A self-cleaning device for cleaning a camera on a robot

Abstract

The present application relates to a kind of self-cleaning device for cleaning camera on robot, cleaning robot includes car body, camera is provided on car body, self-cleaning device includes connector and dust cover, connector includes first connecting part and second connecting part, the upper end of first connecting part is fixedly arranged in the lower end of second connecting part, first connecting part is provided with first positioning through hole inside, second connecting part is provided with second positioning through hole communicated with first positioning through hole inside, camera is located in second positioning through hole and extends into first positioning through hole, dust cover is arranged in the lower end of first connecting part, dust cover is provided with mounting through hole inside, the lower part of the inner side wall of dust cover is provided with circular first installation groove in circumferential direction, first installation groove is communicated with mounting through hole, transparent dust gasket is arranged in first installation groove, and the lower end of dust cover is closed by dust gasket.The present application has the characteristics of dustproof, waterproof and self-cleaning.

Description

Technical Field

[0001] This invention relates to a self-cleaning device for cleaning cameras on robots. Background Technology

[0002] Solar photovoltaic (PV) technology, as a renewable and clean energy source, has become a significant force in the global energy transformation. Solar panels are prone to accumulating dust, sand, and other contaminants. Without timely and professional cleaning, this can lead to a 40%-60% reduction in module power output and a 20%-30% decrease in overall power generation. Therefore, the concept of improving power plant output and efficiency through scientific and reasonable cleaning of solar panels and meticulous maintenance of core components has gained industry recognition. Modern cities are filled with high-rise buildings, and for reasons of both lighting and aesthetics, glass curtain walls are commonly used. Because these walls are constantly exposed to the elements, they require frequent cleaning and maintenance.

[0003] As a photovoltaic and curtain wall automatic cleaning robot that relies on cameras to perceive the surrounding environment and obtain a straight working path, dust floating in the air during operation can easily accumulate on the lens of the external camera, affecting the cleaning robot's ability to quickly perceive the surrounding environment and obtain the working path, resulting in lower cleaning efficiency and frequent errors from the cleaning robot. Summary of the Invention

[0004] In view of the above-mentioned problems existing in the prior art, the main objective of the present invention is to provide a self-cleaning device for a camera on a cleaning robot, which has the characteristics of being dustproof, waterproof and self-cleaning.

[0005] The technical solution of this invention is as follows:

[0006] A self-cleaning device for a camera on a cleaning robot is disclosed. The cleaning robot includes a body on which a camera is mounted. The self-cleaning device includes a connector and a dust cover. The connector includes a first connecting part and a second connecting part. The upper end of the first connecting part is fixedly disposed at the lower end of the second connecting part. A first positioning through hole is provided inside the first connecting part. A second positioning through hole is provided inside the second connecting part and communicates with the first positioning through hole. The camera is located in the second positioning through hole and extends into the first positioning through hole. The dust cover is disposed at the lower end of the first connecting part. An installation through hole is provided inside the dust cover. A first annular installation groove is provided along the circumferential direction on the lower part of the inner sidewall of the dust cover. The first installation groove communicates with the installation through hole. A transparent dustproof gasket is provided in the first installation groove to seal the lower end of the dust cover.

[0007] The first connecting part and the second connecting part are integrally formed, and both the first connecting part and the second connecting part are cylindrical in shape.

[0008] The outer diameter of the first connecting part is larger than the outer diameter of the second connecting part, and the inner diameter of the first positioning through hole is larger than the inner diameter of the second positioning through hole.

[0009] The dust cover has an annular flow cavity along the circumferential direction in its lower inner part. A first mounting part is provided on one side of the lower outer wall of the dust cover. A first connecting through hole is provided inside the first mounting part. One end of the first connecting through hole is connected to an air pump or water pump installed on the vehicle body, and the other end of the first connecting through hole is connected to the flow cavity inside the dust cover. Multiple nozzles are provided at the bottom of the inner side wall of the dust cover. Each nozzle is connected to the flow cavity, and the water outlet of each nozzle faces the lower surface of the dust cover.

[0010] The dust cover is cylindrical in shape. The outer side wall of the first connecting part is provided with a first external thread along the circumferential direction. The upper part of the inner side wall of the dust cover is provided with an internal thread along the circumferential direction. The dust cover is threadedly connected to the first connecting part through the cooperation of the internal thread and the first external thread, and the lower end of the first connecting part abuts against the upper surface of the dust pad.

