Photovoltaic cleaning robot with segmented cleaning function and application method

Abstract

The invention provides a segmented cleaning photovoltaic cleaning robot and an application method, and belongs to the technical field of photovoltaic cleaning, the segmented cleaning photovoltaic cleaning robot comprises a walking module, a water supply assembly, a crawling track, a crawling module and a cleaning module; the two walking modules are symmetrically connected to the two ends of the crawling rail, and the water supply assembly is connected to the top end of one walking module. The crawling module is connected to the crawling track; the cleaning module is connected below the crawling module; the crawling module comprises a driving belt wheel, a driven belt wheel and a belt connected with the driving belt wheel and the driven belt wheel, and the belt abuts against the side wall of the crawling rail. The cleaning module is small in size, the gravity needing to be overcome during work is small, and then the power needed by work of the robot is small; as the cleaning module is light in weight, when the robot moves from top to bottom, the speed of the robot can be controlled only through small friction force; the friction force between the driving module and the side face of the crawling support is increased through a belt, the speed of the crawling module is balanced, and the cleaning effect is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic cleaning technology, and in particular to a photovoltaic cleaning robot for segmented cleaning and an application method thereof. Background Art

[0002] Photovoltaic cleaning robots can replace manual labor to clean and maintain the surface of photovoltaic panels, remove stains and dust on the surface of photovoltaic panels, and improve the power generation efficiency of photovoltaic panels. They can operate autonomously, saving labor costs, and can adapt to various terrains, reducing the dangers that may arise during manual cleaning.

[0003] The cleaning mechanism of the existing photovoltaic cleaning robot is mostly a roller brush or a nozzle with the same width as the photovoltaic panel. When the cleaning robot moves along the surface of the photovoltaic panel, it cleans the surface of the photovoltaic panel.

[0004] The patent application number is CN202410108070.2, which discloses an obstacle crossing structure for a photovoltaic sweeper and an obstacle crossing photovoltaic sweeper, including a photovoltaic module and a cleaning mechanism, and an obstacle crossing mechanism is provided on both sides of the cleaning mechanism and the photovoltaic module; the cleaning body includes a shell, a cleaning brush roller arranged at the lower part of the shell and in rolling contact with the surface of the photovoltaic module, and a walking wheel that is rotatably fixed to the shell and moves along the upper surface of the frame of the photovoltaic module.

[0005] However, the above-mentioned cleaning robot still adopts a cleaning structure with the same length as the width of the photovoltaic panel, which makes the cleaning robot larger in size and weight. When cleaning the inclined photovoltaic panel, the robot needs to overcome a larger gravity when moving from bottom to top, resulting in a larger power consumption; and because the robot has a heavy weight, when the robot moves from top to bottom, it has a larger inertia due to its heavy weight, and a larger friction force is required to balance the movement speed of the robot, otherwise the robot may descend faster, thereby causing problems such as cleaning direction deviation. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a photovoltaic cleaning robot which can perform cleaning in sections and is relatively light in weight.

[0007] The present invention solves the above technical problems through the following technical solutions: a photovoltaic cleaning robot for segmented cleaning, comprising a walking module, a water supply assembly, a crawling track, a crawling module and a cleaning module; the walking modules are two, symmetrically connected at both ends of the crawling track, the water supply assembly is connected to the top of one of the walking modules; the crawling module is connected to the crawling track; the cleaning module is connected below the crawling module;

[0008] The crawling module comprises a driving pulley, a driven pulley and a belt connecting the driving pulley and the driven pulley, and the belt abuts against the side wall of the crawling track.

[0009] Preferably, the crawling track includes a crawling bracket, a photoelectric baffle, a busbar alloy shell, a sliding rail, a conductive rail circuit board, a rail connector and a current collector;

[0010] A sliding guide rail is installed above the crawling bracket, and the crawling bracket includes a first crawling bracket and a second crawling bracket. The first crawling bracket and the second crawling bracket are connected by four slide rail connectors, and the slide rail connectors are respectively located in four grooves above and on the side of the crawling bracket; the sliding guide rail includes a first sliding guide rail and a second sliding guide rail; a busbar alloy shell is installed below the crawling bracket, a conductive slide rail circuit board is installed on the busbar alloy shell, and two photoelectric baffles are respectively installed on the two end sides of the crawling bracket; a collector is movably installed in the busbar alloy shell;

[0011] The crawling track spans across the photovoltaic panel and is parallel to the tilt direction of the photovoltaic panel.

