Cleaning method for crawler wheels of photovoltaic operation robot and base station

Abstract

The invention relates to the technical field of photovoltaic power generation, in particular to a photovoltaic operation robot crawler wheel cleaning method and a base station, a cleaning system comprises an operation robot and a base station, the operation robot is provided with a crawler, the base station is provided with a containing cavity, and a cleaning tank and a cleaning assembly are arranged in the containing cavity; the cleaning method comprises the steps that when the crawler wheels are located in the cleaning tank, the crawler belt is controlled to make contact with the cleaning assembly; and the hub is controlled to rotate to drive the crawler belt to rotate, so that the outer surface of the crawler belt is in contact with the cleaning assembly in sequence. According to the embodiment of the invention, through the arrangement of the base station, after the operation robot is placed in the cleaning tank of the base station, the base station can be automatically cleaned, manual cleaning of technicians is not needed, the operation steps of the technicians are simplified, and the technicians can use the base station conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power generation, and in particular to a cleaning method and a base station for a photovoltaic operation robot track wheel. Background Art

[0002] Since photovoltaic panels are usually tilted to the ground, in order to prevent the robot working on the photovoltaic panels from falling, the robot usually uses track wheels as a walking mechanism. However, there is a lot of dust on the photovoltaic panels, so when the robot walks on the photovoltaic panels, a lot of dust will adhere to the track, and the dust on the track will affect the walking stability of the robot on the photovoltaic panels. Summary of the invention

[0003] In order to solve one of the above technical problems, the present invention provides a cleaning method and a base station for the track wheels of a photovoltaic operation robot.

[0004] In a first aspect, the present invention provides a method for cleaning a track wheel of a photovoltaic operation robot, which is applied to a cleaning system, wherein the cleaning system comprises an operation robot and a base station, wherein the operation robot comprises a track wheel, wherein the track wheel comprises a plurality of wheel hubs arranged at intervals and a track sleeved on the outer surface of the wheel hub, and wherein the base station comprises a cleaning tank for accommodating the track wheel, wherein the cleaning tank has a cleaning component; the cleaning method comprises:

[0005] When the track wheel is located in the cleaning tank, controlling the track to contact the cleaning assembly;

[0006] The wheel hub is controlled to rotate to drive the crawler belt to rotate, so that the outer surface of the crawler belt contacts the cleaning assembly in turn.

[0007] Beneficial effects: The embodiment of the present invention provides a cleaning tank and a cleaning component in the base station. After the working robot is placed in the cleaning tank, the outer surface of the crawler will be in contact with the cleaning component during the rotation process, completing the cleaning process. Therefore, there is no need for manual cleaning by technicians, which simplifies the operation steps of technicians and facilitates their use.

[0008] In an optional embodiment, the cleaning assembly includes a protrusion located at the bottom of the cleaning tank, and the length of the protrusion is greater than or equal to the width of the track.

[0009] In an optional implementation, controlling the wheel hub to rotate so as to drive the track to rotate includes:

[0010] The wheel hub is controlled to rotate in a first direction so that the crawler belt rotates at least one circle, and then the wheel hub is controlled to rotate in a second direction so that the crawler belt rotates at least one circle.

[0011] Beneficial effect: The embodiment of the present invention controls the crawler to rotate alternately in different directions, so that the cleaning assembly can clean the crawler in different directions, avoiding areas that are blocked and cannot be cleaned when cleaning in only one direction. Therefore, the cleaning effect of the cleaning assembly on the crawler can be improved.

[0012] In an optional embodiment, the loop cloth on the crawler is provided with a plurality of through holes, the working robot further comprises a fan and a heating wire, the fan is connected to the through hole at the bottom of the crawler, and the heating wire is located on a passage connecting the fan and the through hole; the cleaning method further comprises:

[0013] When the wheel hub is controlled to rotate to drive the crawler belt to rotate, the fan is controlled to blow air toward the connected through holes, and the heating wire is controlled to heat.