[0011] The lower part of the inner wall of the dust cover is provided with a second annular mounting groove along the circumferential direction at the bottom of the first mounting groove. A first rubber ring is provided in the second mounting groove, and the lower surface of the dustproof pad abuts against the first rubber ring.

[0012] It also includes a second rubber ring, which is disposed between the lower end of the first connecting part and the upper surface of the dustproof pad.

[0013] It also includes an exposure box, which is square in shape. The exposure box includes a box body and an upper cover disposed on the box body. An installation plate is disposed on the upper part of the inner side wall of the box body. A plurality of first fixing posts are disposed on the upper surface of the installation plate. A main control drive board is disposed inside the box body. The main control drive board is disposed at the top of the first fixing posts. A camera drive board is disposed on the lower surface of the main control drive board through a second fixing post. The camera is disposed on the lower surface of the camera drive board and is located in a fixing through hole disposed on the installation plate and extends downward. The second connecting part is connected to the installation plate through the fixing through hole.

[0014] The side wall of the box is provided with a mounting hole, and a second mounting part is provided in the mounting hole. The two ends of the second mounting part are located inside and outside the box, respectively. One end of the second mounting part is connected to one end of the first mounting part through a connecting hose, and the other end of the second mounting part is connected to the air pump or water pump through a delivery pipe.

[0015] The mounting plate has a mounting protrusion extending downward from the position of the fixing through hole on its lower surface. The fixing through hole passes through the mounting protrusion. The second connecting part is threadedly connected to the mounting protrusion through the fixing through hole. A third rubber pad is provided between the upper end of the dust cover and the lower end of the mounting protrusion.

[0016] The main control drive board is equipped with fill lights at its four corners, and the fill lights extend downward after passing through the limiting through holes on the mounting plate.

[0017] The box body has an opening at the lower end, and a fixing part is provided on the outer side wall of the lower end of the box body. A fixing protrusion is provided on the fixing part, and a fixing hole is provided in the fixing protrusion. The box body is mounted on the chassis of the vehicle body through the fixing protrusion.

[0018] The rear, left, and right sides of the top cover are provided with square through holes, and the top of the top cover is provided with a fixing groove, in which a cooling fan is installed.

[0019] The lower end face of the top cover is provided with a limiting recess, and the upper end face of the box body is provided with a limiting protrusion. The top cover is mounted on the upper end of the box body through the cooperation of the limiting protrusion and the limiting recess. It also includes a plurality of second fixing posts, the lower ends of which are fixedly connected to the main control drive board, and the upper ends of which are fixedly connected to the top cover by fastening bolts.

[0020] The present invention has the following advantages and beneficial effects: The embodiments of the present invention provide a self-cleaning device for a camera on a cleaning robot, which provides a solution for dustproof, waterproof and self-cleaning of external cameras of photovoltaic and curtain wall cleaning robots. It can automatically clean the dust accumulated on the camera to ensure that the external camera of the photovoltaic and curtain wall cleaning robot can accurately identify the cleaning operation path, improve the cleaning efficiency of the cleaning robot, increase the service life of the cleaning robot, reduce customer maintenance costs, increase adaptability to complex environments, improve the degree of automation and reduce labor costs. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the connector and dust cover provided in an embodiment of the present invention.

[0022] Figure 2This is an exploded structural diagram showing the connection head and dust cover working together according to an embodiment of the present invention.

[0023] Figure 3 This is an enlarged three-dimensional structural diagram of the connector provided in an embodiment of the present invention.

[0024] Figure 4 This is an enlarged cross-sectional view of the connector provided in an embodiment of the present invention.

[0025] Figure 5 This is an enlarged three-dimensional structural diagram of the dust cover provided in an embodiment of the present invention.

[0026] Figure 6 This is an enlarged bottom view of the dust cover provided in an embodiment of the present invention.

[0027] Figure 7 This is an enlarged cross-sectional view of the dust cover provided in an embodiment of the present invention.

[0028] Figure 8 This is a three-dimensional structural diagram of the combination of the connector, dust cover, and exposure box provided in an embodiment of the present invention, in one direction.

[0029] Figure 9 This is a three-dimensional structural diagram of the combination of the connector, dust cover, and exposure box provided in an embodiment of the present invention from another direction.

[0030] Figure 10 This is an exploded structural diagram of the connector, dust cover, and exposure box provided in an embodiment of the present invention.

[0031] Figure 11 This is a top view schematic diagram of the combined structure of the connector, dust cover, and exposure box provided in an embodiment of the present invention.

