleaning robot 10 are overlapped on the main charging plate 9 on the inner side of the limit plate 22. At this time, the metal contacts 30 on the auxiliary charging plate 29 are stuck in the charging slot, thereby realizing the charging of the cleaning robot 10. In order to make the connection between the main charging plate 9 and the auxiliary charging plate 29 more stable, the main charging plate 9 and the auxiliary charging plate 29 are fixed by magnetic attraction.

[0046] As shown in the figure and Figure 2 As shown, the cleaning robot 10 includes a square shell 36, and the auxiliary charging plate 29 is fixed at both ends of the shell 36. An installation cavity 35 is arranged in the shell 36, and a plurality of cleaning brushes 11 distributed along the width direction of the photovoltaic module 3 and a driving mechanism for driving the cleaning brush 11 to rotate are arranged in the installation cavity 35; an air path 32 is also arranged in the installation cavity 35, and the air path 32 is respectively on both sides of the cleaning brush 11, and a plurality of air nozzles 8 are arranged at the output end of the air path 32, and an air supply device 13 is arranged at the input end of the air path 32, and the air supply device 13 is fixed on the shell 36; self-propelled rollers 21 are arranged at the left and right ends of the shell 36, and tracks 4 cooperating with the self-propelled rollers 21 are arranged at the left and right ends of the photovoltaic module 3.

[0047] A mounting plate 33 is fixedly arranged in the mounting cavity 35, and the cleaning brush 11 is composed of a rotating shaft 110, a brush body 112 located at the lower end of the rotating shaft 110, and a transmission wheel 113 located at the upper end of the rotating shaft 110. The driving mechanism includes a motor 34 and a transmission belt 31. The motor 34 is fixed on the mounting plate 33, and the rotating shaft 110 is rotatably connected with the mounting plate 33. The transmission belt 31 is sleeved on the transmission wheel 113. The output end of the motor 34 is transmission-connected with the rotating shaft 110 of one of the cleaning brushes 11, and by driving the rotating shaft 110 of one cleaning brush 11 to rotate, all the cleaning brushes 11 are driven to rotate. The cleaning robot 10 can move to clean the surface of the photovoltaic module 3. Since the surface of the photovoltaic module 3 is mainly dust and gravel, in order to further remove impurities on the surface of the photovoltaic module 3, an air path 32 and an air nozzle 8 are added in the installation cavity 35. Gas is input into the air nozzle 8 through the air supply device 13 to blow away impurities on the surface of the photovoltaic module 3. Since the photovoltaic module 3 is arranged at an angle, in order to further remove impurities, the air nozzle 8 can be arranged at an angle and toward the lower end of the photovoltaic module 3. The cleaning robot 10 realizes movement on the tracks 4 at both ends of the photovoltaic module 3 through the self-propelled rollers 21 at both ends.

[0048] like Figure 2As shown, the track 4 includes a plurality of support columns 41 fixedly connected to the photovoltaic components 3 and a support plate 42 fixed at the upper end of the support column 41, the support plate 42 is used to cooperate with the self-propelled roller 21, there is a gap between adjacent support columns 41, and the support column 41 is set to be cylindrical; a battery is arranged in the outer shell 36, and a first photovoltaic panel 12 electrically connected to the battery is arranged on the upper end surface of the outer shell 36, and the battery is electrically connected to the metal contact 30 on the auxiliary charging plate 29.

[0049] The gaps between the support columns 41 can facilitate the discharge of impurities that are swept and blown. By setting the support columns 41 to a cylindrical shape, the discharge of impurities is easier. The battery in the outer shell 36 can be charged through the walking trolley and also through the first photovoltaic panel 12, ensuring the normal use of the cleaning robot 10.

[0050] like Figure 1 As shown, a camera 14 for acquiring the surface image of the photovoltaic module 3 is arranged at the front end of the shell 36, and a marking module and an image transmission module are arranged inside the shell 36. The marking module is used to mark each image taken by the camera 14, and the mark is the coordinate position of the walking trolley when the camera 14 is shooting. The marking module is connected to the camera 14 module and the image transmission module, and the image transmission module is used to transmit the marked image to the terminal.