[0014] Beneficial effect: In the embodiment of the present invention, by aligning the through hole with the fan, when the working robot cleans the photovoltaic panel, the negative pressure generated during the suction process can stably adsorb the track on the photovoltaic panel, thereby preventing the working robot from falling off the photovoltaic panel. At the same time, when the track of the working robot is cleaned, the inner and outer surfaces of the track can be dried by the wind flow generated during the air outlet process. Therefore, the fan in this embodiment has a dual effect. In the embodiment of the present invention, a heating wire is provided, and the wind blown out by the fan becomes hot air after being heated by the heating wire, so that the cleaning water can be heated. The higher temperature of the cleaning water significantly improves the solubility of stains, which can improve the cleaning effect of the cleaning water.

[0015] In an optional embodiment, the base station further includes a fixing rod, wherein the fixing rod has a first state for fixing the working robot and a second state for releasing the working robot.

[0016] Beneficial effect: The embodiment of the present invention can fix the working robot during the process of cleaning the track by setting a fixing rod, prevent the relative rotation of the cleaning component and the track from moving the working robot out of the cleaning tank, and ensure the stability of the working robot.

[0017] In an optional embodiment, the base station includes a base, and the cleaning tank is arranged on the base; the fixing rods include at least three, and the fixing rods are telescopically arranged on the base, and at least three of the fixing rods are not in a straight line.

[0018] Beneficial effect: When the crawler track rotates, compared with the arrangement of multiple fixing rods in a straight line, the embodiment of the present invention can significantly improve the stability of the fixing rods to the working robot by not arranging the multiple fixing rods in a straight line.

[0019] In an optional embodiment, the base station includes a base and a mounting seat, the mounting seat is located above the base, the cleaning tank is arranged on the base, the fixing rod is telescopically arranged on the mounting seat, and the fixing rod is arranged opposite to the cleaning tank.

[0020] Beneficial effect: The embodiment of the present invention can make the track closer to the cleaning assembly when cleaning the track by movably setting the fixing rod on the mounting seat, thereby increasing the friction between the track and the cleaning assembly and enhancing the cleaning effect. When drying the track, the distance between the track and the cleaning assembly can be increased to ensure that the wind flow generated by the fan can properly enter between the bottom of the track and the cleaning assembly, thereby improving the drying efficiency of the track.

[0021] In an optional embodiment, the cleaning tank further includes a flange around it, and the flange extends from the edge of the cleaning tank to the inside of the cleaning tank.

[0022] Beneficial effect: The embodiment of the present invention provides a flange, and when the hot air heats the cleaning water, the wind blows the cleaning water in the cleaning tank to fluctuate, and the cleaning water can flow back to the cleaning tank after touching the flange, thereby preventing the wind from blowing the cleaning water out. In addition, during the drying process, the flange can circulate the wind in the cleaning tank, thereby further improving the drying efficiency of the crawler.

[0023] In an optional embodiment, the cleaning method further comprises:

[0024] After the crawler belt is cleaned, the water in the cleaning tank is drained;

[0025] Controlling the fixing rod to drive the crawler belt to separate from the cleaning assembly;

[0026] The hub is controlled to rotate, the fan is controlled to blow air toward the connected through hole, and the heating wire is controlled to heat.

[0027] Beneficial effects: The embodiment of the present invention dries the cleaned track by using a fan to blow air after the cleaning water is discharged. The wind can not only dry the inside of the track, but also dry the inner wall of the cleaning tank. When drying the track, the distance between the track and the cleaning component can be increased to ensure that the wind flow generated by the fan can properly enter between the bottom of the track and the cleaning component, thereby improving the drying efficiency of the track. In addition, the embodiment of the present invention is provided with a heating wire, and the wind flow can be heated after passing through the heating wire. Compared with the wind flow at normal temperature, the hot air can obviously improve the drying efficiency of the track.

[0028] In an optional embodiment, the cleaning method further comprises:

[0029] obtaining a current of a motor driving the wheel hub;

[0030] When the current is greater than a preset value, the fixing rod is controlled to drive the track to move a preset distance in a direction away from the bump.

[0031] Beneficial effect: The embodiment of the present invention can determine the friction between the track and the bump by obtaining the current. If the friction is too large, the wheel hub cannot rotate normally, and the current value of the motor will increase. Therefore, it can avoid the motor of the wheel hub from being damaged during cleaning.