[0012] Preferably, the walking module comprises a support frame; the support frame comprises a first aluminum alloy profile, a second aluminum alloy profile, a first heavy aluminum angle bracket, a second heavy aluminum angle bracket and an L-shaped reinforcement plate; the first aluminum alloy profile is vertically installed, the second aluminum alloy profile is vertically installed at the bottom of the first aluminum alloy, and is fixedly connected to the first aluminum alloy profile through the first heavy aluminum angle bracket; an L-shaped reinforcement plate is installed on both sides of the connection between the first aluminum alloy profile and the second aluminum alloy profile;

[0013] The crawling bracket is fixedly connected to the first aluminum alloy profile through a second heavy aluminum angle bracket at the upper end of the first aluminum alloy profile.

[0014] Preferably, the crawling module comprises a shell and a crawling mechanism shell frame;

[0015] The housing includes two front and rear plates, two left and right plates, and two upper and lower plates; a waterproof barrier is installed on the upper and lower plates at the lower side of the crawling module;

[0016] The crawling mechanism shell frame is installed inside the shell, and the crawling mechanism shell frame is equipped with a first slider support and a second slider support, which are symmetrically installed; the four sliders are connected to the crawling mechanism shell frame through two first slider supports and two second slider supports respectively; the crawling module is movably connected to the sliding guide rail through the slider.

[0017] Preferably, the crawling module includes two active pulley supports, two driven pulley supports, a long spring rod, and a short spring rod;

[0018] The driving pulley and the driven pulley are installed side by side, two driving pulley supports are symmetrically installed at both ends of the driving pulley, and two driven pulley supports are symmetrically installed at both ends of the driven pulley, and the driving pulley support and the driven pulley support are in the same straight line; short spring rods are installed at the through holes of the driving pulley support and the driven pulley support located between the driving pulley and the driven pulley, and long spring rods are installed at the through holes of the driving pulley support located outside the driving pulley and the driven pulley support located outside the driven pulley; a compression spring is installed on the outside of the long spring rod.

[0019] Preferably, the crawling module further comprises a reinforcing rib and a proximity switch; the reinforcing rib is mounted on the first slider support and the second slider support close to the driving pulley; the proximity switch is mounted on the reinforcing rib.

[0020] Preferably, the crawling module also includes a switching power supply, a base plate, and a hard stone development board; the switching power supply and the hard stone development board are both mounted on the base plate; and the base plate is mounted on the outer shell frame of the crawling structure.

[0021] Preferably, the water supply assembly includes a hanging rod rotating base, a hanging rod fixed base, a hanging rod, a hanging rod supporting base and a water supply pipe; the hanging rod fixed base is fixed to the upper end of the first aluminum alloy profile; the hanging rod rotating base and the hanging rod fixed base are movably connected; the hanging rod and the hanging rod rotating base are fixedly connected via the hanging rod supporting base; the water supply pipe is suspended on the hanging rod.

[0022] Preferably, the cleaning module includes a first square profile, a light angle bracket, a second square profile, a nozzle fixing plate and a nozzle; the length of the first square profile is less than the length of the photovoltaic panel, there are two second square profiles, the first square profile and the second square profile are vertically connected by a light angle bracket, and the two second square profiles are fixed on the same side of the first square profile; the nozzle is installed on the first square profile through the nozzle fixing plate; on the opposite surfaces of the two second square profiles, there are two light angle brackets above the second square profile, one side of which is connected to the second square profile, and the other end is connected to the outer shell frame of the crawling mechanism.

