Cleaning robot and cleaning method for photovoltaic panel array

Abstract

The invention belongs to the field of photovoltaic panels, and particularly relates to a photovoltaic cleaning robot. Comprising a cleaning assembly, the cleaning assembly comprises a cleaning module, and the cleaning module is used for cleaning a photovoltaic panel array; the moving assembly is connected with the cleaning assembly, and the moving assembly is used for moving the cleaning assembly; the moving assembly comprises a vehicle frame and a driving module, and the driving module is installed on the vehicle frame and used for driving the vehicle frame to move. The invention provides a photovoltaic cleaning robot. The photovoltaic cleaning robot aims at solving the problem that in the prior art, the utilization rate of a photovoltaic cleaning robot is low.

Description

Technical Field

[0001] The invention belongs to the field of photovoltaic panels, and in particular relates to a cleaning robot and a cleaning method for a photovoltaic panel array. Background Art

[0002] As the development and utilization of clean energy has become a common concern of governments and enterprises around the world, solar energy, as a clean and renewable energy, has gradually become an important part of the global energy structure optimization due to its abundant resources and good environmental benefits. In this context, photovoltaic power generation technology has been widely used, especially in renewable energy power generation systems.

[0003] However, large-scale photovoltaic panel arrays are generally deployed in the arid and rainless northwest region, which includes several photovoltaic panels arranged in arrays. If they are not cleaned for a long time, a large amount of impurities in the air (such as dust, bird droppings, and leaves, etc.) will accumulate on the surface of the photovoltaic modules over time. The impurities accumulated on the surface of the photovoltaic panels will cause the photovoltaic modules to generate too much heat, which will cause hot spots on the photovoltaic panels. In severe cases, the photovoltaic modules will burn out due to excessive temperatures, causing huge economic losses to the photovoltaic power station. At the same time, impurities will also affect the energy conversion of the photovoltaic power station, thereby affecting the power generation efficiency and economic benefits of the entire photovoltaic system.

[0004] Therefore, it is of great significance to regularly clean the photovoltaic panel array, reduce the obstruction of dust and debris, and ensure that the photovoltaic panel array can maintain a high solar radiation transmittance, which is of great significance for improving the power generation efficiency of the photovoltaic panel array and reducing its failure rate.

[0005] In practice, in order to clean the photovoltaic panel array, most photovoltaic cleaning robots are equipped with a mobile frame that spans the entire photovoltaic panel array, and the mobile frame is equipped with cleaning components (such as cleaning cloth, etc.), and the cleaning components are driven by the mobile frame to move, so as to clean the entire photovoltaic panel. However, with this design, the size of the entire cleaning robot is inevitably large, and it is not easy to move to other photovoltaic panels for cleaning, which ultimately leads to a low utilization rate of the photovoltaic cleaning robot in the prior art. Summary of the invention

[0006] The present invention provides a photovoltaic cleaning robot, which aims to solve the problem of low utilization rate of photovoltaic cleaning robots in the prior art.

[0007] In order to achieve the above object, the present invention provides a photovoltaic panel cleaning robot, comprising

[0008] A cleaning assembly, the cleaning assembly comprising a cleaning module, the cleaning module being used for cleaning a photovoltaic panel array; and

[0009] A moving component, the moving component is connected to the cleaning component, and the moving component is used to move the cleaning component;

[0010] The moving assembly includes a frame and a driving module. The driving module is installed on the frame and is used to drive the frame to move.

[0011] This solution moves by moving the moving component, and during the movement of the moving component, the cleaning component is driven to move with it. When the cleaning component moves, the cleaning component cleans the surface of the photovoltaic panel on the moving path. When the moving component moves, it cleans according to the above cleaning method, and the cleaning efficiency of the photovoltaic panel array is higher.

[0012] Preferably, in order to clean the photovoltaic panel array, the cleaning module of the present invention is a roller brush module, which includes a roller brush and a driving unit. The roller brush is transmission-connected to the driving unit, and the driving unit drives the roller brush to rotate.

[0013] In this solution, the roller brush rotates to separate impurities on the surface of the photovoltaic panel from the photovoltaic panel, thereby cleaning the photovoltaic panel. In this solution, the roller brush preferably rotates to clean the photovoltaic panel, and the structure is simpler than other cleaning methods.

[0014] Preferably, when the roller brush is cleaning the photovoltaic panel array, the roller brush will lift up the impurities. The lifted impurities will fall back onto the photovoltaic panel array due to gravity. In order to solve the above problem, the cleaning component of this solution also includes an airflow release module, the airflow release module includes an airflow releaser, the air outlet of the airflow releaser faces the roller brush, and the airflow releaser is used to release airflow.