[0032] Figure 12 This is a cross-sectional view of the connector, dust cover, and exposure box combined according to an embodiment of the present invention.

[0033] Figure 13 for Figure 12 An enlarged structural diagram of location A in the middle.

[0034] Figure 14 This is an exploded structural diagram of the main control driver board combined with the camera provided in an embodiment of the present invention.

[0035] Figure 15 This is an exploded structural diagram of the upper cover and the box body provided in an embodiment of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0037] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0038] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0040] like Figures 1 to 15The following is an embodiment of the present invention: a self-cleaning device for a camera on a cleaning robot. The cleaning robot includes a body, on which a camera 100 is mounted. The self-cleaning device includes a connector 200 and a dust cover 300. The connector 200 includes a first connecting portion 201 and a second connecting portion 202. The upper end of the first connecting portion 201 is fixedly disposed at the lower end of the second connecting portion 202. A first positioning through hole 211 is provided inside the first connecting portion 201. A second positioning through hole 212 communicating with the first positioning through hole 211 is provided inside the second connecting portion 202. The camera 100 is located in the second positioning through hole 212. Extending into the first positioning through hole 211, the dust cover 300 is disposed at the lower end of the first connecting part 201. The dust cover 300 is provided with a mounting through hole 301. The dust cover 300 is provided with a circular first mounting groove 311 along the circumferential direction on the lower part of the inner side wall of the mounting through hole 301. The first mounting groove 311 is connected to the mounting through hole 301. A transparent dustproof gasket 320 is provided in the first mounting groove 311. The dustproof gasket 320 seals the lower end of the dust cover 300, which can prevent external dust from entering from the lower end of the dust cover 300, thereby reducing the impact of dust on the camera 100 installed inside the dust cover 300.

[0041] This invention provides a self-cleaning device for a camera on a cleaning robot. The first connecting part 201 and the second connecting part 202 are integrally formed, and both the first connecting part 201 and the second connecting part 202 are cylindrical. Through this design, i.e., the first connecting part 201 and the second connecting part 202 are integrally formed, the robustness of the connection between the first connecting part 201 and the second connecting part 202 can be improved, thereby extending the service life of the connector 200.

[0042] The present invention provides a self-cleaning device for a camera on a cleaning robot, wherein the outer diameter of the first connecting part 201 is larger than the outer diameter of the second connecting part 202, and the inner diameter of the first positioning through hole 211 is larger than the inner diameter of the second positioning through hole 212.

[0043] This invention provides a self-cleaning device for a camera on a cleaning robot. The dust cover 300 has a circular flow cavity 304 arranged along the circumferential direction in its lower inner part. A first mounting portion 331 is provided on one side of the lower outer wall of the dust cover 300. A first connecting hole 350 is provided inside the first mounting portion 331. One end of the first connecting hole 350 is connected to an air pump (not shown) or a water pump (not shown) installed on the vehicle body, and the other end of the first connecting hole 350 is connected to the flow cavity 304 inside the dust cover 300. Multiple nozzles 302 are provided at the bottom of the inner wall of the dust cover 300. Each nozzle 302 is connected to the flow cavity 304, and the water outlet 303 of each nozzle 302 faces the lower surface of the dustproof pad 320. Specifically, the number of nozzles 302 can be designed to be six, and the six nozzles 302 are evenly arranged and can be divided into two groups. The two nozzles 302 corresponding to the first mounting part 331 constitute the first group of nozzles, whose spray angles cover cleaning areas a and b. The remaining four nozzles 302 constitute the second group of nozzles, whose spray angles cover cleaning areas c, d, e, and f, respectively. The two nozzles 302 in the first group have the same spray angle, and the four nozzles 302 in the second group have the same spray angle. The spray angles of the first and second groups of nozzles are different. Depending on the installation position of each nozzle 302, the cleaning area of ​​each nozzle is also different. Figure 6 As shown, this design can clean the dustproof pad 320 located below the camera 100 to the greatest extent (the dustproof pad 320 is made of transparent material, such as transparent acrylic sheet or tempered glass), so as to ensure that there is no dust accumulation or obstruction within the field of view of the cleaning robot's camera 100.

[0044] This invention provides a self-cleaning device for a camera on a cleaning robot. The dust cover 300 is cylindrical. The outer wall of the first connecting part 201 is provided with a first external thread 231 along the circumferential direction, and the upper part of the inner wall of the dust cover 300 is provided with an internal thread 315 along the circumferential direction. The dust cover 300 is threadedly connected to the first connecting part 201 through the cooperation of the internal thread 315 and the first external thread 231, and the lower end of the first connecting part 201 abuts against the upper surface of the dustproof pad 320. Through the above design, that is, the first external thread 231 is provided on the outer wall of the first connecting part 201, and the internal thread 315 is provided on the upper part of the inner wall of the dust cover 300, the first connecting part 201 and the dust cover 300 can be threadedly connected, which facilitates the initial assembly and subsequent maintenance.