[0032] In an optional implementation, the protrusion is made of a flexible material, and the flexible material is at least sponge or rubber.

[0033] In a second aspect, the present invention further provides a base station, the base station comprising:

[0034] A base station body and a base for carrying a cleaning device, wherein a controller and a memory are arranged on the base station body, the memory is used to store a computer program, and the controller is coupled to the memory for executing the computer program to execute the steps in the cleaning method described in any one of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 is a schematic diagram of a working robot in an embodiment of the present invention;

[0037] Figure 2 is a schematic top view of a base station in an embodiment of the present invention;

[0038] Figure 3 is a schematic diagram of the working robot in another direction according to an embodiment of the present invention;

[0039] Figure 4 Schematic diagram of the interior of the working robot in the embodiment of the present invention;

[0040] Figure 5 is a side schematic diagram of a base station in an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of a working robot in a cleaning tank according to an embodiment of the present invention;

[0042] Figure 7 This is a schematic diagram of the operation of the working robot in an embodiment of the present invention.

[0043] Description of reference numerals:

[0044] 1. operating robot; 11. crawler wheel; 111. through hole; 112. crawler; 113. wheel hub; 12. fan; 13. fixing part; 2. base station; 21. cleaning tank; 211. flange; 22. bump; 23. fixing rod; 24. base; 25. mounting base; 3. photovoltaic panel. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal communication of two components, it can be a wireless connection, or it can be a wired connection. For ordinary workers in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] like Figure 7As shown, in order to improve the power generation efficiency of the photovoltaic panel 3, the photovoltaic panel 3 will have an inclination angle with the ground, and in order to prevent the working robot 1 working on the photovoltaic panel 3 from falling, the working robot 1 usually uses a crawler 112 as a walking mechanism. The working robot 1 working on the photovoltaic panel 3 may include a cleaning robot, a detection robot, and a maintenance robot. When there is a fault (such as a hot spot, a crack, etc.) in the photovoltaic panel 3, it may cause damage to the photovoltaic panel 3. The photovoltaic panel 3 needs to be detected in time to repair or replace the photovoltaic panel 3. Since the photovoltaic panel 3 will be dirty after long-term use, it will affect the power generation of the photovoltaic panel 3. In order to further ensure the power generation efficiency of the photovoltaic panel 3 and facilitate the operation of the technicians, the working robot 1 that automatically cleans the photovoltaic panel 3 is currently used. Since there is a lot of dust on the photovoltaic panel 3, when the working robot 1 walks on the photovoltaic panel 3, a lot of dust will adhere to the crawler 112, and the dust on the crawler 112 will affect the walking stability of the working robot 1 on the photovoltaic panel 3.

[0050] Therefore, currently, after the working robot 1 has worked for a period of time or after the cleaning work is completed, the technician usually removes the working robot 1 from the photovoltaic panel 3 and then cleans the crawler 112 of the working robot 1 personally, which makes the operation more cumbersome and inconvenient to use. Figures 1 to 7 , describing an embodiment of the present invention.

[0051] According to an embodiment of the present invention, on the one hand, a method for cleaning the track wheel of a photovoltaic working robot is provided, wherein the cleaning system comprises a working robot 1 and a base station 2, wherein the working robot 1 can be used to clean, repair or inspect a photovoltaic panel 3, and the base station 2 can be used to clean the track 112 on the track wheel 11 of the working robot 1, charge the working robot 1, etc. Specifically, Figures 1 to 3 As shown, the track wheel 11 includes a plurality of wheel hubs 113 arranged at intervals and a track 112 sleeved on the outer surface of the wheel hub 113. The base station 2 includes a cleaning tank 21 for accommodating the track wheel 11. The cleaning tank 21 has a cleaning component, and the cleaning component is suitable for cleaning the track 112 in the cleaning tank 21. The specific type of the cleaning component can be a cleaning brush, a cleaning protrusion, or a cleaning nozzle. Of course, this embodiment is only an example of the specific type of the cleaning component, but it is not limited to this. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0052] Furthermore, in an embodiment of the present invention, the cleaning method specifically comprises the following steps:

[0053] S1. When the track wheel 11 is located in the cleaning tank 21, the track 112 is controlled to contact with the cleaning assembly.

