Rolling brush type intelligent photovoltaic cleaning robot

Abstract

The invention belongs to the technical field of photovoltaic cleaning, and discloses a rolling brush type intelligent photovoltaic cleaning robot which comprises robot equipment, a power generation panel is arranged at the top of the robot equipment, and through cooperation of structures such as a robot flexible main beam and a flexible spiral rolling brush, a control panel sends an instruction to a driving motor to drive the robot to rotate. A driving motor drives a walking wheel driving shaft to drive a walking wheel set to start to rotate, so that the robot slowly and stably moves on the photovoltaic panel according to a planned cleaning path, and meanwhile, the driving motor also drives a spiral rolling brush driving shaft to drive a flexible spiral rolling brush to start to rotate; the flexible spiral rolling brush is in close contact with the surface of the photovoltaic panel and generates relative rolling friction, pollutants such as dust and stains on the photovoltaic panel are cleaned, and the cleaned dust is blocked within a certain range by the spiral rolling brush housing, so that secondary pollution caused by splashing around is avoided, and the service life of the photovoltaic panel is prolonged. The robot flexible main beam and the flexible spiral rolling brush device can adapt to the uneven surface of the cleaned photovoltaic module.

Description

Technical Field

[0001] The invention belongs to the technical field of photovoltaic cleaning, and in particular is a roller brush type intelligent photovoltaic cleaning robot. Background Art

[0002] The roller brush type intelligent photovoltaic cleaning robot is an efficient, safe and intelligent cleaning device specially designed for cleaning photovoltaic modules. The roller brush type intelligent photovoltaic cleaning robot has the ability of autonomous navigation, autonomous positioning and autonomous cleaning. It uses a variety of precision sensors and control systems to intelligently judge the cleaning needs of photovoltaic modules and automatically adjust the cleaning plan according to different weather conditions, light intensity and cleaning cycle.

[0003] When a traditional roller brush type intelligent photovoltaic cleaning robot is working, the robot first uses the built-in navigation system and sensors, such as GPS, lidar, camera, etc., to accurately identify and locate the position and surface status of the photovoltaic panel. After the positioning is completed, the robot starts the roller brush device, and the roller brush rotates at high speed driven by the motor, generating friction with the surface of the photovoltaic panel. This friction can effectively remove dust, dirt and other attachments on the surface of the photovoltaic panel.

[0004] When designing traditional cleaning robots, more consideration may be given to the stability and carrying capacity of the overall structure. Relatively rigid materials or structural forms are adopted, and high-strength but inflexible metal materials are used to make the main beam frame, making it difficult for the robot to produce corresponding deformation to fit the surface when encountering uneven surfaces or spatial distortions of photovoltaic modules. In the actual cleaning of photovoltaic panels, the uneven surfaces and spatial distortions of photovoltaic modules are usually encountered. The overall structure and brush body of the robot can dynamically follow the surface conditions of the photovoltaic modules and automatically adjust the spatial shape of the walking wheel group and the curvature and unevenness of the flexible spiral roller brush through its own structural deformation, making it difficult to maintain long-term stable operation and no missing cleaning. Summary of the invention

[0005] In order to solve the problem proposed in the above background technology that the overall structure of the robot and the brush body can dynamically follow the surface conditions of the photovoltaic components and automatically adjust the spatial shape of the walking wheel group and the curvature and unevenness of the flexible spiral roller brush through their own structural deformation, the present invention provides a roller brush type intelligent photovoltaic cleaning robot.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a roller brush type intelligent photovoltaic cleaning robot, comprising a robot device, a power generation panel is arranged on the top of the robot device, two power modules are respectively installed inside the robot device, a robot flexible main beam is installed between the two power modules, a driving motor is installed on each of the two power modules, a spiral roller brush drive shaft and two walking wheel drive shafts are arranged on the power modules, a flexible spiral roller brush is arranged on the outer wall of the spiral roller brush drive shaft, a walking wheel group is arranged on the outer wall of the two walking wheel drive shafts, a sensor device is installed on the two power modules, a spiral roller brush cover is installed on the flexible main beam of the robot, and a G antenna and a Bluetooth antenna are respectively installed on the top of the spiral roller brush cover.