[0023] The present invention also provides a method for performing segmented cleaning by a photovoltaic cleaning robot, comprising the following steps:

[0024] S1: Place the crawling module of the photovoltaic cleaning robot on the bottom side of the inclined photovoltaic panel, and place the crawling track across the photovoltaic panel and parallel to the tilt direction of the photovoltaic panel;

[0025] S2: The driving motor of the walking module starts running, and the cleaning robot moves along the photovoltaic panel. After moving a specified distance, the driving motor stops running;

[0026] S3: The motor in the crawling module starts to run, driving the crawling module to move from bottom to top along the crawling track. During the movement, the nozzle of the cleaning module synchronously sprays water on the surface of the photovoltaic panel. When the proximity switch in the crawling module reaches the position of the photoelectric baffle at the top of the crawling bracket, the motor runs in the reverse direction, and the crawling module changes direction and moves from top to bottom. During the movement, the nozzle of the cleaning module also synchronously sprays water on the surface of the photovoltaic panel. When the proximity switch reaches the position of the photoelectric baffle at the bottom of the crawling bracket, the motor of the crawling module stops running. At this point, the cleaning robot completes a cleaning process along the length direction of the crawling track, and the crawling module returns to the bottom of the photovoltaic panel.

[0027] S4: The driving motor of the walking module starts running again, and the photovoltaic cleaning robot moves a certain distance in the forward direction. After the movement is completed, the crawling module moves from bottom to top and from top to bottom again. During the movement, the nozzle of the cleaning module always sprays water on the surface of the photovoltaic panel synchronously;

[0028] S5: Repeat the above steps S1-S4 until the photovoltaic cleaning machine cleans the entire photovoltaic panel surface.

[0029] The advantages of the present invention are:

[0030] (1) A nozzle is installed on the first square profile in the cleaning module to spray water to clean the photovoltaic panel. By reducing the length of the first square profile, the size of the cleaning module is reduced, thereby reducing the weight of the cleaning module. The gravity that needs to be overcome when the crawling module drives the cleaning module to move from bottom to top is reduced, thereby reducing the power required for the robot to work. In addition, since the weight of the cleaning module is small, when the robot performs cleaning work from top to bottom, only a small friction force is required to control the speed of the cleaning robot. The present invention uses a belt to increase the friction between the driving module and the side of the crawling bracket, balance the speed of the crawling module, and ensure the cleaning effect.

[0031] (2) Both the profile and the guide rail are combined in two sections, so that they can be split into two parts during the handling process, which is convenient for transportation and subsequent installation; the crawling module of the photovoltaic cleaning robot is connected by means of a guide rail and a slider, which not only ensures the consistency of the direction of the crawling module during movement, but also simplifies the installation process through a modular installation method; and the busbar alloy shell is used to power the motor. When the crawling module is moving, there is no need to connect the power line from the socket on the walking module, nor is there any need to drive the long wires to move together. The cleaning robot is overall neater, lighter, and will not cause wire entanglement, which is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic structural diagram of a photovoltaic cleaning robot capable of segmented cleaning provided in Example 1 of the present invention;

[0033] Figure 2 A schematic diagram of the structure of a photovoltaic cleaning robot walking module provided in Example 1 of the present invention;

[0034] Figure 3 A side view of a walking module of a photovoltaic cleaning robot provided in Embodiment 1 of the present invention;

[0035] Figure 4 A schematic structural diagram of a photovoltaic cleaning robot water supply assembly provided in Embodiment 1 of the present invention;

[0036] Figure 5 A schematic diagram of the structure of a photovoltaic cleaning robot crawling track provided in Example 1 of the present invention;

[0037] Figure 6 A schematic diagram of the structure of the connection of the crawling bracket in the crawling track of the photovoltaic cleaning robot provided in Example 1 of the present invention;

[0038] Figure 7 A schematic diagram of the structure of a photovoltaic cleaning robot crawling module provided in Example 1 of the present invention;

[0039] Figure 8 A schematic diagram of the structure of the photovoltaic cleaning robot crawling module with the outer shell removed provided in Example 1 of the present invention;

[0040] Fig. 9 A top view of the photovoltaic cleaning robot crawling module with the outer shell removed provided in Embodiment 1 of the present invention;

[0041] Fig.10 A schematic diagram of the structure of a photovoltaic cleaning robot crawling module driving mechanism provided in Example 1 of the present invention;

[0042] Fig.11 This is a schematic structural diagram of a cleaning module of a photovoltaic cleaning robot provided in Example 1 of the present invention.