[0015] This solution releases airflow to the roller brush through the airflow release module. When impurities are lifted up, the airflow release module disperses the impurities, keeps the impurities away from the photovoltaic panel, and prevents a large amount of impurities from falling back onto the surface of the photovoltaic panel.

[0016] Preferably, since part of the photovoltaic panel array is installed at an angle, in order to ensure that the mobile component moves on the photovoltaic panel array in an inclined state, the mobile component described in this solution also includes an adsorption module, which is installed on the frame and is used to be adsorbed and connected to the photovoltaic panel.

[0017] This solution uses an adsorption module to connect with the photovoltaic panel. When the photovoltaic panel is adsorbed and connected with the adsorption module, the adsorption force ensures that the mobile component can be more stable on the photovoltaic panel array, preventing the mobile component from falling from the photovoltaic panel array.

[0018] Since the photovoltaic panel array is composed of multiple photovoltaic panel arrays, there will be gaps between the photovoltaic panels, and a frame is also provided at the edge of each photovoltaic panel. In order to solve the problem of the frame bulging when the photovoltaic panel crosses the gap and causing the frame to pitch and swing, the frame of the present solution includes at least three connecting sections, which are arranged in a straight line and are movably connected by a connecting structure.

[0019] In this solution, since there are at least three connecting sections, when moving to the frame position, the first section of the frame can be moved compared to the second and third sections of the frame to prevent the first section from pitching and causing the adjacent connecting section to pitch, thereby causing the adsorption module of the adjacent section to leak. Afterwards, when different sections of the frame pass through the frame, the sections can be moved accordingly to avoid causing the negative pressure module of the adjacent section to leak.

[0020] Preferably, in order to achieve active connection between different segments, the connection structure described in this solution is a hinge structure.

[0021] In order to improve the cleaning efficiency of the photovoltaic panel, the second aspect of the present invention provides a cleaning method using the above-mentioned cleaning robot, comprising the following steps:

[0022] S1, the photovoltaic cleaning robot is placed on the photovoltaic panel array;

[0023] S2, adjusting the posture of the photovoltaic cleaning robot so that the photovoltaic cleaning robot is aligned with the photovoltaic panel array;

[0024] S3, the photovoltaic cleaning robot moves to the first corner position of the photovoltaic panel array;

[0025] S4, the photovoltaic cleaning robot starts cleaning the photovoltaic panel array from the first corner position;

[0026] S5, the photovoltaic cleaning robot cleans the photovoltaic panel array along an N-shaped or Z-shaped path;

[0027] S6, the photovoltaic cleaning robot reaches the second corner position of the photovoltaic panel array, and the photovoltaic cleaning robot stops moving.

[0028] The cleaning robot can clean the entire photovoltaic panel array through the above method. At the same time, the photovoltaic cleaning robot has fewer repeated paths, which avoids the photovoltaic cleaning robot from repeatedly cleaning the area that has been cleaned, improves the working efficiency of the photovoltaic cleaning robot, and solves the shortcomings of the existing technology.

[0029] Preferably, in order to determine whether the photovoltaic cleaning robot has reached the first corner position or the second corner position, the photovoltaic cleaning robot described in this solution is configured with a detection system, and the photovoltaic cleaning robot determines the first corner position and / or the second corner position through the detection system.

[0030] This solution configures a detection system, and performs detection and feedback through the detection system, so that the photovoltaic cleaning robot can accurately move to the first corner position and the second corner position.

[0031] Preferably, since the photovoltaic panel array is composed of a plurality of photovoltaic panel arrays, there will be gaps between the photovoltaic panels. Therefore, when the photovoltaic cleaning robot cleans the photovoltaic panel array, it is necessary to be able to distinguish whether the photovoltaic cleaning robot moves to the gap or to the edge of the photovoltaic panel array. The photovoltaic cleaning robot described in this solution is equipped with a detection system, and in S5, the photovoltaic cleaning robot determines whether to stop moving forward or cross the gap through the detection system.

[0032] This solution uses a detection system to detect whether the photovoltaic cleaning robot has reached the gap or the edge of the photovoltaic panel array. When the photovoltaic cleaning robot reaches the edge of the photovoltaic panel array, the photovoltaic cleaning robot stops moving forward, and the photovoltaic cleaning robot avoids falling from the photovoltaic panel array by turning, turning around or backing up. When the photovoltaic cleaning robot reaches the gap, the photovoltaic cleaning robot crosses the gap and reaches other photovoltaic panels for cleaning.