[0054] The working robot 1 can be put into the base station 2 by a technician manually, or the working robot 1 can find it by itself according to the actual position of the base station 2. After the working robot 1 enters the base station 2, the base station 2 and the working robot 1 can communicate and connect, that is, the base station 2 can start the cleaning program and communicate with the working robot 1 to enable the working robot 1 to perform corresponding actions.

[0055] S2. Control the wheel hub 113 to rotate to drive the crawler belt 112 to rotate, so that the outer surface of the crawler belt 112 contacts the cleaning components in sequence.

[0056] In the embodiment of the present invention, cleaning water may be introduced into the cleaning tank 21 in advance, or a nozzle may be provided on the cleaning component to spray cleaning water, thereby achieving the purpose of automatic water supply.

[0057] During the cleaning process, the cleaning assembly and the crawler 112 can be controlled to move relative to each other. For example, the cleaning assembly can be kept stationary, and then the wheel hub 113 can be controlled to rotate, thereby driving the crawler 112 to rotate, so that the outer surface of the crawler 112 contacts the cleaning assembly in turn, so that the outer surface of the crawler 112 can be cleaned as a whole.

[0058] After the cleaning is completed, the cleaning assembly and the crawler belt 112 stop working. Then the technician can manually take out the working robot 1, or the working robot 1 automatically walks out of the base station 2.

[0059] In this way, the embodiment of the present invention sets the base station 2. After the working robot 1 is placed in the cleaning tank 21 of the base station 2, the cleaning component of the base station 2 will contact the crawler 112, and the rotation of the wheel hub 113 can drive the rest of the crawler to contact the cleaning component in turn, so that the cleaning component can automatically clean the crawler 112, without the need for manual cleaning by technicians, simplifying the operation steps of technicians and facilitating their use. In addition, the crawler 112 can be cleaned more cleanly by using water and the cleaning component.

[0060] Further, in an optional embodiment, as Figure 2 As shown, the cleaning assembly includes a protrusion 22 located at the bottom of the cleaning tank 21 , and the length of the protrusion 22 is greater than or equal to the width of the crawler 112 .

[0061] As for the type of cleaning component, the use of the protrusion 22 can better fit the structure of the track 112. When the protrusion 22 is in contact with the track 112, the protrusion 22 will rub against the outer surface of the track 112 when the track 112 rotates, so that the protrusion 22 can remove stains on the outer surface of the track 112. And the length of the protrusion 22 is greater than or equal to the width of the track 112, so that the protrusion 22 can clean the entire outer surface of the track 112 without omission.

[0062] The protrusion 22 can be made of a flexible material, which is at least sponge or rubber. The flexible material can better fit the crawler 112, so the crawler 112 can be cleaned more cleanly than hard materials.

[0063] Furthermore, in the embodiment of the present invention, the length of the protrusion 22 needs to be greater than or equal to the width of the track 112. This ensures that the protrusion 22 completely covers the entire outer surface of the track 112, thereby improving the working efficiency of the cleaning assembly.

[0064] Further, in an optional implementation manner, the step S2 of “controlling the wheel hub 113 to rotate so as to drive the crawler belt 112 to rotate” specifically includes:

[0065] S21, controlling the wheel hub 113 to rotate in a first direction to rotate the crawler 112 at least one circle, and then controlling the wheel hub 113 to rotate in a second direction to rotate the crawler 112 at least one circle. The first direction and the second direction are opposite, the first direction may be clockwise, and the second direction may be counterclockwise.

[0066] During the cleaning process, the cleaning assembly and the crawler 112 are controlled to move relative to each other. The wheel hub 113 may be controlled to rotate in a first direction to rotate the crawler 112 at least once, and then the wheel hub 113 may be controlled to rotate in a second direction to rotate the crawler 112 at least once. The crawler 112 rotates in opposite directions to make the crawler 112 contact the cleaning assembly in opposite directions, thereby cleaning the stains on the crawler 112 in different directions, thereby ensuring that the crawler 112 is cleaned more cleanly.