[0045] The present invention provides a self-cleaning device for a camera on a cleaning robot. The lower part of the inner sidewall of the dust cover 300 is provided with a second annular mounting groove 312 along the circumferential direction at the bottom of the first mounting groove 311. A first rubber ring 321 is provided in the second mounting groove 312, and the lower surface of the dustproof pad 320 abuts against the first rubber ring 321. Through the above design, that is, a second annular mounting groove 312 is provided along the circumferential direction at the bottom of the first mounting groove 311 on the inner side wall of the dust cover 300, and a first rubber ring 321 is installed in the second mounting groove 312. When the dustproof pad 320 is installed in the first mounting groove 311 inside the dust cover 300, the lower surface of the dustproof pad 320 abuts against the first rubber ring 321, thereby preventing dust from entering from the lower end of the dust cover 300 through the gap between the dustproof pad 320 and the dust cover 300. This enables the dust cover 300 to have dustproof and waterproof functions, thereby extending the service life of the camera 100 located inside the dust cover 300.

[0046] This invention provides a self-cleaning device for a camera on a cleaning robot, which further includes a second rubber ring 322 disposed between the lower end of the first connecting portion 201 and the upper surface of the dustproof pad 320. Through this design, specifically the placement of the second rubber ring 322 between the first connecting portion 201 and the dustproof pad 320, the tightness of the fit between them is improved. This effectively prevents dust from entering through the gap between the dustproof pad 320 and the first connecting portion 201, thereby enhancing the dustproof effect.

[0047] This invention provides a self-cleaning device for a camera on a cleaning robot, further comprising an exposure box 400. The exposure box 400 is square in shape and includes a box body 401 and an upper cover 402 disposed on the box body 401. An installation plate 421 is disposed on the upper part of the inner sidewall of the box body 401. A plurality of first fixing posts 411 are provided on the upper surface of the installation plate 421. A main control drive board 418 is disposed inside the box body 401. The main control drive board 418 is disposed at the top of the first fixing posts 411. A camera drive board 403 is disposed on the lower surface of the main control drive board 418 through a second fixing post 424. A camera 100 is disposed on the lower surface of the camera drive board 403, and the camera 100 is located in a fixing through hole 407 provided on the installation plate 421 and extends downward. A second connecting part 202 is connected to the installation plate 421 through the fixing through hole 407. Specifically, the mounting plate 421 and the box body 402 are integrally formed, which can improve the firmness of the combination between the mounting plate 421 and the box body 402, thereby extending the service life of the exposure box 400.

[0048] This invention provides a self-cleaning device for a camera on a cleaning robot. The side wall of the housing 401 is provided with a mounting hole 404, and a second mounting part 405 is provided in the mounting hole 404. The two ends of the second mounting part 405 are located inside and outside the housing 401, respectively. One end of the second mounting part 405 is connected to one end of the first mounting part 331 through a connecting hose 406, and the other end of the second mounting part 405 is connected to the air pump or water pump through a delivery pipe (not shown in the figure).

[0049] This invention provides a self-cleaning device for a camera on a cleaning robot. The lower surface of the mounting plate 421 extends downward from the position of the fixing through hole 407, and a mounting protrusion 408 is provided. The fixing through hole 407 penetrates the mounting protrusion 408. The outer wall of the second connecting part 202 is provided with a second external thread 232. The second connecting part 202 is threadedly connected to the mounting protrusion 408 through the fixing through hole 407. A third rubber pad 409 is provided between the upper end of the dust cover 300 and the lower end of the mounting protrusion 408 to improve the tightness of the fit between the upper end of the dust cover 300 and the mounting protrusion 408, thereby preventing dust from entering.

[0050] This invention provides a self-cleaning device for a camera on a cleaning robot. The main control drive board 418 has four supplementary lights 410 positioned at its four corners, and each supplementary light 410 extends downwards through a limiting through-hole 423 on the mounting plate 421. This design, with a supplementary light 410 positioned at each of the four corners of the main control drive board 418 and located below it, extends downwards through the limiting through-hole 423 on the mounting plate 421. This provides a unique and stable light source for the area below the mounting plate 421 within the housing 401 via the four supplementary lights 410. Furthermore, each supplementary light 410 can be a 120-degree 850nm infrared LED supplementary light, which is not only inexpensive but also provides uniform brightness within the housing 401.