[0033] Preferably, in order to achieve the above-mentioned detection effect, the detection system described in this solution includes a panel detector, which is arranged at the edge of the photovoltaic cleaning robot and is used to detect the photovoltaic panel.

[0034] In this solution, the panel detector is arranged at the edge of the photovoltaic cleaning robot. Therefore, when the photovoltaic panel protrudes from the edge of the photovoltaic cleaning robot, the panel detector is in an empty state and cannot detect the photovoltaic panel. According to the detection state of the panel detector, it is judged whether the first corner position or the second corner position is reached and the gap crossing is performed.

[0035] Preferably, in order to detect the first corner position, the second corner position and determine whether it crosses the seam. The panel detector of this solution includes a first panel detector and a second panel detector;

[0036] The first panel detector and the second panel detector are at least arranged at the front end of the photovoltaic cleaning robot, and the first panel detector is arranged in front of the second panel detector, and the width between the first panel detector and the second panel detector is greater than the gap width between adjacent photovoltaic panels.

[0037] The beneficial effect of the present invention is that the cleaning robot of the present invention drives the cleaning component to move by configuring a moving component, thereby cleaning the entire photovoltaic panel. Through this design, the size of the photovoltaic cleaning robot can be reduced, and the photovoltaic cleaning robot can also be moved. Compared with the prior art, the cleaning robot of the present invention can move across the gap to different photovoltaic panels in an inclined state, thereby improving the utilization rate of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic structural diagram of a photovoltaic cleaning robot according to Example 1.

[0039] Figure 2 This is a schematic diagram of the roller brush module of Example 1.

[0040] Figure 3 Schematic diagram of the mobile component of Example 1.

[0041] Figure 4 Schematic diagram of the cleaning component of Example 2.

[0042] Figure 5 Schematic diagram of the airflow release module of Example 2.

[0043] Figure 6 Schematic diagram of the airflow release module of Example 3.

[0044] Figure 7 Schematic diagram of the mobile component of Example 4.

[0045] Figure 8 This is a schematic diagram of the mobile component of Example 4 reaching the cross-seam position.

[0046] Fig. 9 It is a schematic diagram of the front section of the frame when spanning the seam in Example 4.

[0047] Fig.10 It is a schematic diagram of the middle section of the frame when the cross-seam is performed in Example 4.

[0048] Fig.11 It is a schematic diagram of the cross-seam of the rear section of the frame in Example 4.

[0049] Fig.12 This is a schematic diagram of the connection structure in Example 5.

[0050] Fig.13 Schematic diagram of the photovoltaic cleaning method in Example 6.

[0051] Fig.14 This is a schematic diagram of the photovoltaic cleaning robot performing N-shaped path movement in Example 6.

[0052] Fig.15This is a schematic diagram of the photovoltaic cleaning robot performing a Z-shaped path movement in Example 6.

[0053] Fig.16 Schematic diagram of the detection system of Example 6.

[0054] Fig.17 This is a schematic diagram of finding the first corner position in Example 6.

[0055] Fig.18 Schematic diagram of the detection system in Example 7.

[0056] The figure marks include: cleaning component 1, roller brush module 11, roller brush 11a, driving unit 11b, airflow release module 12, airflow releaser 12a, gas supply unit 12b, frame 13, moving component 2, frame 21, front section 21a, middle section 21b, tail section 21c, hinge 21d, connecting shaft 21e, connecting sleeve 21f, driving module 22, adsorption module 23, detection system 3, first panel detector 31, second panel detector 32. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the embodiments more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are only examples of devices and methods consistent with some aspects of the present disclosure as detailed in the attached claims.

[0058] In the present disclosure, unless otherwise stated, the directional words used, such as "inside" and "outside", are defined according to the corresponding parts' own contours. The terms used in the present disclosure, such as "first" and "second", etc., are used to distinguish one element from another element and do not have order and importance.

[0059] The photovoltaic panel array of this embodiment includes a plurality of photovoltaic panels arranged in a rectangular array, the photovoltaic panel is a rectangular plate, and the photovoltaic panel can be rectangular or square. The photovoltaic panel array after the plurality of photovoltaic panel arrays are arranged is rectangular, for example, the photovoltaic panel array as a whole is rectangular or square.

[0060] Example 1

[0061] This embodiment provides a photovoltaic cleaning robot. Figure 1 As shown, the photovoltaic cleaning robot includes a photovoltaic cleaning component 1 and a moving component 2 .