[0043] Fig.12 This is a schematic diagram of the structure of the connection of the photovoltaic cleaning robot spray device provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0044] 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 combination with 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Example 1

[0046] like Figure 1 As shown, this embodiment provides a photovoltaic cleaning robot capable of segmented cleaning, comprising a walking module 1, a water supply assembly 2, a crawling track 3, a crawling module 4 and a cleaning module 5. Two walking modules 1 are symmetrically connected at both ends of the crawling track 3, the water supply assembly 2 is connected to the top of one of the walking modules 1, the crawling module 4 is connected to the crawling track 3, and can reciprocate on the crawling track 3, and the cleaning module 5 is connected below the crawling module 4 and moves with the crawling module.

[0047] like Figure 2 As shown, the walking module 1 mainly includes a support frame 11, a driving motor 12, a driving wheel 13, a lower end control box 14, a driven wheel 15 and a limiting wheel 16;

[0048] The support frame 11 includes a first aluminum alloy profile 111, a T-shaped reinforcement plate 112, a first heavy-duty aluminum angle bracket 114, an L-shaped profile reinforcement plate 115 and a second aluminum alloy profile 116; the first aluminum alloy profile 111 is installed vertically, the second aluminum alloy profile 116 is installed at the bottom of the first aluminum alloy profile 111 and is perpendicular to the first aluminum alloy profile 111, the first aluminum alloy profile 111 and the second aluminum alloy profile 116 are fixedly connected by the first heavy-duty aluminum angle bracket 114, and an L-shaped profile reinforcement plate 115 is installed on both sides of the first aluminum alloy profile 111 and the second aluminum alloy profile 116 to ensure the connection strength between the two.

[0049] Combination Figure 2 And and Figure 3 The connecting frame 19 is composed of a walking roller lower plate 191 and a threaded rod 192. Two wheel angle brackets 17 are installed on each lower end control box 14. The limiting wheel 16 and the wheel angle bracket 17 are movably connected through the connecting frame 19. The walking roller lower plate 191 and the limiting wheel 16 are fixedly connected, and connected to the wheel angle bracket 17 through the threaded rod 192. There is a spring 18 on the outside of the threaded rod 192. The spring 18 can push the walking roller lower plate 191 together with the limiting wheel 16 toward the photovoltaic panel, so that the limiting wheel 16 always abuts against the side of the photovoltaic panel. The maximum offset degree of the photovoltaic robot when moving on the photovoltaic panel can be adjusted by adjusting the preload force of the spring 18;

[0050] The lower control box 14 is composed of a lower control box base plate 141 and a right-angle bracket 142. One side of the right-angle bracket 142 is installed on the lower control box base plate 141, and the other side is in contact with the second aluminum alloy profile 116. The drive motor 12 is fixedly connected to the lower control box base plate 141, and the output end of the drive motor 12 is connected to the drive wheel 13. The driven wheel 15 is installed at the end of the lower control box base plate 141 away from the drive motor 12.

[0051] Combination Figure 1 and Figure 5The first aluminum alloy profile 111 and the crawling track 3 are fixedly connected by the second heavy aluminum angle code 31 on the upper end of the first aluminum alloy profile 111, and the crawling bracket 32 ​​and the sides of the two first aluminum alloy profiles 111 at both ends thereof are each equipped with two T-shaped reinforcement plates 112 for improving the connection degree;

[0052] The walking module 1 is also equipped with a WB25 socket Z113 for providing power to the photovoltaic cleaning robot.

[0053] Combination Figure 1 and Figure 4 The water supply assembly 2 includes a hanging rod rotating base 21, a hanging rod fixed base 22, a hanging rod 23, a hanging rod supporting base 24 and a water supply pipe 25. The hanging rod fixed base 22 is fixed to the upper end of the first aluminum alloy profile 111. The hanging rod rotating base 21 is movably connected with the hanging rod fixed base 22 and can rotate around the cylindrical boss of the hanging rod fixed base 22. The hanging rod 23 is fixedly connected with the hanging rod rotating base 21 through the hanging rod supporting base 24. The water supply pipe 25 is suspended on the hanging rod 23. One end of the water supply pipe 25 is fixed on the walking module 1 located at the bottom of the inclined photovoltaic panel, and the other end is connected to the cleaning module 5. It can be extended and retracted with the movement of the crawling module 4 to ensure that the cleaning module 5 is always supplied with water when the crawling module 4 moves.