[0051] This invention provides a self-cleaning device for a camera on a cleaning robot. The box 401 has an open lower end, and a fixing part 431 extends outward from the outer wall of the lower end of the box 401. A fixing protrusion 420 extends outward from the fixing part 431, and a fixing hole 412 is provided in the fixing protrusion 420. The box 401 is mounted on the chassis of the vehicle body via the fixing part 431 and the fixing protrusion 420. Through this design, that is, fixing parts 431 are respectively provided on the outer walls around the lower end of the box 401, and fixing parts 431 extend outward with fixing protrusions 420, while fixing holes 412 are provided in the fixing protrusions 420, the box 401 can be firmly and stably connected to the chassis of the cleaning robot. This design is convenient to assemble and quick to install, and also improves safety and reliability to a certain extent.

[0052] This invention provides a self-cleaning device for a camera on a cleaning robot. The upper cover 402 has square through holes 419 on its rear, left, and right side walls. A fixing groove 413 is provided at the top of the upper cover 402, and a heat dissipation hole 422 is provided at the bottom of the fixing groove 413. The heat dissipation hole 422 communicates with the interior of the upper cover 402. A cooling fan 414 is installed in the fixing groove 413. Through this design, the fixing groove 413 at the top of the upper cover 402, the heat dissipation hole 422 at the bottom of the fixing groove 413, and the cooling fan 414 installed in the fixing groove 413, along with the directional through holes 419 on the rear, left, and right side walls of the upper cover 402, allow for rapid airflow inside and around the upper cover 402. This provides good heat dissipation for the various components inside the housing 401 and the upper cover 402, thereby extending their service life.

[0053] This invention provides a self-cleaning device for a camera on a cleaning robot. The lower end face of the upper cover 402 is provided with a limiting recess 415, and the upper end face of the box body 401 is provided with a limiting protrusion 416. The upper cover 402 is disposed on the upper end of the box body 401 through the cooperation of the limiting protrusion 416 and the limiting recess 415. It also includes a plurality of second fixing posts 417. The lower end of the second fixing posts 417 is fixedly connected to the main control drive board 418, and the upper end of the second fixing posts 417 is fixedly connected to the upper cover 402 by fastening bolts (not shown in the figure). Through the above design, namely, a limiting groove 415 is provided on the lower end face of the upper cover 402, and a limiting protrusion 416 is provided on the upper end face of the box body 401, so that the upper cover 402 and the box body 401 can be well positioned; at the same time, through the provision of multiple second fixing posts 417, that is, the upper cover 402 is firmly connected to the box body 401 through multiple second fixing posts 417, that is, the upper end of the second fixing post 417 is fixedly connected to the upper cover 402, and the lower end of the second fixing post 417 is fixedly connected to the main control drive board 418. At the same time, since the main control drive board 418 is fixedly connected to the mounting plate 421 inside the box body 401 through the first fixing post 411, the upper cover 402 and the box body 401 can be firmly connected, and the safety and reliability are improved.

[0054] This invention provides a self-cleaning device for cleaning cameras on cleaning robots. The specific cleaning method is as follows: compressed air with a certain pressure is delivered to the connecting hose 406 via an air pump or cleaning liquid (water or a special cleaning liquid can be used depending on the application scenario) via a water pump through the second mounting part 405. The liquid then flows into the flow cavity 304 inside the dust cover 300 and enters the six nozzles 302 on the dust cover 300 through the flow cavity 304, spraying onto the lower surface of the dust pad 320. The combined cleaning of water and air can improve the cleaning effect.

[0055] The self-cleaning device provided in this invention can be applied to the exposure box of a photovoltaic cleaning robot, the camera on the outside of the vehicle body of a photovoltaic cleaning robot, and the external camera of a curtain wall cleaning robot. Depending on the application scenario, the cleaning method can be single air jet cleaning, single water or cleaning liquid cleaning, or air-liquid combination cleaning. It has the characteristics of flexible application and wide applicability, and can also significantly improve the cleaning effect.

[0056] The air inlet of the aforementioned air pump can be located near the drive motor of the cleaning robot. This design can extract the hot air generated by the drive motor and spray it onto the dustproof pad to accelerate the drying of the cleaning fluid. Alternatively, if the main control system on the cleaning robot determines that the cooling fan of the drive motor is not cooling effectively, the air pump can extract the hot air around the robot's body and drive motor for dual cooling, achieving efficient exchange of hot and cold air inside and outside the robot.