[0007] Preferably, the power generation panel is installed on the power module and the flexible main beam of the robot near the tail, one end of the spiral roller brush cover is installed with a tail cover, and the other end of the spiral roller brush cover is installed with a head cover.

[0008] Preferably, an electric control device is installed at one end of the flexible main beam of the robot close to the tail, and the electric control device includes a box body, and a lithium battery, a charger, a communication module and a control board are installed inside the box body respectively.

[0009] Preferably, an electric control device shell is installed on the electric control device, and a plurality of air holes are opened on the surface of the electric control device shell, and the air holes are used for heat dissipation of the lithium battery, charger, communication module and control board.

[0010] Preferably, both ends of the flexible main beam of the robot are respectively installed on the power module to realize the main structure of the robot, which is used to support and install other key components, and the drive motor provides power for the entire robot.

[0011] Preferably, a spiral roller brush drive shaft and two travel wheel drive shafts on the power module are used to install a flexible spiral roller brush and a travel wheel group respectively, and both ends of the flexible spiral roller brush are respectively installed on the spiral roller brush drive shaft on the power module to realize the rotational power of the flexible spiral roller brush.

[0012] Preferably, four groups of the walking wheel groups are provided, and both ends of the four groups of the walking wheel groups are respectively mounted on the walking wheel driving shafts on the power module to achieve walking power of the walking wheel groups.

[0013] Preferably, the sensor device is used to detect various operating information of the robot's walking, and the tail cover and the nose cover are both installed on the power module and the flexible main beam of the robot.

[0014] Preferably, the G antenna and the Bluetooth antenna are both installed on the spiral roller brush cover and connected to the communication module, and the communication module communicates with the control board.

[0015] Preferably, the lithium battery, charger, communication module and control board are installed inside the box to achieve waterproof and dustproof protection, and the tail cover and the head cover are symmetrically distributed at both ends of the flexible spiral roller brush.

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

[0017] The present invention cooperates with structures such as the flexible main beam of the robot and the flexible spiral roller brush. The control panel sends a command to the drive motor, and the drive motor drives the walking wheel drive shaft to drive the walking wheel group to start rotating, so that the robot moves slowly and steadily on the photovoltaic panel according to the planned cleaning path. At the same time, the drive motor also drives the spiral roller brush drive shaft to drive the flexible spiral roller brush to start rotating. The flexible spiral roller brush is in close contact with the surface of the photovoltaic panel and generates relative rolling friction, so that pollutants such as dust and stains on the photovoltaic panel are swept away. The swept dust is blocked within a certain range by the spiral roller brush cover to avoid being scattered around Splashing causes secondary pollution. The robot's flexible main beam and flexible spiral roller brush device can adapt to abnormal conditions such as the uneven surface of the photovoltaic components being cleaned and spatial distortion. The overall structure of the robot and the brush body can dynamically follow the surface conditions of the photovoltaic components and automatically adjust the spatial form of the walking wheel group and the curvature of the flexible spiral roller brush through their own structural deformation to achieve dynamic fitting with the uneven and spatially distorted surface of the photovoltaic panel components, allowing the robot to easily cope with the uneven surface of the components and spatial distortion caused by photovoltaic component installation errors, ground subsidence, and bracket deformation, maintaining long-term stable operation and no leakage cleaning.