[0067] Further, in an optional embodiment, a plurality of through holes 111 are provided on the crawler 112, the working robot 1 further comprises a fan 12 and a heating wire (not shown), the fan 12 is connected to the through hole 111 located at the bottom of the crawler 112, and the heating wire is located on the passage connecting the fan 12 and the through hole 111; the cleaning method further comprises:

[0068] S3. When the wheel hub 113 is controlled to rotate to drive the crawler belt 112 to rotate, the fan 12 is controlled to blow air toward the connected through hole 111, and the heating wire is controlled to heat.

[0069] Specifically, in the embodiment of the present invention, the working robot 1 is provided with a heating wire, which is arranged downstream of the air outlet, that is, between the air outlet of the fan 12 and the connected through hole 111. After the fan 12 blows air, the heating wire works to heat the air. A plurality of through holes 111 are distributed around the crawler 112. When the wheel hub 113 rotates, each through hole will pass through the bottom of the crawler wheel 11 (that is, the side in contact with the protrusion 22). The through hole at the bottom of the crawler 112 is connected to the fan 12, and the air blown by the fan 12 can be blown to the cleaning tank through the through hole at the bottom of the crawler 112.

[0070] Furthermore, in an optional embodiment, cleaning water can be stored in the cleaning tank 21 in advance, and then after the working robot 1 enters the base station 2, the heating wire and the fan 12 are controlled to start at the same time, so that the wind blown out by the fan 12 is heated by the heating wire to become hot air, and the hot air passes through the through hole 111 and enters the cleaning tank, so that the hot air can heat the cleaning water.

[0071] When the temperature of the clean water is low, the decontamination effect of the clean water is poor. If the temperature of the clean water is too high, the decontamination molecules in the clean water may be decomposed by the high temperature, and thus the decontamination effect cannot be achieved. Therefore, the temperature of the clean water can be controlled within a certain range to improve the decontamination effect.

[0072] Taking baking soda water as an example, when the water temperature is around 60°C, for example, between 55°C and 65°C, the activity of baking soda is at its most active stage, and it can effectively remove dirt.

[0073] Of course, this embodiment is only an example to illustrate the specific types of clean water, but it is not limited to this. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0074] In this way, the embodiment of the present invention can heat the cleaning water by arranging the heating wire. The cleaning water with a higher temperature can significantly increase the solubility of stains, thereby improving the cleaning effect of the cleaning water.

[0075] In actual working process, when the base station 2 cleans the working robot 1, the fan 12 is controlled to blow air outward through the air outlet, thereby heating the cleaning water and improving the cleaning effect of the crawler 112. When the working robot 1 cleans the photovoltaic panel 3, the fan 12 is controlled to suck air inward through the air outlet, thereby realizing the adsorption function and ensuring the stability of the working robot 1 on the photovoltaic panel 3.

[0076] With such a configuration, the embodiment of the present invention makes the through hole 111 correspond to the air outlet of the fan 12. When the working robot 1 cleans the photovoltaic panel 3, the negative pressure generated during the air suction process can stably adsorb the crawler 112 on the photovoltaic panel 3, thereby preventing the working robot 1 from falling off the photovoltaic panel. At the same time, when the crawler 112 of the working robot 1 is cleaned, the inner and outer surfaces of the crawler 112 can be dried by the wind flow generated during the air discharge process. Therefore, the fan 12 in this embodiment has a dual effect.

[0077] Further, in an optional embodiment, as Figure 2 and Figure 5 As shown, the base station 2 further includes a fixing rod 23 , and the fixing rod 23 has a first state for fixing the working robot 1 and a second state for releasing the working robot 1 .

[0078] Specifically, a fixing part 13 correspondingly connected to the fixing rod 23 may be provided on the working robot 1. After the working robot 1 completely enters the base station 2, the fixing rod 23 is correspondingly connected to the fixing part 13 to achieve position restriction of the working robot 1.

[0079] Furthermore, in the embodiment of the present invention, the connection method between the fixing rod 23 and the fixing member 13 can be a snap-fit ​​and slot connection method, or a magnetic connection method, which can achieve flexible disassembly.