[0051] During the cleaning process, the cleaning robot 10 takes pictures of the photovoltaic module 3 according to the set interval time, uses the taken pictures as the surface image of the photovoltaic module 3, and then marks each image through the marking module. The marking content is the coordinate position of the walking trolley when the camera 14 is shooting. The coordinate position is obtained by the positioning system inside the cleaning robot 10. The marked image is sent to the terminal by the image transmission module, and the staff checks the image. If a defective image of the photovoltaic module 3 is found, the position of the defective photovoltaic module 3 is determined according to the coordinate position, so as to facilitate the staff to check.

[0052] The above is only part of the embodiments of the present invention. Although some terms are used in the present invention, the possibility of using other terms is not excluded. The use of these terms is only for the convenience of describing and explaining the essence of the present invention. It is contrary to the spirit of the present invention to interpret them as any additional restrictions. The above is only to further illustrate the content of the present invention with examples for easier understanding, but it does not mean that the embodiments of the present invention are limited to this. Any technical extension or re-creation made according to the present invention is protected by the present invention.

Claims

1. A photovoltaic module cleaning robot system, It is characterized in that The invention comprises a walking track (1), wherein the walking track (1) is laid on the side of a photovoltaic module (3); a walking trolley is arranged on the walking track (1) and can move along the walking track (1); a control module, a cleaning robot (10) and a transfer mechanism for moving the cleaning robot (10) onto the photovoltaic module (3) are arranged on the walking trolley; the walking trolley and the transfer mechanism are respectively connected to the control module; a plurality of first limit switches (2) are arranged on the walking track (1), and each first limit switch (2) corresponds to a row of photovoltaic modules (3); The walking trolley comprises a bottom plate (27), a position adjustment mechanism disposed on the bottom plate (27), and a bearing plate (24) disposed on the position adjustment mechanism. The cleaning robot (10) and the transfer mechanism are both disposed on the bearing plate (24). The position adjustment mechanism is used to adjust the height and angle of the bearing plate (24). A first proximity switch (5) is disposed at the lower end of the bottom plate (27) to cooperate with a first limit switch (2) to stop the walking trolley. Two transfer mechanisms are provided and are located at both ends of the carrying plate (24). The transfer mechanisms include a column (20) and a linear displacement mechanism (18) provided at the upper end of the column (20). The linear displacement mechanism (18) is arranged in a transverse direction and faces the photovoltaic module (3). A crossbar (16) is provided at the output end of the linear displacement mechanism (18). A lifting mechanism (15) is provided at the lower end of the crossbar (16). A clamping mechanism (17) is provided at the output end of the lifting mechanism (15). A clamping portion (19) cooperating with the clamping mechanism (17) is provided at the upper end of the walking trolley. The clamping mechanism (17) comprises a main body (172), a cross brace (178), a telescopic clamp leg (174) and a clamp hook (176); the cross brace (178) is arranged at the lower end of the main body (172), the telescopic clamp legs (174) are arranged at both ends of the cross brace (178), and the clamp hook (176) is arranged at the lower end of the telescopic clamp leg (174); a lifting state monitor (173) is arranged at the lower end of the cross brace (178), and the lifting state monitor (173) comprises a monitoring camera (14) connected to the control module; an opening degree detection device (171) for detecting the displacement of the telescopic clamp leg (174) is arranged on the cross brace (178), a position centering detection device (175) is arranged on the opposite side of the clamp hook (176), and a second distance measuring device (177) is arranged at the lower end of the clamp hook (176); a lifting ring cooperating with the clamp hook (176) is arranged at the upper end of the cleaning robot (10); The cleaning robot (10) comprises a rectangular outer shell (36), the auxiliary charging plates (29) being fixed at both ends of the outer shell (36), the outer shell (36) being provided with a mounting cavity (35), the mounting cavity (35) being provided with a plurality of cleaning brushes (11) distributed along the width direction of the photovoltaic module (3) and a driving mechanism for driving the cleaning brushes (11) to rotate; an air path (32) is also provided in the mounting cavity (35), the air paths (32) being respectively provided on both sides of the cleaning brush (11), the output end of the air path (32) being provided with a plurality of air nozzles (8), the input end of the air path (32) being provided with an air supply device (13), the air supply device (13) being fixed on the outer shell (36); self-propelled rollers (21) are provided at the left and right ends of the outer shell (36), and tracks (4) cooperating with the self-propelled rollers (21) are provided at the left and right ends of the photovoltaic module (3).