[0018] The present invention arranges structures such as sensor devices, electric control devices and communication modules. The robot drive motor and sensor device will work on time according to a pre-established plan. The robot's flexible spiral roller brush and walking wheel group rotate in opposite directions. The robot's walking wheel group will walk along the aluminum frame of the photovoltaic panel. The robot completes the cleaning of the photovoltaic panel within a specified time and in a specified cleaning method. When the robot performs the scheduled cleaning task, the sensor device will detect various status information such as the robot's position, bridge crossing, card machine, posture, etc. in real time, and transmit the information to the control board. The control board will accurately control and correct the robot's actions through calculation and analysis to achieve near-long-term stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the flexible spiral roller brush of the present invention;

[0021] Figure 3 Schematic diagram of the spiral roller brush drive shaft and the travel wheel drive shaft of the present invention;

[0022] Figure 4 This is a schematic diagram of the flexible main beam of the robot of the present invention;

[0023] Figure 5 It is a schematic diagram of the head cover of the present invention;

[0024] Figure 6 It is a schematic diagram of disassembling the housing cover of the electric control device of the present invention.

[0025] In the figure: 1. Robot equipment; 101. Electric control device housing; 2. Power generation board; 3. Power module; 4. Flexible main beam of robot; 5. Driving motor; 6. Flexible spiral brush; 7. 4G antenna; 8. Bluetooth antenna; 9. Traveling wheel assembly; 10. Spiral brush housing; 11. Tail housing; 12. Head housing; 13. Sensor device; 14. Electric control device; 141. Box; 15. Spiral brush drive shaft; 16. Traveling wheel drive shaft; 17. Lithium battery; 18. Charger; 19. Communication module; 20. Control board. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0027] like Figures 1 to 6 As shown, the present invention provides a roller brush type intelligent photovoltaic cleaning robot, including a robot device 1, a power generation panel 2 is arranged on the top of the robot device 1, two power modules 3 are respectively installed inside the robot device 1, a robot flexible main beam 4 is installed between the two power modules 3, a driving motor 5 is installed on each of the two power modules 3, a spiral roller brush drive shaft 15 and two walking wheel drive shafts 16 are arranged on the power modules 3, a flexible spiral roller brush 6 is arranged on the outer wall of the spiral roller brush drive shaft 15, and a walking wheel group 9 is arranged on the outer walls of the two walking wheel drive shafts 16, a sensor device 13 is installed on each of the two power modules 3, a spiral roller brush cover 10 is installed on the flexible main beam 4 of the robot, and a 4G antenna 7 and a Bluetooth antenna 8 are respectively installed on the top of the spiral roller brush cover 10.

[0028] The above scheme is adopted: the power generation panel 2 is installed on the power module 3 and the robot flexible main beam 4 near the tail, making full use of the space on the top of the robot device 1. During the operation of the robot (especially in the photovoltaic panel area with sufficient light outdoors), the power generation panel 2 can convert solar energy into electrical energy to replenish energy for the operation of the robot. When the power of the robot's lithium battery 17 is consumed, the electricity generated by the power generation panel 2 can be charged by the charger 18, thereby extending the robot's battery life, reducing the frequency of manual charging, and improving the robot's working autonomy and continuous operation ability, so that it can continuously clean and maintain the photovoltaic panel for a long time. By setting the coordination of the robot's flexible main beam 4 and the flexible spiral roller brush 6 and other structures, the control board 20 sends a command to the drive motor 5, and the drive motor 5 drives the walking wheel drive shaft 16 to drive the walking wheel group 9 to start rotating, so that the robot moves slowly and steadily on the photovoltaic panel according to the planned cleaning path. At the same time, the driving motor 5 also drives the spiral roller brush driving shaft 15 to drive the flexible spiral roller brush 6 to start rotating. The flexible spiral roller brush 6 is in close contact with the surface of the photovoltaic panel and generates relative rolling friction, so as to clean up the dust, stains and other pollutants on the photovoltaic panel. The cleaned dust is blocked within a certain range by the spiral roller brush cover 10 to avoid splashing and causing secondary pollution. The flexible main beam 4 and the flexible spiral roller brush 6 device of the robot can adapt to the uneven surface of the photovoltaic component to be cleaned, the abnormal conditions such as space distortion, etc. The overall structure and brush body of the robot can dynamically follow the surface working condition of the photovoltaic component and automatically adjust the spatial form of the walking wheel group 9 and the curvature of the flexible spiral roller brush 6 through its own structural deformation to achieve dynamic fitting with the uneven and space-distorted photovoltaic panel component surface, so that the robot can easily cope with the uneven component surface and space distortion caused by photovoltaic component installation errors, ground subsidence and bracket deformation, and maintain long-term stable operation and no leakage cleaning.