[0080] For example, a buckle that can be opened and closed is provided at the end of the fixing rod 23, and a slot is provided on the fixing part 13 of the working robot 1. After the working robot 1 completely enters the base station 2, the buckle on the fixing rod 23 opens, thereby correspondingly connecting with the slot on the fixing part 13, thereby realizing position restriction of the working robot 1.

[0081] For example, an electromagnet is provided at the end of the fixing rod 23, and a magnetic attraction part is provided on the fixing part 13 of the working robot 1. After the working robot 1 completely enters the base station 2, the electromagnet on the fixing rod 23 is energized to generate magnetic force, thereby adsorbing correspondingly with the magnetic attraction part on the fixing part 13, thereby realizing position restriction of the working robot 1.

[0082] Of course, this embodiment is only an example to illustrate the specific types of the fixing rod 23 and the fixing member 13, but it is not limited thereto. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0083] With such arrangement, the embodiment of the present invention can fix the working robot 1 during the cleaning process of the track 112 by providing the fixing rod 23 and the fixing member 13, thereby preventing the relative rotation of the cleaning component and the track 112 from moving the working robot 1 out of the cleaning tank, thereby ensuring the stability of the working robot 1.

[0084] Further, in an optional embodiment, as Figure 2 As shown, the base station 2 includes a base 24, and the cleaning tank 21 is arranged on the base 24; the fixing rods 23 include at least three, and the fixing rods 23 are telescopically arranged on the base 24, and at least three of the fixing rods 23 are not in a straight line.

[0085] With such arrangement, when the crawler 112 rotates, compared with the arrangement of multiple fixing rods 23 in a straight line, the embodiment of the present invention can significantly improve the stability of the fixing rods 23 on the working robot 1 by not arranging multiple fixing rods 23 in a straight line. In addition, the fixing rods 23 can be retracted on the base 24 to control the contact degree between the working robot 1 and the protrusion 22, thereby more reasonably controlling the cleaning of the crawler 112.

[0086] Further, in an optional embodiment, as Figure 5 As shown, the base station 2 includes a base 24 and a mounting base 25, the mounting base 25 is located above the base 24, the cleaning tank 21 is arranged on the base 24, the fixing rod 23 is telescopically arranged on the mounting base 25, and the fixing rod 23 is arranged opposite to the cleaning tank 21, that is, the fixing rod 23 is arranged on the side of the mounting base 25 facing the cleaning tank 21.

[0087] Specifically, the fixing rod 23 is movably arranged on the mounting seat 25, that is, after the fixing rod 23 is connected to the fixing member 13, the fixing rod 23 is suitable for adjusting the distance between the bottom of the crawler 112 and the bottom of the cleaning tank 21 when in motion. In other words, the fixing rod 23 can be a structure with a telescopic function, for example, it can be an oil cylinder, and a structure suitable for connecting with the fixing member 13 is arranged at the end of the telescopic rod of the oil cylinder. The fixing rod 23 can also be a scissor-type telescopic structure.

[0088] Of course, this embodiment is only an example to illustrate the specific type of the telescopic functional structure, but it is not limited to this. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0089] In actual application, when the cleaning component cleans the track 112, the fixing rod 23 can be controlled to move so that the bottom of the track 112 and the cleaning component are close to each other. Also, after the cleaning is completed, the fixing rod 23 can be controlled to move so that the bottom of the track 112 and the cleaning component are far away from each other.

[0090] Of course, as an alternative implementation, only a state of being close to each other or a state of being far away from each other may be set.

[0091] In this way, the embodiment of the present invention sets the fixing rod 23 in a telescopic state, so that when cleaning the crawler 112, the crawler 112 can be closer to the cleaning assembly, thereby increasing the friction between the crawler 112 and the cleaning assembly and enhancing the cleaning effect. When drying the crawler 112, the distance between the crawler 112 and the cleaning assembly can be increased to ensure that the wind can properly enter between the bottom of the crawler 112 and the cleaning assembly, thereby improving the drying efficiency of the crawler 112.

[0092] Further, in an optional embodiment, as Figure 6 As shown, the cleaning tank 21 further includes a flange 211 around it, and the flange 211 extends from the edge of the cleaning tank 21 to the inside of the cleaning tank 21.

