Anti-tilt working method of a photovoltaic panel cleaning robot

Abstract

The application discloses a kind of photovoltaic panel cleaning robot anti-inclination working method, including vehicle body and cleaning mechanism, flexible suction cup type track is arranged in vehicle body two sides, and the liftable anti-inclination caster is respectively arranged in vehicle body bottom two sides;When working, vehicle body is placed on the inclined photovoltaic panel, and makes car head towards the arrangement direction of photovoltaic panel, at this time, the height difference exists in the suction cup type track of vehicle body two sides, and the degree of compression deformation of the suction cup type track of vehicle body lower side is greater than the suction cup type track of vehicle body upper side;Make the anti-inclination caster of the lower side close to vehicle body lower side and move down, until the anti-inclination caster and photovoltaic panel abut and support the lower side of vehicle body, so that the degree of compression deformation of the suction cup type track of vehicle body lower side is reduced to the same with the suction cup type track of upper side, to prevent photovoltaic panel cleaning robot from walking on the inclined photovoltaic panel, and the relative inclination between photovoltaic cleaning robot and photovoltaic panel surface occurs.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robots, and in particular to an anti-tilt working method of a photovoltaic panel cleaning robot. Background Art

[0002] Photovoltaic power generation is an ideal clean energy source. In actual applications, surface particles and dust accumulated by human activities will continuously deposit on the surface of photovoltaic panels, thereby reducing power generation efficiency. Photovoltaic cleaning robots can clean dust accumulated on the surface of photovoltaic panels. Currently, there is a photovoltaic cleaning robot that uses a suction cup track as its walking mechanism. When the photovoltaic cleaning robot walks on the inclined photovoltaic panel, the suction cup tracks on both sides of the photovoltaic cleaning robot are subjected to different gravity. Therefore, the degree of compression and deformation of the suction cup tracks on both sides is different, causing the photovoltaic cleaning robot to tilt relative to the surface of the photovoltaic panel, and then causing the cleaning brush roller of the photovoltaic cleaning robot to tilt relative to the surface of the photovoltaic panel, and one end of the cleaning brush roller to tilt up, affecting the cleaning effect of the cleaning brush roller. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an anti-tilt working method for a photovoltaic panel cleaning robot to prevent the photovoltaic panel cleaning robot from tilting relative to the surface of the photovoltaic panel when walking on the tilted photovoltaic panel.

[0004] Technical solution: In order to achieve the above-mentioned purpose, the present invention provides an anti-tilt working method of a photovoltaic panel cleaning robot. The photovoltaic panel cleaning robot includes a body and a cleaning mechanism. There are flexible suction cup tracks on both sides of the body, and liftable anti-tilt casters are respectively provided on both sides of the bottom of the body; the working steps of the photovoltaic panel cleaning robot are as follows: S1: The body is placed on the inclined photovoltaic panel, and the front of the vehicle is directed toward the arrangement direction of the photovoltaic panel. At this time, there is a height difference between the suction cup tracks on both sides of the body, and the degree of compression deformation of the suction cup tracks on the lower side of the body is greater than that of the suction cup tracks on the upper side of the body; S2: The anti-tilt caster close to the lower side of the body moves downward until the anti-tilt caster is against the photovoltaic panel and supports the lower side of the body, so that the degree of compression deformation of the suction cup tracks on the lower side of the body is reduced to the same as that of the upper side. The suction cup track on one side is the same; S3: the vehicle body moves toward the arrangement direction of the photovoltaic panels, driving the cleaning mechanism to clean the surface of the photovoltaic panels; S4: after the vehicle body moves to the edge of the photovoltaic panel array that needs to be cleaned, the anti-tilt caster that was originally moved down moves up and retracts, the vehicle body turns around, and the other anti-tilt caster executes the steps in S2; S5: repeat steps S3 to S4 until the surface of the photovoltaic panel is completely cleaned; a lifting mechanism is provided at the bottom of the vehicle body to drive the anti-tilt caster to rise and fall, and the lifting mechanism is connected to the anti-tilt caster through an elastic component; in step S2, after the anti-tilt caster is against the photovoltaic panel, the elastic component is compressed, and the elastic force of the elastic component on the vehicle body is obliquely upward toward the upper side of the vehicle body, offsetting the component of gravity of the photovoltaic panel cleaning robot parallel to the surface of the photovoltaic panel.