[0054] like Figure 5 , Figure 6 As shown, a sliding guide rail 35 is installed above the crawling bracket 32 ​​of the crawling track 3. The crawling bracket 32 ​​consists of a first crawling bracket 321 and a second crawling bracket 322. The first crawling bracket 321 and the second crawling bracket 322 are horizontally spliced ​​to meet the length across the solar panel, and the two brackets are connected by four sliding rail connectors 37; the four sliding rail connectors 37 are installed in four grooves above and on the sides of the first crawling bracket 321 and the second crawling bracket 322, and the two ends are fixedly connected to the first crawling bracket 321 and the second crawling bracket 322 by bolts respectively; the sliding guide rail 35 consists of a first sliding guide rail 351 and a second sliding guide rail 352, which can be horizontally detachably spliced ​​to meet the span requirements and is easy to store.

[0055] A busbar alloy shell 34 is installed below the crawling bracket 32, a conductive slide rail circuit board 36 is installed on the busbar alloy shell 34, and two photoelectric baffles 33 are installed on the two end sides of the crawling bracket 32 ​​respectively. A collector 38 is movably installed in the busbar alloy shell 34, and the collector 38 can follow the crawling module 4 to realize reciprocating motion in the busbar alloy shell 34.

[0056] like Figure 7 , Figure 8 , Fig. 9 and Fig.10As shown, the crawling module 4 includes a housing 41, a crawling mechanism frame 42, a drive module connecting frame 43, a hardware module 44, a drive module 45, a reinforcing rib 46 and a proximity switch 47;

[0057] The housing 41 includes two front and rear panels 413, two left and right panels 412, and two upper and lower panels 411. A waterproof barrier 414 is installed on the upper and lower panels 411 to shield water splashing from the photovoltaic panels.

[0058] Combination Figure 1 and Figure 8 , there is a crawling mechanism shell frame 421 inside the shell 41, and a first slider support 422 and a second slider support 423 are installed on the crawling mechanism shell frame 421, and the two are symmetrically installed; four sliders 425 are connected to the crawling mechanism shell frame 421 through two first slider supports 422 and two second slider supports 423 respectively, and the sliding guide rail 35 passes through the through holes on the two front and rear plates 413 of the crawling module 4 corresponding to the positions of the sliders 425, so as to realize the crawling module 4 is connected to the sliding guide rail 35;

[0059] The hardware module 44 includes a 24V switching power supply 441, a base plate 442, a hard rock development board 443 and a 12V power supply module 444. The 24V switching power supply 441, the hard rock development board 443 and the 12V power supply module 444 are all installed on the base plate 442; the base plate 442 is installed on the crawling mechanism shell frame 421.

[0060] Combination Figure 8 , Fig. 9 and Fig.10 The drive module connecting frame 43 includes two driving wheel supports 431, two driven wheel supports 433, a fixing plate 432, four spring rod supports 434, two long spring rods 435, two short spring rods 436 and a reinforcing plate 437;

[0061] The driving wheel support 431 and the driven wheel support 433 are installed on the fixed plate 432, and a short spring rod 436 is installed at the through hole of the driving wheel support 431 and the driven wheel support 433 in the middle of the belt 453, and a long spring rod 435 is installed at the through hole of the driving wheel support 431 and the driven wheel support 433 outside the belt 453; a compression spring 424 is installed on the outside of the long spring rod 435 to ensure that the driving module 45 is closely fitted with the side of the crawling bracket 32 ​​to increase the friction force, and a reinforcement plate 437 is installed on the outside of the short spring rod 436;

[0062] The driving module 45 includes a driven pulley 451, a driven pulley flange 452, a belt 453, a motor 454, a driving pulley 455, and a driving pulley flange 456. The driven pulley flange 452 and the motor 454 are respectively mounted on the driven pulley support 433 and the driving pulley support 431. The motor 454 is mounted with a driving pulley flange 456, the driving pulley flange 456 is mounted with a driving pulley 455, the driven pulley flange 452 is mounted with a driven pulley 451, and the outer sides of the driving pulley 455 and the driven pulley 451 are connected by a belt 453.

[0063] The reinforcing rib 46 is mounted on the first slider support 422 and the second slider support 423 close to the driving pulley 455 .