[0093] In this way, the embodiment of the present invention is provided with flange 211. When the hot air heats the cleaning water, the wind blows the cleaning water in the cleaning tank to fluctuate. After the cleaning water touches the flange 211, it can flow back to the cleaning tank, thereby preventing the wind from blowing the cleaning water out. In addition, during the drying process, flange 211 can circulate the wind in the cleaning tank, thereby further improving the drying efficiency of crawler 112.

[0094] Furthermore, in an optional embodiment, the cleaning method further comprises:

[0095] S4, after the crawler belt 112 is cleaned, the water in the cleaning tank 21 is drained;

[0096] S5, controlling the fixing rod 23 to drive the crawler belt 112 to separate from the cleaning assembly;

[0097] S6, controlling the hub 113 to rotate, the fan 12 to blow air toward the connected through hole 111, and the heating wire to heat.

[0098] In the embodiment of the present invention, since there is still clean water in the cleaning tank 21 after cleaning, it is necessary to drain the used clean water. It should be noted that the base station 2 can also restart the cleaning component to clean the cleaning tank 21 to prevent stains from remaining in the cleaning tank 21. A drainage hole (not shown) may be provided in the cleaning tank 21. When the cleaning water in the cleaning tank 21 needs to be drained, the drainage hole is controlled to open, so that the water in the cleaning tank 21 is drained.

[0099] After the cleaning water is discharged, the fixing rod 23 can be controlled to drive the crawler 112 to separate from the cleaning assembly, and then the wheel hub 113 can be controlled to rotate, and the fan 12 and the heating wire can be started. The heating wire can heat the wind flow generated by the fan 12, so that the hot wind can pass through the through hole 111 of the crawler 112 and blow to the inner wall of the cleaning tank 21, and form a hot wind flow in the inner wall of the cleaning tank 21, thereby drying the inner wall of the cleaning tank 21 and drying the crawler 112. In addition, after a preset time, for example, five minutes, ten minutes, or fifteen minutes, the crawler 112 has been completely dry, so the heating wire and the fan 12 can be controlled to stop operating.

[0100] Of course, this embodiment is only an example to illustrate the specific numerical value of the preset time length, but it is not limited to this. Those skilled in the art can change it according to the actual situation as long as the same technical effect can be achieved.

[0101] With such a configuration, the embodiment of the present invention provides a heating device (such as a heating wire), and the airflow can be heated after passing through the heating device. Compared with the airflow at normal temperature, the hot air can obviously improve the drying efficiency of the crawler 112.

[0102] Furthermore, in an optional embodiment, the cleaning method further comprises:

[0103] S7, obtaining the current of the motor driving the wheel hub 113;

[0104] S8. When the current is greater than a preset value, the fixing rod 23 is controlled to drive the track 112 to move a preset distance in a direction away from the protrusion 22 .

[0105] In an embodiment of the present invention, the current of the motor can be obtained by setting a current sensor, or by other means. This embodiment is merely an example, but is not limiting. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0106] When the motor works normally, the current of the motor will be in the normal working range, but if the friction between the crawler 112 and the bump 22 is too large, the wheel hub cannot rotate normally, and the current value of the motor will increase. In severe cases, the motor may even burn out.

[0107] With such a configuration, the embodiment of the present invention can determine the friction between the track 112 and the bump 22 by obtaining the current. If the friction is too large, the wheel hub 113 cannot rotate normally, and the current value of the motor will increase. Therefore, the distance between the track 112 and the bump 22 can be adjusted by the fixing rod 23 to avoid damage to the motor of the wheel hub 113 during cleaning.

[0108] In the second aspect, the present invention further provides a base station 2, the base station 2 comprising: a base station 2 body and a base for carrying a cleaning device, a controller and a memory are arranged on the base station 2 body, the memory is used to store a computer program, the controller is coupled to the memory, and is used to execute the computer program to execute the steps in the cleaning method described in any of the above embodiments. The various steps that can be executed by the base station in the above-mentioned method embodiment can be implemented, and the detailed description of each method step can also be referred to the above-mentioned embodiment, which will not be repeated here.