[0005] Furthermore, the elastic component is a thrust spring; in step S2, after the anti-tilt caster is against the photovoltaic panel, the thrust spring is compressed; in step S4, after the anti-tilt caster is moved up and retracted, the anti-tilt caster is separated from the surface of the photovoltaic panel, and the thrust spring is stretched under the action of the gravity of the anti-tilt caster.

[0006] Furthermore, the lifting mechanism includes a telescopic oil cylinder and a piston rod, the piston rod is elastically connected to the anti-tilt caster through a thrust spring, and the telescopic direction of the piston rod is consistent with the elastic telescopic direction of the thrust spring.

[0007] Furthermore, in step S2, the wheel surface of the anti-tilt caster having a certain wheel width abuts against the photovoltaic panel, so that friction resistance is generated between the wheel surface of the anti-tilt caster and the photovoltaic panel.

[0008] Furthermore, the anti-tilt caster is installed on a rotating bracket, the rotating bracket and the connecting piece are rotatably connected, and the connecting piece is connected to the lifting mechanism through an elastic component; in step S2, the rotating bracket can rotate relative to the connecting piece to adjust the angle of the anti-tilt caster, so that when the anti-tilt caster is against the photovoltaic panel, the wheel surface of the anti-tilt caster is tangent to the surface of the photovoltaic panel.

[0009] Furthermore, the suction cup track includes a flexible track and multiple flexible suction cups. There is a driving mechanism on the vehicle body to drive the flexible track to rotate. The flexible suction cups are arranged on the walking surface of the flexible track, and the vehicle body is adsorbed on the inclined photovoltaic panel through the flexible suction cups.

[0010] Furthermore, the cleaning mechanism is arranged in front of the vehicle body; in step S3, after the cleaning mechanism cleans the photovoltaic panel, the flexible suction cups in the suction cup track are adsorbed on the cleaned photovoltaic panel.

[0011] Furthermore, the cleaning mechanism includes a cleaning brush roller having a bristle structure thereon; in step S3, the rotation axis of the cleaning brush roller is parallel to the surface of the photovoltaic panel, the cleaning brush roller actively rotates, and the rotation direction is opposite to the rotation direction of the flexible track, driving the bristle structure to slide and rub against the surface of the photovoltaic panel.

[0012] Beneficial effects: The anti-tilt working method of the photovoltaic panel cleaning robot of the present invention has the following beneficial effects:

[0013] 1) Liftable anti-tilt casters are provided on both sides of the bottom of the vehicle body. When the photovoltaic panel cleaning robot walks on the tilted photovoltaic panel, the anti-tilt casters near the bottom of the vehicle body move down and rest against the photovoltaic panel, so that the anti-tilt casters support the vehicle body. The supporting effect of the anti-tilt casters reduces the degree of compression deformation of the suction cup crawler on the lower side of the vehicle body until it is the same as that of the suction cup crawler on the upper side, thereby preventing the vehicle body and the photovoltaic panel from tilting relative to each other, so that the cleaning brush roller can evenly clean the surface of the photovoltaic panel;

[0014] 2) Since the flexible suction cup track will deform, when the vehicle body moves along the arrangement direction of the photovoltaic panel on the inclined photovoltaic panel, the component of gravity parallel to the surface of the photovoltaic panel will cause the vehicle body to deflect toward the bottom of the photovoltaic panel. The vehicle body cannot maintain a straight line well, which may cause some areas on the photovoltaic panel to not be cleaned. Therefore, an oblique elastic component is provided between the anti-tilt caster and the lifting mechanism. When the anti-tilt caster is against the photovoltaic panel, the elastic force of the elastic component can offset the component of gravity of the photovoltaic panel cleaning robot parallel to the surface of the photovoltaic panel, so that the vehicle body can better maintain a straight line on the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Attachment Figure 1 A flowchart of the present invention;

[0016] Attachment Figure 2 This is a top view of the photovoltaic panel cleaning robot;

[0017] Attachment Figure 3 This is a bottom view of the photovoltaic panel cleaning robot;

[0018] Attachment Figure 4 This is a schematic diagram of the structure of the anti-tilt caster;

[0019] The corresponding component names represented by the numbers and letters in the figure are: vehicle body 1, cleaning mechanism 2, suction cup track 3, anti-tilt caster 4, lifting mechanism 5, elastic component 6, telescopic cylinder 7, piston rod 8, rotating bracket 9, connecting part 10, cleaning brush roller 11, and bristle structure 12. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to the accompanying drawings.