[0064] like Fig.11 , Fig.12 As shown, the cleaning module 5 is composed of a first square profile 51, a light angle code 52, a second square profile 53, a nozzle fixing plate 54, and a nozzle 55. The length of the first square profile 51 is less than the length of the photovoltaic panel. There are two second square profiles 53. The first square profile 51 and the second square profile 53 are vertically connected through the light angle code 52 and the light angle code 56 at the bottom of the frame. The two second square profiles 53 are fixed on the same side of the first square profile 51; the nozzle 55 is installed on the first square profile 51 through the nozzle fixing plate 54; the bottom of the boss of the crawling mechanism shell frame 421 contacts the top of the light angle code 56 at the bottom of the frame, the top of the boss of the crawling mechanism shell frame 421 is connected to the light angle code 57 at the top of the frame by bolts, and the light angle code 57 at the top of the frame is connected to the second square profile 53 by bolts.

[0065] This embodiment reduces the size of the cleaning module to reduce the overall weight of the cleaning robot. When cleaning the photovoltaic panel from bottom to top, the gravity that the robot needs to overcome is reduced, thereby reducing the required power. When cleaning from top to bottom, only a small friction force is required to control the speed of the cleaning robot, thereby preventing the robot from moving too fast and causing the cleaning direction to deviate. This embodiment uses the belt and spring in the driving module to closely fit the driving module with the side of the crawling bracket, thereby increasing the friction force, so that when the cleaning robot cleans the photovoltaic panel, the movement speed of the crawling module is relatively stable.

[0066] In addition, the robot beam part that spans the surface of the photovoltaic panel has a simple structure, and only includes profiles, guide rails and a busbar alloy shell, which is easy to install. At the same time, the profiles and guide rails are combined in two sections, so that they can be split into two parts during the handling process, which is convenient for transportation and subsequent installation. The crawling module is connected to the crawling track by means of guide rails and sliders, which is not only more stable, but also ensures the consistency of the direction of the crawling module during movement. The modular installation method also simplifies the installation process. This embodiment also uses a busbar alloy shell to power the motor. When the crawling module moves, there is no need to connect the power line from the socket on the walking module, nor to drive the longer wires to move together. The cleaning robot is more tidy as a whole, lighter in weight, and does not cause wire entanglement, and is safer.

[0067] Example 2

[0068] Embodiment 2 of the present invention further provides a cleaning method of a photovoltaic cleaning robot for segmented cleaning, comprising the following steps:

[0069] S1: The cleaning robot is applied to the inclined photovoltaic panel. During the initial setting, the two crawling modules 1 are respectively installed at the upper and lower ends of the inclined photovoltaic panel, and the crawling track 3 of the cleaning robot is placed across the entire photovoltaic panel in the same direction as the tilt direction of the photovoltaic panel. In the initial state, the crawling module 4 is located at the bottom of the inclined photovoltaic panel;

[0070] S2: The driving motors of the walking modules 1 at both ends start to run, driving the driving wheels 13 to rotate, thereby driving the cleaning robot as a whole to move on the surface of the photovoltaic panel. It is stipulated that the movement direction of the walking module 1 is the width direction of the photovoltaic panel, and the direction of the crawling track 3 is the length direction of the photovoltaic panel. When the cleaning robot moves a specified distance along the width direction of the photovoltaic panel, the driving motor 12 stops running;

[0071] During operation, when the cleaning robot as a whole deviates in the direction of movement on the surface of the photovoltaic panel, since the lower plate 191 of the walking roller can move axially along the threaded rod 192, and the spring 18 ensures that the limit wheel 16 on the lower plate 191 of the walking roller can always contact the side of the photovoltaic panel, the elastic force of the spring 18 on the same side of the deviation direction is reduced, and the spring 18 on the other side is compressed and the elastic force is increased, so that the robot receives a force in the opposite direction of the deviation, thereby adjusting the forward direction of the robot to ensure that its forward direction is parallel to the side of the photovoltaic panel, and also ensuring the synchronization of the drive motors 12 at both ends;