[0109] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for cleaning the track wheels of a photovoltaic operation robot, applied to a cleaning system, characterized in that: The cleaning system comprises an operating robot (1) and a base station (2); the operating robot (1) comprises a track wheel (11); the track wheel (11) comprises a plurality of wheel hubs (113) arranged at intervals and a track (112) sleeved on the outer surface of the wheel hub (113); the base station (2) comprises a cleaning tank (21) for accommodating the track wheel (11); the cleaning tank (21) has a cleaning component; the cleaning method comprises: When the crawler wheel (11) is located in the cleaning tank (21), controlling the crawler (112) to contact the cleaning component; The wheel hub (113) is controlled to rotate to drive the crawler belt (112) to rotate, so that the outer surface of the crawler belt (112) contacts the cleaning assembly in sequence.

2. The cleaning method according to claim 1, characterized in that: The cleaning assembly comprises a protrusion (22) located at the bottom of the cleaning tank (21), and the length of the protrusion (22) is greater than or equal to the width of the crawler (112).

3. The cleaning method according to claim 1 or 2, characterized in that: The step of controlling the wheel hub (113) to rotate so as to drive the crawler belt (112) to rotate comprises: The wheel hub (113) is controlled to rotate in a first direction so that the crawler belt (112) rotates at least one circle, and then the wheel hub (113) is controlled to rotate in a second direction so that the crawler belt (112) rotates at least one circle.

4. The cleaning method according to claim 1 or 2, characterized in that: The crawler (112) is provided with a plurality of through holes (111) in a ring-shaped cloth, and the working robot (1) further comprises a fan (12) and a heating wire, wherein the fan (12) is connected to the through hole (111) located at the bottom of the crawler (112), and the heating wire is located on a passage connecting the fan (12) and the through hole (111); The cleaning method further comprises: When the wheel hub (113) is controlled to rotate to drive the crawler belt (112) to rotate, the fan (12) is controlled to blow air toward the connected through hole (111), and the heating wire is controlled to heat.

5. The cleaning method according to claim 4, characterized in that: The base station (2) further includes a fixing rod (23), wherein the fixing rod (23) has a first state for fixing the working robot (1) and a second state for releasing the working robot (1).

6. The cleaning method according to claim 5, characterized in that: The base station (2) comprises a base (24), and the cleaning tank (21) is arranged on the base (24); the fixing rods (23) comprise at least three, and the fixing rods (23) are telescopically arranged on the base (24), and at least three of the fixing rods (23) are not in a straight line.

7. The cleaning method according to claim 5, characterized in that: The base station (2) comprises a base (24) and a mounting seat (25), wherein the mounting seat (25) is located above the base (24), the cleaning tank (21) is arranged on the base (24), the fixing rod (23) is telescopically arranged on the mounting seat (25), and the fixing rod (23) is arranged opposite to the cleaning tank (21).

8. The cleaning method according to claim 4, characterized in that: The cleaning tank (21) also includes a flange (211) around it, and the flange (211) extends from the edge of the cleaning tank (21) toward the inside of the cleaning tank (21).

9. The cleaning method according to claim 6 or 7, characterized in that: The cleaning method further comprises: After the crawler belt (112) is cleaned, the water in the cleaning tank (21) is discharged; Controlling the fixing rod (23) to drive the crawler belt (112) to separate from the cleaning assembly; The hub (113) is controlled to rotate, the fan (12) to blow air toward the connected through hole (111), and the heating wire is heated.

10. The cleaning method according to claim 6 or 7, characterized in that: The cleaning method further comprises: Obtaining the current of the motor driving the wheel hub (113); When the current is greater than a preset value, the fixing rod (23) is controlled to drive the crawler (112) to move a preset distance in a direction away from the protrusion (22).

11. The cleaning method according to claim 2, characterized in that: The convex block (22) is made of a flexible material, and the flexible material is at least sponge or rubber.

12. A base station, characterized in that: The base station (2) comprises: A base station (2) body and a base for carrying a cleaning device, wherein a controller and a memory are arranged on the base station (2) body, the memory is used to store a computer program, and the controller is coupled to the memory for executing the computer program to execute the steps in the cleaning method according to any one of claims 1 to 10.

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