[0021] As attached Figures 1 to 4 The photovoltaic panel cleaning robot includes a body 1 and a cleaning mechanism 2. Flexible suction-cup crawlers 3 are provided on both sides of the body 1. The suction-cup crawlers 3 deform when subjected to pressure. Liftable anti-tilt casters 4 are provided on both sides of the bottom of the body 1.

[0022] The working steps of the photovoltaic panel cleaning robot are as follows:

[0023] S1: There are multiple photovoltaic panels arranged in an inclined manner. The vehicle body 1 is placed on the inclined photovoltaic panels with the front of the vehicle facing the arrangement direction of the photovoltaic panels. At this time, there is a height difference between the suction cup tracks 3 on both sides of the vehicle body 1. The degree of compression deformation of the suction cup tracks 3 on the lower side of the vehicle body 1 is greater than that on the upper side of the vehicle body 1, causing the vehicle body 1 to tilt relative to the surface of the photovoltaic panels.

[0024] S2: The anti-tilt caster 4 near the lower side of the vehicle body 1 moves downward until the anti-tilt caster 4 contacts the photovoltaic panel and supports the lower side of the vehicle body 1, so that the degree of compression deformation of the suction cup track 3 on the lower side of the vehicle body 1 is reduced to the same level as that of the suction cup track 3 on the upper side, thereby keeping the vehicle body 1 parallel to the surface of the photovoltaic panel, and correspondingly, the cleaning mechanism 2 also keeps parallel to the surface of the photovoltaic panel;

[0025] S3: The vehicle body 1 moves toward the arrangement direction of the photovoltaic panels, driving the cleaning mechanism 2 to clean the surface of the photovoltaic panels;

[0026] S4: After the vehicle body 1 moves to the edge of the photovoltaic panel array that needs to be cleaned, the anti-tilt caster 4 that was originally moved down moves up and retracts, the vehicle body 1 turns around, and the other anti-tilt caster 4 performs the steps in S2;

[0027] S5: Repeat steps S3 to S4 to move the vehicle body 1 back and forth along an S-shaped route on the photovoltaic panel array until the surface of the photovoltaic panel is completely cleaned.

[0028] Two sets of anti-tilt casters 4 are provided at the bottom of the vehicle body 1. When the vehicle body 1 moves back and forth along an S-shaped route on the photovoltaic panel array, the upper and lower sides of the vehicle body 1 will alternate, so the two sets of anti-tilt casters 4 alternately support the lower side of the vehicle body 1, so that the degree of compressive deformation of the suction cup track 3 on the lower side of the vehicle body 1 can be reduced to the same as that of the suction cup track 3 on the upper side, thereby keeping the vehicle body 1 relatively parallel to the photovoltaic panel. Correspondingly, the cleaning mechanism 2 can also be relatively parallel to the photovoltaic panel, so that the cleaning mechanism 2 can evenly clean the surface of the photovoltaic panel.

[0029] When the vehicle body 1 moves horizontally on the inclined photovoltaic panel, the flexible suction cup track 3 will deform. Therefore, under the action of the component of gravity parallel to the surface of the photovoltaic panel, the vehicle body 1 will tilt slightly downward relative to the suction cup. The suction cup above the track that is not adsorbed will also tilt slightly downward relative to the suction cup that has been adsorbed on the photovoltaic panel. Therefore, when the suction cup that was not adsorbed originally is adsorbed on the photovoltaic panel as the track rotates, the subsequent adsorbed suction cup will tilt slightly downward relative to the previously adsorbed suction cup. After this accumulates, the vehicle body 1 will deflect downward and the vehicle body 1 will not be able to maintain a straight line. If the vehicle body 1 actively adjusts the driving direction and corrects the driving direction to a straight line, the direction correction will generally be delayed. It is often corrected after the vehicle body 1 deflects. However, during the process of the vehicle body 1 deflecting its driving direction, some areas on the photovoltaic panel are not swept by the cleaning mechanism 2, which may result in some areas on the photovoltaic panel not being cleaned.