[0072] S3: The motor 454 in the crawling module 4 starts to run, driving the crawling mechanism to move from bottom to top on the crawling track 3, and adopts the connection mode of the slider 425 and the sliding guide rail 35. The forward direction of the crawling mechanism during the movement is always kept consistent with the length direction of the sliding guide rail 35, ensuring the consistency of the cleaning width; the crawling module 4 continues to move from bottom to top until the proximity switch 47 in the crawling module 4 reaches the position of the photoelectric baffle 33 at the top of the crawling bracket 32, and the motor 454 runs in the reverse direction, so that the crawling module 4 changes direction and moves again until the proximity switch 47 reaches the position of the photoelectric baffle 33 at the bottom of the crawling bracket 32, and the motor 454 stops running, and the crawling module 4 stops moving. At this time, the cleaning robot completes a cleaning process along the length direction of the crawling track 3, that is, the length direction of the photovoltaic panel, and the crawling module 4 returns to the bottom of the photovoltaic panel;

[0073] S4: the driving motor 12 in the walking module 1 continues to run, and the photovoltaic cleaning robot continues to move a certain distance along the width direction of the photovoltaic panel, which is less than or equal to the cleaning width of the cleaning module 5, so as to ensure that the cleaning area during the operation can completely cover the surface of the photovoltaic panel; after the movement is completed, the crawling structure moves from bottom to top and from top to bottom again, and when the crawling module 4 moves along the crawling track 3, the nozzle 55 of the cleaning structure 5 synchronously sprays water on the surface of the photovoltaic panel;

[0074] S5: Repeat the above steps S1-S4 until the photovoltaic cleaning machine cleans the entire photovoltaic panel surface.

[0075] This embodiment provides a cleaning method for a photovoltaic cleaning robot with segmented cleaning, which cleans the surface of the photovoltaic panel through the movement of the walking module and the reciprocating motion of the crawling module on the crawling track. The method is simple and efficient, and the photovoltaic panel can be cleaned without manpower.

[0076] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A photovoltaic cleaning robot for segmented cleaning, characterized in that: It includes a walking module, a water supply assembly, a crawling track, a crawling module and a cleaning module; there are two walking modules, which are symmetrically connected at both ends of the crawling track, and the water supply assembly is connected to the top of one of the walking modules; the crawling module is connected to the crawling track; and the cleaning module is connected below the crawling module; The crawling module comprises a driving pulley, a driven pulley and a belt connecting the driving pulley and the driven pulley, and the belt abuts against the side wall of the crawling track.

2. A photovoltaic cleaning robot for segmented cleaning according to claim 1, characterized in that: The crawling track includes a crawling bracket, a photoelectric baffle, a busbar alloy shell, a sliding guide rail, a conductive slide rail circuit board, a slide rail connector and a current collector; A sliding guide rail is installed above the crawling bracket, and the crawling bracket includes a first crawling bracket and a second crawling bracket. The first crawling bracket and the second crawling bracket are connected by four slide rail connectors, and the slide rail connectors are respectively located in four grooves above and on the side of the crawling bracket; the sliding guide rail includes a first sliding guide rail and a second sliding guide rail; a busbar alloy shell is installed below the crawling bracket, a conductive slide rail circuit board is installed on the busbar alloy shell, and two photoelectric baffles are respectively installed on the two end sides of the crawling bracket; a collector is movably installed in the busbar alloy shell; The crawling track spans across the photovoltaic panel and is parallel to the tilt direction of the photovoltaic panel.

3. A photovoltaic cleaning robot for segmented cleaning according to claim 2, characterized in that: The walking module comprises a support frame; the support frame comprises a first aluminum alloy profile, a second aluminum alloy profile, a first heavy aluminum angle bracket, a second heavy aluminum angle bracket and an L-shaped reinforcement plate; the first aluminum alloy profile is vertically installed, the second aluminum alloy profile is vertically installed at the bottom of the first aluminum alloy, and is fixedly connected to the first aluminum alloy profile through the first heavy aluminum angle bracket; an L-shaped reinforcement plate is installed on both sides of the connection between the first aluminum alloy profile and the second aluminum alloy profile; The crawling bracket is fixedly connected to the first aluminum alloy profile through a second heavy aluminum angle bracket at the upper end of the first aluminum alloy profile.

4. The photovoltaic cleaning robot for segmented cleaning according to claim 1, characterized in that: The crawling module includes a shell and a crawling mechanism shell frame; The housing includes two front and rear plates, two left and right plates, and two upper and lower plates; a waterproof barrier is installed on the upper and lower plates at the lower side of the crawling module; The crawling mechanism shell frame is installed inside the shell, and the crawling mechanism shell frame is equipped with a first slider support and a second slider support, which are symmetrically installed; the four sliders are connected to the crawling mechanism shell frame through two first slider supports and two second slider supports respectively; the crawling module is movably connected to the sliding guide rail through the slider.