[0029] like Figures 2 to 5 As shown, the power generation plate 2 is installed on the power module 3 and the robot flexible main beam 4 near the tail, a tail cover 11 is installed at one end of the spiral roller brush cover 10, and a head cover 12 is installed at the other end of the spiral roller brush cover 10. An electric control device 14 is installed at the end of the robot flexible main beam 4 near the tail, and the electric control device 14 includes a box body 141, and a lithium battery 17, a charger 18, a communication module 19 and a control board 20 are respectively installed inside the box body 141. An electric control device shell 101 is installed on the electric control device 14, and a plurality of air holes are opened on the surface of the electric control device shell 101, and the air holes are used for heat dissipation of the lithium battery 17, the charger 18, the communication module 19 and the control board 20. The two ends of the robot flexible main beam 4 are respectively installed on the power module 3 to realize the main structure of the robot, which is used to support and install other key components, and the drive motor 5 provides power for the entire robot.

[0030] The above scheme is adopted: the driving motor 5 is used as the power source of the robot, converting electrical energy into mechanical energy, providing the original power for the movement and cleaning action of the whole robot, and the power output drives the spiral roller brush driving shaft 15 to drive the flexible spiral roller brush 6 to rotate for cleaning, and at the same time drives the walking wheel driving shaft 16 to drive the walking wheel group 9 to rotate, so that the robot can walk smoothly along the predetermined route on the photovoltaic panel. It is the key driving component of the robot to realize the walking and cleaning functions. The quality of its performance directly affects the working efficiency and cleaning effect of the robot. The power module 3 is the core power support part of the robot. The driving motor 5 is installed inside, and is provided with a spiral roller brush driving shaft 15 and a walking wheel driving shaft 16, which plays a key role in integrating and distributing power. The power generated by the driving motor 5 is transmitted to the corresponding components through different driving shafts. The flexible spiral roller brush 6 and the walking wheel group 9 can each obtain the required power to realize different functional actions, thereby ensuring that the robot can walk stably and perform cleaning operations effectively. Through the arrangement of structures such as the sensor device 13, the electric control device 14 and the communication module 19, the robot drive motor 5 and the sensor device 13 will work on time according to the pre-established plan, the robot's flexible spiral roller brush 6 and the walking wheel group 9 will rotate in opposite directions, the robot's walking wheel group 9 will walk along the aluminum frame of the photovoltaic panel, and the robot will complete the cleaning of the photovoltaic panel within the specified time and in the specified cleaning method. When the robot performs the scheduled cleaning task, the sensor device 13 will detect the robot's position, bridge crossing, card machine, posture and other status information in real time, and transmit it to the control board 20. The control board 20 will accurately control and correct the robot's actions through calculation and analysis to achieve long-term stable operation.