[0062] The photovoltaic cleaning assembly 1 of this embodiment includes a cleaning module, which is preferably a roller brush module 11, and the impurities on the photovoltaic panel are removed by the roller brush module 11. The impurities on the photovoltaic panel include but are not limited to dust, leaves, bird droppings, etc.

[0063] like Figure 2 As shown, in this embodiment, the roller brush module 11 includes a roller brush 11a and a driving unit 11b. The roller brush 11a is in an elongated strip shape. The roller brush 11a is preferably a nylon roller brush. The roller brush 11a is mounted on a frame 13 through a rotating shaft. The frame 13 is in a U shape, and the roller brush 11a can rotate on the frame 13. The driving unit 11b is a driving motor, and the driving motor is fixedly mounted on the frame 13 by configuring fasteners. The driving motor and the roller brush 11a are connected to each other through a gear connection structure. The gear connection structure includes an output gear and a transmission gear. The output gear is arranged on the output shaft of the driving motor, and the connecting shaft sleeve of the roller brush 11a is provided with a transmission gear, and the output gear and the transmission gear are in a meshing transmission state. In this embodiment, it is preferred that both the output gear and the transmission gear are bevel gears.

[0064] At the same time, if Figure 2 As shown, in this embodiment, two drive units 11b are provided, and the two drive units 11b are respectively provided on both sides of the frame 13, and the two drive units 11b are transmission-connected to both ends of the roller brush 11a through a gear connection structure. The two drive units 11b cooperate to drive the roller brush 11a to rotate.

[0065] Take an application scenario as an example: when the drive motor is working, the drive motor drives the roller brush 11a to rotate through gear transmission. When the roller brush 11a rotates, the roller brush 11a cleans the impurities on the photovoltaic panel, and the impurities are lifted up by the roller brush 11a. At the same time, since the roller brush 11a is driven by two drive units 11b, the shaking and swinging of the other end of the roller brush 11a when driven by a single drive unit 11b is solved.

[0066] It should be noted that: in this embodiment, the transmission is performed through a gear connection structure, but in some other embodiments, there are multiple ways for the driving motor to drive the roller brush 11a to rotate. For example, the roller brush 11a can be driven and rotated by a belt drive, or by a chain drive, or the output shaft of the driving motor can be directly connected to the roller brush 11a to drive and rotate the roller brush 11a.

[0067] It should be noted that: in this embodiment, the cleaning module is set as a roller brush module 11, and the photovoltaic panel is cleaned by the roller brush module 11. However, in some other embodiments, the cleaning module can also be set as other modules in the prior art, for example: in some embodiments, the roller brush module 11 can be set as a brush disc module, and the brush disc module includes a brush disc and a drive unit 11b. The brush disc can be set in multiple numbers, and the brush discs are arranged in a straight line. The drive unit 11b is a drive motor, and the drive motor and the brush disc are set in a one-to-one correspondence. The output shaft of the drive motor is directly connected to the brush disc. When the drive motor is working, the drive motor drives the brush disc to rotate, and the brush disc separates impurities from the photovoltaic panel and also lifts up the impurities.

[0068] In order to realize the movement of the roller brush module 11, as Figure 3 As shown, the mobile assembly 2 of this embodiment includes a frame 21 and a drive module 22. The frame 21 is rectangular, and the front end of the frame 21 is fixedly connected to the frame 13 in the roller brush module 11. When implemented, the connection can be made by configuring fasteners. The left and right sides of the frame 21 are respectively configured with a drive module 22, and the drive module 22 is a synchronous belt pulley module, which is used as a power to drive the frame 21 to move.

[0069] In this embodiment, the mobile component 2 further includes an adsorption module 23, such as Figure 3 As shown. The adsorption module 23 is used to adsorb the photovoltaic panel, so that the photovoltaic cleaning robot is more stable when moving on the inclined photovoltaic panel. In this embodiment, a plurality of adsorption modules 23 can be provided, for example: 2, 3 or 4. The adsorption module 23 can adopt the adsorption module 23 in the prior art. The adsorption module 23 is arranged on the frame 21, and the adsorption module 23 is arranged in a straight line.

[0070] In this embodiment, the mobile component 2 further includes a posture angle detection sensor for detecting the spatial posture and angle of the mobile component 2 , and then determining the moving direction and posture of the mobile component 2 .

[0071] Example 2

[0072] This embodiment is improved on the basis of the embodiment 1. When the roller brush module 11 is used to clean the photovoltaic panel array, the roller brush 11a separates the impurities from the photovoltaic panel and lifts the impurities. Then the impurities fall again on the photovoltaic panel surface due to gravity, causing secondary contamination of the photovoltaic panel array.