2. The photovoltaic module cleaning robot system according to claim 1, It is characterized in that It also includes second limit switches (38) disposed at both ends of the photovoltaic assembly (3); both ends of the cleaning robot (10) are provided with second proximity switches (37) that cooperate with the second limit switches (38); and the lower end of the cleaning robot (10) is provided with a first distance measuring device (23).

3. The photovoltaic module cleaning robot system according to claim 1, It is characterized in that The position adjustment mechanism comprises a first support rod (7), a second support rod (25), a first electric rod (6) and a second electric rod (26) which are hinged on a bottom plate (27); the upper ends of the first support rod (7) and the second support rod (25) are respectively hinged to two ends of a bearing plate (24); and the upper ends of the first electric rod (6) and the second electric rod (26) are respectively hinged to the first support rod (7) and the second support rod (25).

4. The photovoltaic module cleaning robot system according to claim 1, It is characterized in that The linear displacement mechanism (18) comprises a screw transmission mechanism disposed at the upper end of the column (20), the screw transmission mechanism being perpendicular to the column (20) and disposed toward the photovoltaic assembly (3), and the cross bar (16) being fixedly disposed on a sliding portion of the screw transmission mechanism; the lifting mechanism (15) comprises a third electric rod fixedly disposed at the lower end of the cross bar (16), and the clamping mechanism (17) being disposed at the output end of the third electric rod.

5. The photovoltaic module cleaning robot system according to claim 1, It is characterized in that The opening degree detection device (171) comprises a laser distance measuring sensor for obtaining position data of the telescopic clamp leg (174) extending out of the cross brace (178); the position centering detection device (175) comprises an infrared sensor provided on the opposite side of the clamp hook (176); the second distance measuring device (177) adopts a laser distance measuring sensor; and a clamping distance measuring device composed of an infrared sensor is also provided on the opposite side of the clamp hook (176).

6. The photovoltaic module cleaning robot system according to claim 1, It is characterized in that At least two limit plates (22) are provided at the upper end of the carrier plate (24), and the cleaning robot (10) is located between the two limit plates (22); a charging system is provided on the walking trolley, a main charging plate (9) is provided on the opposite side of the limit plate (22), and a secondary charging plate (29) matching the main charging plate (9) is provided at one end of the cleaning robot (10) close to the corresponding limit plate (22), the main charging plate (9) is provided with a charging slot, the secondary charging plate (29) is provided with a metal contact (30) connected to the charging slot, and the metal contact (30) is connected to the power supply of the cleaning robot (10).

7. The photovoltaic module cleaning robot system according to claim 1, It is characterized in that The track (4) comprises a plurality of support columns (41) fixedly connected to the photovoltaic assembly (3) and a support plate (42) arranged at the upper end of the support column (41); the support plate (42) is used to cooperate with the self-propelled roller (21); there is a gap between adjacent support columns (41); and the support column (41) is cylindrical; a storage battery is arranged in the housing (36); a first photovoltaic panel (12) connected to the storage battery is arranged on the upper end surface of the housing (36); and the storage battery is connected to a metal contact (30) on the auxiliary charging plate (29).

8. The photovoltaic module cleaning robot system according to claim 7, It is characterized in that A camera (14) for acquiring a surface image of the photovoltaic module (3) is provided at the front end of the housing (36). A marking module and an image transmission module are provided in the housing (36). The marking module is used to mark each image captured by the camera (14), and the mark is the coordinate position of the walking vehicle when the camera (14) is captured. The marking module is connected to the camera (14) module and the image transmission module. The image transmission module is used to transmit the marked image to the terminal.

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