[0031] like Figures 1 to 6 As shown, a spiral roller brush drive shaft 15 and two walking wheel drive shafts 16 on the power module 3 are respectively used to install the flexible spiral roller brush 6 and the walking wheel group 9. The two ends of the flexible spiral roller brush 6 are respectively installed on the spiral roller brush drive shaft 15 on the power module 3 to realize the rotation power of the flexible spiral roller brush 6. There are four groups of walking wheel groups 9. The two ends of the four walking wheel groups 9 are respectively installed on the walking wheel drive shaft 16 on the power module 3 to realize the walking power of the walking wheel group 9. The sensor device 13 is used to detect various operating information of the robot walking. The tail cover 11 and the head cover 12 are both installed on the power module 3 and the flexible main beam 4 of the robot. The 4G antenna 7 and the Bluetooth antenna 8 are both installed on the spiral roller brush cover 10 and connected to the communication module 19. The communication module 19 communicates with the control board 20. The lithium battery 17, the charger 18, the communication module 19 and the control board 20 are installed in the box 141 for waterproof and dustproof protection. The tail cover 11 and the head cover 12 are symmetrically distributed at both ends of the flexible spiral roller brush 6.

[0032] The above scheme is adopted: the outer wall of the flexible spiral roller brush 6 is arranged on the spiral roller brush driving shaft 15, and the spiral roller brush driving shaft 15 is driven to rotate by the driving motor 5, so that the flexible spiral roller brush 6 rotates accordingly. During the rotation process, the bristles of the flexible spiral roller brush 6 are in close contact with the surface of the photovoltaic panel and generate relative friction. With its flexible characteristics, it can better fit the shape changes of the surface of the photovoltaic panel (for example, it can effectively contact with slight uneven places on the photovoltaic panel), and clean pollutants such as dust and stains from the photovoltaic panel, so as to achieve efficient and comprehensive cleaning effect, ensure the light transmittance of the photovoltaic panel, and improve the light transmittance of the photovoltaic panel. The four walking wheel groups 9 are respectively installed on two walking wheel driving shafts 16, and the driving motor 5 provides power for the robot to rotate, providing stable support and driving force for the robot to walk on the photovoltaic panel. The design and material selection of the walking wheels make it have good grip and can adapt to various conditions on the surface of the photovoltaic panel (such as possible slight unevenness, a small amount of dust accumulation, etc.), ensuring that the robot will not slip or deviate during movement, and ensuring that the robot can move accurately and smoothly along the preset cleaning path to successfully complete the cleaning task of the entire photovoltaic panel area.

[0033] The working principle and use process of the present invention are as follows: the robot receives remote control instructions through the 4G antenna 7 and the Bluetooth antenna 8. The remote instructions are converted into specific execution plan codes that can be recognized by the robot after being parsed by the electronic control device. The robot drive motor 5 and the sensor device 13 will work on time according to the pre-established plan. The robot's flexible spiral roller brush 6 and the walking wheel group 9 rotate in opposite directions. The robot's walking wheel group 9 will walk along the aluminum frame of the photovoltaic panel. The robot completes the cleaning of the photovoltaic panel in the specified time and in the specified cleaning method; when the robot performs the scheduled cleaning task, the sensor device 13 will detect the robot's position, bridge crossing, card machine, posture and other status information in real time, and transmit it to the control board 20. After calculation and analysis, the control board 20 accurately controls and corrects the robot's actions to achieve long-term stable operation; the electronic control device is equipped with a lithium battery 17, a charger 18, and a communication module. 19, the control board 20 and the lithium battery 17 are responsible for providing all the power sources for the robot. The power generation board 2 converts sunlight radiation into direct current, and the lithium battery 17 is charged after the lithium battery 17 charger 18 boosts the voltage. After the lithium battery 17 is full, the charger 18 will be automatically disconnected for charging protection; the robot's flexible main beam 4 and the flexible spiral roller brush 6 device can adapt to the uneven surface of the photovoltaic component being cleaned, the space distortion and other abnormal conditions, the robot's overall structure and brush body can dynamically follow the surface working conditions of the photovoltaic component and automatically adjust the spatial form of the walking wheel group 9 and the curvature of the flexible spiral roller brush 6 through its own structural deformation to achieve dynamic fitting with the uneven and space-distorted photovoltaic panel component surface, so that the robot can easily cope with the uneven component surface and space distortion caused by photovoltaic component installation errors, ground settlement, and bracket deformation, and maintain long-term stable operation and no leakage cleaning.