[0057] The self-cleaning device provided in this embodiment of the invention, when combined with the exposure box on the photovoltaic cleaning robot, i.e., when applied to the exposure box 400, can perform air and liquid combined cleaning to improve the cleaning effect. Specifically, the exposure box 400 with the self-cleaning device can be installed on the front side of the center position of the photovoltaic cleaning robot, with the front side of the exposure box 400 located in front of the photovoltaic cleaning robot. After the photovoltaic cleaning robot performs several cycles of dust removal and cleaning of photovoltaic panels, a lot of dust accumulates on the lower surface of the dustproof pad 320 (made of transparent material, which does not affect the camera's capture of photovoltaic panel features) installed inside the dustproof cover 300 on the lower (outer) side of the camera 100 on the exposure box. At this time, the exposure box 400 detects that the image is blurred or interfered with. The main control system on the photovoltaic cleaning robot automatically identifies the amount of dust on the outer lens (i.e., the dustproof pad 320) at this time, determines the cleaning mode, and the main control system monitors in real time whether the dust has been blown clean. The specific workflow is as follows: Mode 1: The air pump is turned on. If the dust on the outer lens of camera 100 (i.e., dustproof pad 320) is blown clean, the air pump will stop after a delay. Mode 2: If fine dust accumulates continuously in Mode 1, but the amount of dust does not increase and does not affect the main control system's accurate path recognition, the air pump will continue to work. During this period, if the amount of dust decreases until it is blown clean, it will switch to Mode 1; if the amount of dust increases, it will switch to Mode 3. Mode 3: If the main control system determines that an increase in accumulated dust may affect the image detection function of exposure box 400, the photovoltaic cleaning robot will perform air-liquid combined cleaning during the turn before moving to the next cleaning operation. If Mode 3 fails to clean the area, the main control system determines that it cannot accurately recognize the path, and the photovoltaic cleaning robot will automatically move to the lower edge of the photovoltaic panel area to be cleaned, waiting for manual troubleshooting.

[0058] When the photovoltaic cleaning robot is in mode 1, the air pump delivers compressed air with a certain pressure from the second mounting part 405 to the connecting hose 406, and then flows into the flow cavity 304 in the dust cover 300. The air then enters the six nozzles 302 on the dust cover 300 through the flow cavity 304 and is sprayed onto the lower surface of the dust pad 320. After a delay, the main control system determines that the dust accumulated on the dust pad 320 has been blown clean, and the air pump is turned off.

[0059] When the photovoltaic cleaning robot is in mode 2, the air pump delivers compressed air with a certain pressure from the second mounting part 405 to the connecting hose 406, and then flows into the flow cavity 304 in the dust cover 300. The air then enters the six nozzles 302 on the dust cover 300 through the flow cavity 304 and is sprayed onto the lower surface of the dust pad 320. After a certain delay, the main control system determines that the dust accumulated on the dust pad 320 has not been blown away, but this does not affect the accurate identification path of the main control system. Therefore, the air pump continues to work. When the robot stops after cleaning one photovoltaic panel area, it reminds the operator to clean the dust pad 320.

[0060] When the photovoltaic cleaning robot is in mode 3, the air pump is always on, and the robot continues to clean the current row of photovoltaic panels. When the robot needs to turn around to move to the next row, the self-cleaning device starts cleaning the dust pads 320 during this turning cycle. At this time, the air pump is turned off, and the water pump delivers the cleaning fluid from the second mounting part 405 to the connecting hose 406, and then flows into the flow cavity 304 inside the dust cover 300, and then into the six nozzles 302 on the dust cover 300. The air pump sprays the cleaning fluid onto the lower surface of the dustproof pad 320 to wash away the dust. Then, the air pump delivers compressed air with a certain pressure from the second mounting part 405 to the connecting hose 406, and then flows into the flow cavity 304 in the dustproof cover 300. The compressed air then enters the six nozzles 302 on the dustproof cover 300 through the flow cavity 304 and sprays it onto the lower surface of the dustproof pad 320 to dry the cleaning fluid on the dustproof pad 320. When the photovoltaic cleaning robot turns around and enters the next cleaning operation, the air pump continues to work for a period of time to ensure that the liquid on the dustproof pad 320 is dried.