[0073] Therefore, in order to solve the above problems, Figure 4 As shown, the cleaning assembly 1 of this embodiment further includes an airflow release module 12. The airflow release module 12 includes an airflow releaser 12a and a gas supply unit 12b. Figure 5As shown. The gas releaser is installed on the frame 13, and an air outlet is provided at the front end of the gas releaser, and the air outlet is in a straight line shape. The air outlet of the gas releaser is arranged opposite to the roller brush 11a. The internal structure of the gas releaser is provided with an air duct, and the entrance of the air duct is an air inlet. A gas supply unit 12b is installed at the air inlet by configuring fasteners, and the gas supply unit 12b can be a blower or a compressed gas cylinder, etc.

[0074] Take an application scenario as an example: when the roller brush 11a rotates, the roller brush 11a lifts up the impurities on the photovoltaic panel, and then the gas supply unit 12b delivers the airflow into the gas releaser. The airflow flows along the inside of the gas releaser, and finally the airflow is released from the air outlet at the front end of the gas releaser. The airflow disperses the impurities lifted by the roller brush 11a to the front end, preventing the impurities from falling on the photovoltaic panel that has been cleaned.

[0075] Example 3

[0076] The difference between this embodiment and embodiment 1 is that the structure of the airflow release module 12 is different. Figure 6 As shown, in this embodiment, it is preferred that at least two airflow releasers 12a are set, and preferably two are set. Both airflow releasers 12a are arranged on the frame 13, and the two airflow releasers 12a are respectively facing the left front side or the right front side of the roller brush 11a. The two airflow releasers 12a are connected to the airflow supply unit 12b through a pipeline. The airflow supply unit 12b can be a blower. At the same time, the airflow release module 12 of this embodiment also includes an adjustment unit, and the adjustment unit is preferably a three-way valve. The airflow supply unit 12b is connected to the airflow releaser 12a through a three-way valve. The three-way valve can adjust the connection state between the airflow supply unit 12b and the airflow releaser 12a.

[0077] Take an application scenario as an example: when the roller brush 11a cleans the photovoltaic panel in different directions, the airflow supply unit 12b is adjusted through the three-way valve to connect with different airflow releasers 12a, so that the airflow blows the impurities in different directions to prevent the impurities from falling onto the photovoltaic panel that has been cleaned.

[0078] It should be noted that: in this embodiment, it is preferred to set two airflow releasers 12a, but in some other embodiments, the airflow releasers 12a can also be set to 3, 4 or 5. The air outlets of different airflow releasers 12a face different directions. Of course, in order to ensure the supply of airflow, the number of gas supply units 12b can be appropriately increased according to the number of airflow releasers 12a.

[0079] It should be noted that in this embodiment, the two air flow releasers 12a are preferably set to face the left front side and the right front side. However, in some other embodiments, the two air flow releasers 12a can also be set at the end of the roller brush 11a, and the two air flow releasers 12a face the left and right sides respectively.

[0080] Example 4

[0081] This embodiment is improved on the basis of the embodiment 1, the embodiment 2 or the embodiment 3, in order to meet the use requirements of spanning the gap, to ensure that the frame 21 is more stable when spanning the gap. Figure 7 As shown, in this embodiment, the frame 21 includes at least three connecting sections, including a front section 21a, a middle section 21b and a tail section 21c, and the front section 21a, the middle section 21b and the tail section 21c are arranged in a straight line. The front section 21a and the middle section 21b are movably connected by a connecting structure, and the middle section 21b and the tail section 21c are also movably connected by a connecting structure. At the same time, in this embodiment, three adsorption modules 23 are also arranged, and the three adsorption modules 23 are respectively arranged at the bottom of the front section 21a, the middle section 21b and the tail section 21c.

[0082] In this embodiment, the driving module 22 is installed on the middle section 21 b of the frame 21 . When the driving module 22 is working, the driving module 22 pushes the front section 21 a , the middle section 21 b and the rear section 21 c to move simultaneously.

[0083] It should be noted that: in this embodiment, three adsorption modules 23 are provided, and the three adsorption modules 23 correspond one to one with the front section 21a, the middle section 21b, and the rear section 21c of the frame 21. However, in some other embodiments, the adsorption modules 23 may be provided in excess of three, for example, in excess of four, five, or six, and the adsorption modules 23 in excess of three are also provided in the front section 21a, the middle section 21b, and the rear section 21c of the frame 21.