5. A photovoltaic cleaning robot for segmented cleaning according to claim 4, characterized in that: The crawling module includes two active pulley supports, two driven pulley supports, a long spring rod, and a short spring rod; The driving pulley and the driven pulley are installed side by side, two driving pulley supports are symmetrically installed at both ends of the driving pulley, and two driven pulley supports are symmetrically installed at both ends of the driven pulley, and the driving pulley support and the driven pulley support are in the same straight line; short spring rods are installed at the through holes of the driving pulley support and the driven pulley support located between the driving pulley and the driven pulley, and long spring rods are installed at the through holes of the driving pulley support located outside the driving pulley and the driven pulley support located outside the driven pulley; a compression spring is installed on the outside of the long spring rod.

6. A photovoltaic cleaning robot for segmented cleaning according to claim 5, characterized in that: The creeping module further comprises a reinforcing rib and a proximity switch; the reinforcing rib is mounted on the first slider support and the second slider support close to the driving pulley; the proximity switch is mounted on the reinforcing rib.

7. The photovoltaic cleaning robot for segmented cleaning according to claim 6, characterized in that: The crawling module also includes a switching power supply, a base plate, and a hard stone development board; the switching power supply and the hard stone development board are both installed on the base plate; the base plate is installed on the outer shell frame of the crawling structure.

8. The photovoltaic cleaning robot for segmented cleaning according to claim 1, characterized in that: The water supply assembly includes a hanging rod rotating base, a hanging rod fixed base, a hanging rod, a hanging rod supporting base and a water supply pipe; the hanging rod fixed base is fixed to the upper end of the first aluminum alloy profile; the hanging rod rotating base and the hanging rod fixed base are movably connected; the hanging rod and the hanging rod rotating base are fixedly connected via the hanging rod supporting base; the water supply pipe is suspended on the hanging rod.

9. The photovoltaic cleaning robot for segmented cleaning according to claim 1, characterized in that: The cleaning module includes a first square profile, a light angle bracket, a second square profile, a nozzle fixing plate and a nozzle; the length of the first square profile is less than the length of the photovoltaic panel, there are two second square profiles, the first square profile and the second square profile are vertically connected by a light angle bracket, and the two second square profiles are fixed on the same side of the first square profile; the nozzle is installed on the first square profile through the nozzle fixing plate; on the opposite surfaces of the two second square profiles, there are two light angle brackets above the second square profile, one side of which is connected to the second square profile, and the other end is connected to the outer shell frame of the crawling mechanism.

10. A method for a photovoltaic cleaning robot for segmented cleaning according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: Place the crawling module of the photovoltaic cleaning robot on the bottom side of the inclined photovoltaic panel, and place the crawling track across the photovoltaic panel and parallel to the tilt direction of the photovoltaic panel; S2: The driving motor of the walking module starts running, and the cleaning robot moves along the photovoltaic panel. After moving a specified distance, the driving motor stops running; S3: The motor in the crawling module starts to run, driving the crawling module to move from bottom to top along the crawling track. During the movement, the nozzle of the cleaning module synchronously sprays water on the surface of the photovoltaic panel. When the proximity switch in the crawling module reaches the position of the photoelectric baffle at the top of the crawling bracket, the motor runs in the reverse direction, and the crawling module changes direction and moves from top to bottom. During the movement, the nozzle of the cleaning module also synchronously sprays water on the surface of the photovoltaic panel. When the proximity switch reaches the position of the photoelectric baffle at the bottom of the crawling bracket, the motor of the crawling module stops running. At this point, the cleaning robot completes a cleaning process along the length direction of the crawling track, and the crawling module returns to the bottom of the photovoltaic panel. S4: The driving motor of the walking module starts running again, and the photovoltaic cleaning robot moves a certain distance in the forward direction. After the movement is completed, the crawling module moves from bottom to top and from top to bottom again. During the movement, the nozzle of the cleaning module always sprays water on the surface of the photovoltaic panel synchronously; S5: Repeat the above steps S1-S4 until the photovoltaic cleaning machine cleans the entire photovoltaic panel surface.

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