[0061] When applied to other locations on the outside of photovoltaic and curtain wall cleaning robots, the self-cleaning device protects the camera on the inside, isolating it from the external environment. The transparent dustproof pad 320 used on the self-cleaning device (different transparent materials are used depending on the application environment) does not affect the camera's optimized sensing capabilities. Compressed air with a certain pressure is delivered by an air pump from the second mounting part 405 to the connecting hose 406, and then flows into the flow cavity 304 inside the dust cover 300. Through the flow cavity 304, it enters the six nozzles 302 on the dust cover 300, spraying onto the lower surface of the dustproof pad 320 to create positive pressure. The airflow flows outward, ensuring that dust raised by the roller brush installed at the front of the cleaning robot does not accumulate on the dustproof pad.

[0062] Depending on the application scenario, this invention can employ various cleaning methods, including single-air jet cleaning, single-water or single-liquid cleaning, or combined air-liquid cleaning. An air pump delivers compressed air at a certain pressure, or a water pump delivers cleaning fluid from the second mounting part 405 to the connecting hose 406, which then flows into the flow cavity 304 within the dust cover 300. From there, the fluid enters the six nozzles 302 on the dust cover 300 and is sprayed onto the lower surface of the dustproof pad 320. Water and air can be used in combination or separately for cleaning, offering flexibility, wide applicability, and significantly improved cleaning effectiveness. Furthermore, the self-cleaning device provided in this embodiment can also be flexibly applied to the cameras of other robots.

[0063] Finally, it should be noted that the above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-cleaning device for cleaning a camera on a cleaning robot, the cleaning robot comprising a vehicle body, the vehicle body being provided with a camera, characterized in that: The self-cleaning device comprises a connecting head and a dustproof cover, the connecting head comprises a first connecting part and a second connecting part, the upper end of the first connecting part is fixedly arranged at the lower end of the second connecting part, a first positioning through hole is arranged in the first connecting part, a second positioning through hole communicating with the first positioning through hole is arranged in the second connecting part, the camera is located in the second positioning through hole and extends into the first positioning through hole, the dustproof cover is arranged at the lower end of the first connecting part, a mounting through hole is arranged in the dustproof cover, a circular first mounting groove is arranged on the lower part of the inner side wall of the dustproof cover in the circumferential direction, the first mounting groove communicates with the mounting through hole, a transparent dustproof gasket is arranged in the first mounting groove, and the lower end of the dustproof cover is closed by the dustproof gasket; A circular flow cavity is arranged on the inner lower part of the dustproof cover in the circumferential direction, a first mounting part is arranged on one side of the lower end of the outer side wall of the dustproof cover, a first connecting through hole is arranged in the first mounting part, one end of the first connecting through hole communicates with the air pump or water pump arranged on the vehicle body, and the other end of the first connecting through hole communicates with the flow cavity in the dustproof cover, a plurality of spray heads are arranged on the bottom of the inner side wall of the dustproof cover, each spray head communicates with the flow cavity, and the water outlet of each spray head faces the lower surface of the dustproof gasket; The dustproof cover is cylindrical, a first outer thread is arranged on the outer side wall of the first connecting part in the circumferential direction, an inner thread is arranged on the upper part of the inner side wall of the dustproof cover in the circumferential direction, the dustproof cover is threadedly connected with the first connecting part through cooperation of the inner thread and the first outer thread, and the lower end of the first connecting part abuts against the upper surface of the dustproof gasket; It also comprises an exposure box, the exposure box is square, the exposure box comprises a box body and an upper cover arranged on the box body, a mounting plate is arranged on the upper part of the inner side wall of the box body, a plurality of first fixing columns are arranged on the upper surface of the mounting plate and extend upward, a main control driving plate is arranged in the box body, the main control driving plate is arranged at the top end of the first fixing column, a camera driving plate is arranged on the lower surface of the main control driving plate through a second fixing column, a camera is arranged on the lower surface of the camera driving plate and extends downward, and the second connecting part is connected with the mounting plate through the fixing through hole; A limiting recess is arranged on the lower end surface of the upper cover, a limiting protrusion is arranged on the upper end surface of the box body, and the upper cover is arranged on the upper end of the box body through cooperation of the limiting protrusion and the limiting recess; A plurality of second fixing columns are arranged, the lower end of the second fixing column is fixedly connected with the main control driving plate, and the upper end of the second fixing column is fixedly connected with the upper cover through a fastening bolt. The lower surface of the mounting plate is provided with a mounting protrusion extending downward at the position of the fixing hole, the fixing hole penetrates through the mounting protrusion, the second connecting part is threadedly connected with the mounting protrusion through the fixing hole, and the third rubber pad is arranged between the upper end of the dust cover and the lower end of the mounting protrusion. The box body is open at the lower end, and the outer side wall of the lower end of the box body is provided with a fixing part extending outward, the fixing part is provided with a fixing protrusion extending outward, and the fixing protrusion is provided with a fixing hole. The number of the plurality of spray heads can be designed as six, and the six spray heads are uniformly arranged and can be divided into two groups, wherein two spray heads corresponding to the first mounting part are the first group of spray heads, the cleaning area of the spray angle of the first group of spray heads is a region and a region, and the remaining four spray heads are the second group of spray heads, the cleaning area of the spray angle of the second group of spray heads is c region, d region, e region and f region respectively, the spray angles of the two spray heads in the first group of spray heads are consistent, and the spray angles of the four spray heads in the second group of spray heads are consistent, the spray angles of the first group of spray heads and the second group of spray heads are different, and the cleaning areas of the spray heads are also different according to the different mounting positions of the spray heads. The exposure box with the self-cleaning device is installed on the front side of the central position of the vehicle body of the photovoltaic cleaning robot, and the front side of the exposure box is located in front of the photovoltaic cleaning robot. After the photovoltaic cleaning robot performs photovoltaic panel dust cleaning work for several cycles, the lower surface of the dust gasket installed on the inner side of the lower side dust cover of the camera on the exposure box accumulates a lot of dust. At this time, the exposure box detects that the image is disturbed by blur, the main control system on the photovoltaic cleaning robot automatically identifies the amount of dust on the outer lens at this time, judges the cleaning mode, and the main control system monitors whether the dust is blown clean in real time. The specific work flow is as follows: mode 1: start the air pump, if the dust on the outer lens of the camera is blown clean, the air pump stops working after a time delay; mode 2: if there is always a little dust accumulation, but the dust amount does not increase, it does not affect the accurate identification of the path by the main control system, the air pump does not stop working and is always on. During this period, if the amount of dust decreases until it is blown clean, mode 1 is turned to, and if the amount of dust increases, mode 3 is turned to; mode 3: in the case of having started mode 2, the main control system judges that if the accumulated dust increases, it may affect the function of the exposure box detecting the image, then the photovoltaic cleaning robot performs gas-liquid combined cleaning during the turning and U-turn before cleaning the next row of work; if mode 3 cannot clean completely, the main control system judges that it cannot accurately identify the path, and the photovoltaic cleaning robot automatically arrives at the lower edge of the photovoltaic panel area of this work and waits for manual troubleshooting.