[0084] It should be noted that: in this embodiment, the frame 21 includes three sections (i.e., the front section 21a, the middle section 21b, and the rear section 21c), but in some other embodiments, the frame 21 may also have more than three sections. For example, the frame 21 may be configured as 4 sections, the 4 sections respectively including the front section, the middle section 1, the middle section 2, and the rear section, and each section is also movably connected by a connecting structure. Of course, if the frame 21 has more than three sections, the number of adsorption modules 23 also exceeds 3, so as to ensure that each section has at least one adsorption module 23.

[0085] The connection structure in this embodiment is a hinge 21d. The front section 21a and the middle section 21b are movably connected by the hinge 21d, and the front section 21a and the middle section 21b can rotate around the hinge 21d. The middle section 21b and the tail section 21c are movably connected by the hinge 21d, and the middle section 21b and the tail section 21c can rotate around the hinge 21d.

[0086] The specific process of the frame 21 performing cross-seam is described below: When performing cross-seam, Figure 8 As shown, first, the front section 21a of the frame 21 contacts the frame of the photovoltaic panel. Due to the presence of the frame, the front section 21a of the frame 21 will be lifted up by the frame of the photovoltaic panel to form an elevation angle, as shown in FIG. Fig. 9 As shown. At this time, since the front section 21a of the frame 21 and the middle section 21b of the frame 21 are movably connected by the hinge 21d, the middle section 21b of the frame 21 is less affected by the front end, and the adsorption module 23 installed on the middle section 21b of the frame 21 can still maintain a good adsorption state with the photovoltaic panel, preventing the frame 21 from separating from the photovoltaic panel array. Subsequently, the front section 21a of the frame 21 is pushed forward by the driving module 22, and the front section 21a of the frame 21 reaches the adjacent photovoltaic panel, and the middle section 21b of the frame 21 crosses to the gap, as shown. Fig.10 Then, the front section 21a and the middle section 21b of the frame 21 are pushed forward by the driving module 22, and the middle section 21b of the frame 21 reaches the adjacent photovoltaic panel, as shown in FIG. Fig.11 Finally, the tail section 21c of the frame 21 is also driven by the driving module 22 to reach the adjacent photovoltaic panel.

[0087] Example 5

[0088] The difference between this embodiment and Embodiment 3 is that in Embodiment 3, since the rotation angle of the hinge 21d is small, when the front section 21a of the frame 21 is at an upward angle or an inclined angle during the process of the frame 21 spanning the gap, the middle section 21b of the frame 21 will still be greatly affected, thereby increasing the risk of the frame 21 sliding off.

[0089] In order to solve the above technical problems, the connection structure of this embodiment is different. Fig.12 As shown, in this embodiment, the preferred connection structure includes a connecting shaft 21e and a connecting sleeve 21f. The connecting shaft 21e and the connecting sleeve 21f are respectively arranged in two adjacent sections. The connecting shaft 21e is accommodated inside the connecting sleeve 21f, and the connecting sleeve 21f can slide up and down on the connecting shaft 21e. In this embodiment, the diameter of the connecting sleeve 21f is preferably slightly larger than the diameter of the connecting shaft 21e, thereby ensuring that the connecting shaft 21e and the connecting sleeve 21f can be appropriately tilted.

[0090] In this embodiment, the connecting shaft 21e is preferably arranged in front of the connecting sleeve 21f, that is, the connecting shaft 21e is arranged at the rear end of the front section 21a of the frame 21, and the connecting sleeve 21f is arranged at the front end of the middle section 21b of the frame 21; the connecting shaft 21e is arranged at the rear end of the middle section 21b of the frame 21, and the connecting sleeve 21f is arranged at the front end of the tail section 21c of the frame 21.

[0091] The specific process of the frame 21 crossing the gap is described below: When crossing the gap, the front section 21a of the frame 21 first contacts the frame of the photovoltaic panel. Due to the existence of the frame, the front section 21a of the frame 21 will be lifted by the frame of the photovoltaic panel, and the front end of the frame 21 rises along the connecting shaft 21e. At this time, since the front section 21a of the frame 21 rises, the middle section 21b of the frame 21 is less affected than in Example 3. The adsorption module 23 installed on the middle section 21b of the frame 21 can maintain a good adsorption state with the photovoltaic panel to prevent the frame 21 from separating from the photovoltaic panel array. Subsequently, the front section 21a of the frame 21 is pushed forward by the driving module 22, and the front section 21a of the frame 21 reaches the adjacent photovoltaic panel, and the middle section 21b of the frame 21 crosses the gap. At this time, the front section 21a of the frame 21 is lowered compared to the middle section 21b of the frame 21, and the front section 21a of the frame 21 can provide a good adsorption force for the frame 21. Then, the front section 21a and the middle section 21b of the frame 21 are pushed forward by the driving module 22, and the middle section 21b of the frame 21 also reaches the adjacent photovoltaic panel. Finally, the rear section 21c of the frame 21 is also driven by the driving module 22 to reach the adjacent photovoltaic panel.