[0030] A lifting mechanism 5 is provided at the bottom of the vehicle body 1 to raise and lower the anti-tilt casters 4. The lifting mechanism 5 is connected to the anti-tilt casters 4 via an elastic component. In step S2, after the anti-tilt casters 4 contact the photovoltaic panels, the elastic components are compressed, and the elastic force of the elastic components 6 on the vehicle body 1 is directed diagonally upward toward the upper side of the vehicle body 1, offsetting the component of the PV panel cleaning robot's gravity parallel to the photovoltaic panel surface. This prevents the vehicle body 1 from deflecting during travel and ensures that the vehicle body 1 moves in a straight line.

[0031] The elastic component 6 is a thrust spring. In step S2, after the anti-tilt caster 4 contacts the photovoltaic panel, the thrust spring is compressed. This provides an elastic force to the vehicle body 1, counteracting the component of gravity of the photovoltaic panel cleaning robot parallel to the panel surface. In step S4, after the anti-tilt caster 4 is moved upward and retracted, the anti-tilt caster 4 is spaced from the photovoltaic panel surface to prevent collision with the panel and affect the vehicle body 1's U-turn. At this point, the thrust spring is stretched under the weight of the anti-tilt caster 4.

[0032] The lifting mechanism 5 includes a telescopic cylinder 7 and a piston rod 8. The telescopic cylinder 7 is fixed to the bottom of the vehicle body 1. The piston rod 8 is driven to extend and retract by the telescopic cylinder 7. The piston rod 8 is elastically connected to the anti-tilt caster 4 through a thrust spring. The extension and retraction direction of the piston rod 8 is consistent with the elastic extension and retraction direction of the thrust spring.

[0033] In step S2, the anti-tilt caster 4 has a wheel surface with a certain wheel width that abuts against the photovoltaic panel, so that friction resistance is generated between the wheel surface of the anti-tilt caster 4 and the photovoltaic panel. The existence of friction resistance enables the anti-tilt caster 4 to abut against the photovoltaic panel and compress the thrust spring.

[0034] The anti-tilt caster 4 is mounted on a rotating bracket 9, which is rotatably connected to a connector 10. The connector 10 is connected to the lifting mechanism 5 via an elastic member 6. In step S2, the rotating bracket 9 can be rotated relative to the connector 10 to adjust the angle of the anti-tilt caster 4. When the anti-tilt caster 4 abuts the photovoltaic panel, the wheel surface of the anti-tilt caster 4 is tangential to the surface of the photovoltaic panel, thereby increasing the frictional resistance between the wheel surface of the anti-tilt caster 4 and the surface of the photovoltaic panel. Due to the rotatable connection between the rotating bracket 9 and the connector 10, the angle of the anti-tilt caster 4 is adjustable, thereby accommodating photovoltaic panels with different degrees of tilt.

[0035] The suction cup track 3 includes a flexible track and multiple flexible suction cups. There is a driving mechanism on the vehicle body 1 to drive the flexible track to rotate. The flexible suction cups are arranged on the walking surface of the flexible track. The vehicle body 1 is adsorbed on the inclined photovoltaic panel through the flexible suction cups to prevent the vehicle body 1 from falling from the inclined photovoltaic panel.

[0036] The cleaning mechanism 2 is arranged in front of the vehicle body 1. In step S3, after the cleaning mechanism 2 cleans the photovoltaic panel, the flexible suction cup in the suction cup track 3 is adsorbed on the cleaned photovoltaic panel to avoid the suction cup being adsorbed on the photovoltaic panel with accumulated dust. This can make the adsorption effect of the suction cup and the photovoltaic panel better and the vehicle body 1 is not easy to fall off.

[0037] The cleaning mechanism 2 includes a cleaning brush roller 11, which has a bristle structure 12. The cleaning brush roller 11 is rotatably mounted on a bracket, which has a motor for driving the cleaning roller to rotate. The bracket is fixedly mounted in front of the vehicle body 1. In step S3, the rotation axis of the cleaning brush roller 11 is parallel to the surface of the photovoltaic panel. The cleaning brush roller 11 actively rotates in a direction opposite to that of the flexible crawler, driving the bristle structure 12 to slide and rub against the surface of the photovoltaic panel, thereby pushing the accumulated dust forward and achieving a better cleaning effect.