[0034] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A roller brush type intelligent photovoltaic cleaning robot, comprising a robot device (1), characterized in that: A power generation panel (2) is arranged on the top of the robot device (1), two power modules (3) are respectively installed inside the robot device (1), a robot flexible main beam (4) is installed between the two power modules (3), a driving motor (5) is installed on each of the two power modules (3), a spiral roller brush drive shaft (15) and two walking wheel drive shafts (16) are arranged on each of the power modules (3), a flexible spiral roller brush (6) is arranged on the outer wall of the spiral roller brush drive shaft (15), and a walking wheel group (9) is arranged on the outer wall of the two walking wheel drive shafts (16), a sensor device (13) is installed on each of the two power modules (3), a spiral roller brush cover (10) is installed on the flexible main beam (4) of the robot, and a 4G antenna (7) and a Bluetooth antenna (8) are respectively installed on the top of the spiral roller brush cover (10).

2. The roller brush type intelligent photovoltaic cleaning robot according to claim 1, characterized in that: The power generation panel (2) is mounted on a power module (3) and a flexible main beam (4) of the robot near the tail, a tail cover (11) is mounted on one end of the spiral roller brush cover (10), and a head cover (12) is mounted on the other end of the spiral roller brush cover (10).

3. The roller brush type intelligent photovoltaic cleaning robot according to claim 1, characterized in that: An electric control device (14) is installed at one end of the robot's flexible main beam (4) close to the tail, and the electric control device (14) includes a box (141), and a lithium battery (17), a charger (18), a communication module (19) and a control board (20) are installed inside the box (141).

4. The roller brush type intelligent photovoltaic cleaning robot according to claim 3 is characterized in that: The electric control device (14) is provided with an electric control device housing (101), and a plurality of ventilation holes are provided on the surface of the electric control device housing (101), and the ventilation holes are used for heat dissipation of the lithium battery (17), the charger (18), the communication module (19) and the control panel (20).

5. The roller brush type intelligent photovoltaic cleaning robot according to claim 1, characterized in that: The two ends of the robot flexible main beam (4) are respectively mounted on the power module (3) to realize the main structure of the robot and to support and install other key components. The drive motor (5) provides power for the entire robot.

6. The roller brush type intelligent photovoltaic cleaning robot according to claim 1, characterized in that: A spiral roller brush drive shaft (15) and two travel wheel drive shafts (16) on the power module (3) are used to install the flexible spiral roller brush (6) and the travel wheel assembly (9) respectively; the two ends of the flexible spiral roller brush (6) are respectively installed on the spiral roller brush drive shaft (15) on the power module (3) to achieve the rotational power of the flexible spiral roller brush (6).

7. The roller brush type intelligent photovoltaic cleaning robot according to claim 1, characterized in that: The walking wheel groups (9) are provided with four groups, and the two ends of the four walking wheel groups (9) are respectively mounted on the walking wheel drive shafts (16) on the power module (3), so as to realize the walking power of the walking wheel groups (9).

8. The roller brush type intelligent photovoltaic cleaning robot according to claim 2, characterized in that: The sensor device (13) is used to detect various operation information of the robot's walking, and the tail cover (11) and the head cover (12) are both installed on the power module (3) and the robot's flexible main beam (4).

9. The roller brush type intelligent photovoltaic cleaning robot according to claim 1, characterized in that: The 4G antenna (7) and the Bluetooth antenna (8) are both mounted on the spiral roller brush housing (10) and connected to the communication module (19), and the communication module (19) communicates with the control panel (20).

10. The roller brush type intelligent photovoltaic cleaning robot according to claim 4, characterized in that: The lithium battery (17), charger (18), communication module (19) and control panel (20) are installed inside the box (141) to achieve waterproof and dustproof protection, and the tail cover (11) and the head cover (12) are symmetrically distributed at both ends of the flexible spiral roller brush (6).

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