[0092] Example 6

[0093] This embodiment provides a cleaning method using the photovoltaic cleaning robot in Embodiment 1, Embodiment 2, Embodiment 3, Embodiment 4 or Embodiment 5, such as Fig.13 As shown, the specific steps include:

[0094] S1, the photovoltaic cleaning robot is moved by the drone so that the photovoltaic cleaning robot is placed on the surface of the photovoltaic panel array.

[0095] The photovoltaic cleaning robot of this embodiment can be placed on the surface of any photovoltaic panel in the photovoltaic panel array.

[0096] It is understandable that: in this embodiment, the movement of the photovoltaic cleaning robot is achieved by a drone. Compared with other ways of moving the photovoltaic cleaning robot, the movement of the photovoltaic cleaning robot driven by the drone can be more flexible and more efficient. However, in some other embodiments, other ways of moving the photovoltaic cleaning robot are not excluded, for example, manually moving the photovoltaic cleaning robot to the photovoltaic panel array, or transporting the photovoltaic cleaning robot by car and then placing the photovoltaic cleaning robot on the photovoltaic panel array.

[0097] S2, the photovoltaic cleaning robot rotates and adjusts the posture of the photovoltaic cleaning robot so that the photovoltaic cleaning robot is aligned with the setting direction of the photovoltaic panel array.

[0098] In this embodiment, the photovoltaic cleaning robot can be aligned horizontally or vertically with the photovoltaic panel array. This embodiment does not impose any restrictions. It only needs to ensure that when the photovoltaic cleaning robot moves, the photovoltaic cleaning robot moves parallel to the frame of the photovoltaic panel. In this embodiment, it is preferred to configure a posture sensor on the photovoltaic cleaning robot, and compare the detection data of the posture sensor with the preset data, so as to align the photovoltaic cleaning robot with the setting direction of the photovoltaic panel array.

[0099] It is understandable that there are many ways to adjust the posture of the photovoltaic cleaning robot, so in some other embodiments, the posture of the photovoltaic cleaning robot can be adjusted by other means to align the photovoltaic cleaning robot with the setting direction of the photovoltaic panel array. For example, an external camera can be used to capture a posture image of the photovoltaic cleaning robot on the photovoltaic panel array, and then the photovoltaic cleaning robot is rotated, and the photovoltaic cleaning robot is finally adjusted to align with the setting direction of the photovoltaic panel array through the image obtained externally.

[0100] S3, the photovoltaic cleaning robot moves to the first corner position of the photovoltaic panel array.

[0101] The first corner position can be the upper left corner, the upper right corner, the lower left corner or the lower right corner of the photovoltaic panel array. In specific implementation, the corner closest to the photovoltaic cleaning robot can be set as the first corner position, or the first corner position can be directly set as the upper left corner of the photovoltaic panel array (the upper left corner here can also be replaced by the upper right corner, the lower left corner or the lower right corner).

[0102] In order to ensure that the photovoltaic cleaning robot moves accurately to the first corner position, the present embodiment preferably configures a detection system on the photovoltaic cleaning robot, and the photovoltaic cleaning robot moves to the first corner position through the detection system. However, it is understandable that in some other embodiments, other methods can also be used to move the photovoltaic cleaning robot to the first corner position. For example: an external camera can be used to capture an image of the position of the photovoltaic cleaning robot on the photovoltaic panel array, and then the first corner position is identified through the image. The photovoltaic cleaning robot moves accurately to the first corner position based on the position information obtained by the image recognition.

[0103] S4, the photovoltaic cleaning robot starts from the first corner position of the photovoltaic panel array and begins to clean the photovoltaic panel array.

[0104] S5, the photovoltaic cleaning robot cleans the photovoltaic panel array along an N-shaped or Z-shaped path.