[0038] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for preventing tilting of a photovoltaic panel cleaning robot, characterized in that: The photovoltaic panel cleaning robot consists of a body and a cleaning mechanism. There are flexible suction cup tracks on both sides of the body, and liftable anti-tilt casters on both sides of the bottom of the body. The working steps of the photovoltaic panel cleaning robot are as follows: S1: The vehicle body is placed on the inclined photovoltaic panels, with the front of the vehicle facing the arrangement direction of the photovoltaic panels. At this time, there is a height difference between the suction cup tracks on both sides of the vehicle body. The degree of compression deformation of the suction cup tracks on the lower side of the vehicle body is greater than that on the upper side of the vehicle body. S2: The anti-tilt caster on the lower side of the vehicle body moves downward until it contacts the photovoltaic panel and supports the lower side of the vehicle body, so that the compression deformation of the suction cup track on the lower side of the vehicle body is reduced to the same degree as that of the suction cup track on the upper side; S3: The vehicle moves toward the arrangement direction of the photovoltaic panels, driving the cleaning mechanism to clean the surface of the photovoltaic panels; S4: After the vehicle body moves to the edge of the photovoltaic panel array that needs to be cleaned, the anti-tilt caster that was originally moved down moves up and retracts, the vehicle body turns around, and the steps in S2 are performed by the other anti-tilt caster; S5: Repeat steps S3 to S4 until the surface of the photovoltaic panel is completely cleaned; A lifting mechanism is provided at the bottom of the vehicle body to drive the anti-tilt casters to rise and fall, and the lifting mechanism is connected to the anti-tilt casters through elastic components; In step S2, after the anti-tilt caster is against the photovoltaic panel, the elastic component is compressed, and the elastic force of the elastic component on the vehicle body is directed obliquely upward toward the upper side of the vehicle body, offsetting the component of the gravity of the photovoltaic panel cleaning robot parallel to the surface of the photovoltaic panel.

2. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 1, characterized in that: The elastic component is a thrust spring; In step S2, after the anti-tilt caster abuts against the photovoltaic panel, the thrust spring is compressed; In step S4, after the anti-tilt caster is moved upward and retracted, the anti-tilt caster is spaced apart from the surface of the photovoltaic panel, and the thrust spring is stretched under the gravity of the anti-tilt caster.

3. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 2, characterized in that: The lifting mechanism includes a telescopic oil cylinder and a piston rod. The piston rod is elastically connected to the anti-tilt caster through a thrust spring. The telescopic direction of the piston rod is consistent with the elastic telescopic direction of the thrust spring.

4. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 1, characterized in that: In step S2, the wheel surface of the anti-tilt caster with a certain wheel width abuts against the photovoltaic panel, so that friction resistance is generated between the wheel surface of the anti-tilt caster and the photovoltaic panel.

5. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 4, characterized in that: The anti-tilt caster is mounted on a rotating bracket, the rotating bracket is rotatably connected to the connecting piece, and the connecting piece is connected to the lifting mechanism via an elastic component; In step S2, the rotating bracket can rotate relative to the connecting member to adjust the angle of the anti-tilt caster so that when the anti-tilt caster abuts against the photovoltaic panel, the wheel surface of the anti-tilt caster is tangent to the surface of the photovoltaic panel.

6. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 1, characterized in that: The suction cup track includes a flexible track and multiple flexible suction cups. There is a driving mechanism on the vehicle body to drive the flexible track to rotate. The flexible suction cups are arranged on the walking surface of the flexible track. The vehicle body is adsorbed on the inclined photovoltaic panel through the flexible suction cups.

7. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 6, characterized in that: The cleaning mechanism is arranged in front of the vehicle body; In step S3, after the cleaning mechanism cleans the photovoltaic panel, the flexible suction cups in the suction cup track are adsorbed on the cleaned photovoltaic panel.

8. The anti-tilt working method of a photovoltaic panel cleaning robot according to claim 7, characterized in that: The cleaning mechanism includes a cleaning brush roller, and the cleaning brush roller has a bristle structure; In step S3, the rotation axis of the cleaning brush roller is parallel to the surface of the photovoltaic panel, and the cleaning brush roller actively rotates, and the rotation direction is opposite to the rotation direction of the flexible track, driving the bristle structure to slide and rub against the surface of the photovoltaic panel.

Images