2. The self-cleaning device for cleaning a camera on a robot according to claim 1, wherein, The first connecting part and the second connecting part are integrally formed, and the shapes of the first connecting part and the second connecting part are both cylindrical.

3. The self-cleaning device for cleaning a camera on a robot according to claim 1, wherein, The outer diameter of the first connecting part is greater than the outer diameter of the second connecting part, and the inner diameter of the first positioning hole is greater than the inner diameter of the second positioning hole.

4. The self-cleaning device for cleaning a camera on a robot according to claim 1, wherein, The inner side wall lower part of the dustproof cover is provided with a circular annular second mounting groove in the circumferential direction at the bottom of the first mounting groove, a first rubber ring is arranged in the second mounting groove, and the lower surface of the dustproof gasket abuts against the first rubber ring.

5. The self-cleaning device for cleaning a camera on a robot according to claim 4, wherein, A second rubber ring is further included and arranged between the lower end of the first connecting part and the upper surface of the dustproof gasket.

6. The self-cleaning device for cleaning a camera on a robot according to claim 1, wherein, The side wall of the box body is provided with a mounting hole, a second mounting part is arranged in the mounting hole, two ends of the second mounting part are located inside and outside the box body respectively, one end of the second mounting part is connected with one end of the first mounting part through a connecting hose, and the other end of the second mounting part is connected with the air pump or the water pump through a conveying pipe.

7. The self-cleaning device for cleaning a camera on a robot according to claim 1, wherein, The main control driving board is provided with light supplement lamps at positions of four corners thereof respectively, and the light supplement lamps extend downward after penetrating through limiting through holes of the mounting plate.

8. The self-cleaning device for cleaning a camera on a robot according to claim 1, wherein, The rear side wall, the left side wall and the right side wall of the upper cover are provided with square through holes, the top end of the upper cover is provided with a fixing groove, and a heat dissipation fan is arranged in the fixing groove.

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