[0105] In this embodiment, the photovoltaic cleaning robot can choose to move along an N-shaped or Z-shaped path. The following example takes the photovoltaic cleaning robot starting from the lower left corner of the photovoltaic panel array and moving along an N-shaped path as an example. Fig.14 As shown:

[0106] Step 1, adjust the head of the photovoltaic cleaning robot toward the upper left corner of the photovoltaic panel array; Step 2, the photovoltaic cleaning robot moves longitudinally (i.e., moves toward the upper left corner of the photovoltaic panel array) until it moves to the upper left corner of the photovoltaic panel array; Step 3, the photovoltaic cleaning robot turns right 90 degrees and moves laterally a predetermined distance (the distance of lateral advancement is less than or equal to the cleaning width of the photovoltaic cleaning robot to avoid the presence of uncleaned gaps between the cleaning paths of the photovoltaic cleaning robot); Step 4, the photovoltaic cleaning robot turns right 90 degrees, and the photovoltaic cleaning robot completes a U-turn; Step 5, the photovoltaic cleaning robot moves longitudinally until it moves to the lower frame of the photovoltaic panel array; Step 6, the photovoltaic cleaning robot turns left 90 degrees at the lower frame of the photovoltaic panel array, and moves laterally a predetermined distance; Step 7, the photovoltaic cleaning robot turns left 90 degrees, and the photovoltaic cleaning robot completes a U-turn; Step 8, the photovoltaic cleaning robot moves longitudinally until it moves to the upper frame of the photovoltaic panel array; Step 9, execute steps 3 to 5 again; Step 10, execute steps 6 to 8 again; Finally, the cleaning path of the photovoltaic cleaning robot covers the entire photovoltaic panel array.

[0107] The following example takes the photovoltaic cleaning robot as an example, starting from the lower left corner of the photovoltaic panel array and moving along a Z-shaped path. Fig.15 As shown:

[0108] Step 1, adjust the head of the photovoltaic cleaning robot toward the lower right corner of the photovoltaic panel array; Step 2, the photovoltaic cleaning robot moves laterally (i.e., moves toward the lower right corner of the photovoltaic panel array) until it moves to the lower right corner of the photovoltaic panel array; Step 3, the photovoltaic cleaning robot turns 90 degrees to the left and moves laterally a predetermined distance (the distance of the lateral advancement is less than or equal to the cleaning width of the photovoltaic cleaning robot to avoid the presence of uncleaned gaps between the cleaning paths of the photovoltaic cleaning robot); Step 4, the photovoltaic cleaning robot turns 90 degrees to the left, and the photovoltaic cleaning robot completes a U-turn; Step 5, the photovoltaic cleaning robot moves laterally until it moves to the left frame of the photovoltaic panel array; Step 6, the photovoltaic cleaning robot turns 90 degrees to the right at the left frame of the photovoltaic panel array, and moves laterally a predetermined distance; Step 7, the photovoltaic cleaning robot turns 90 degrees to the right, and the photovoltaic cleaning robot completes a U-turn; Step 8, the photovoltaic cleaning robot moves laterally until it moves to the right frame of the photovoltaic panel array; Step 9, execute steps 3 to 5 again; Step 10, execute steps 6 to 8 again; Finally, the cleaning path of the photovoltaic cleaning robot covers the entire photovoltaic panel array.

[0109] Since there are gaps between the photovoltaic panels of the photovoltaic panel array, the photovoltaic cleaning robot needs to distinguish the gaps between the photovoltaic panels and the edges of the photovoltaic panels when moving in an N-shaped or Z-shaped path. If the photovoltaic cleaning robot reaches the edge of the photovoltaic panel array, the photovoltaic cleaning robot stops moving forward, and the photovoltaic cleaning robot avoids falling from the photovoltaic panel array by turning, turning around or backing up. When the photovoltaic cleaning robot reaches the gap position, the photovoltaic cleaning robot crosses the gap, reaches other photovoltaic panels, and cleans other photovoltaic panels.

[0110] In order to distinguish between the gap and the edge of the photovoltaic panel, the photovoltaic cleaning robot is preferably equipped with a detection system in this embodiment. The detection system determines whether the photovoltaic cleaning robot has reached the gap between the photovoltaic panels or the edge of the photovoltaic panel. However, it is understandable that in some other embodiments, other methods can also be used to determine whether the photovoltaic cleaning robot has reached the gap between the photovoltaic panels or the edge of the photovoltaic panel. For example: an external camera can be used to capture an image of the position of the photovoltaic cleaning robot on the photovoltaic panel array, and then the position of the photovoltaic cleaning robot is identified through the image. The photovoltaic cleaning robot determines whether it has reached the gap between the photovoltaic panels or the edge of the photovoltaic panel based on the position information obtained by the image recognition.

[0111] S6, the photovoltaic cleaning robot reaches the second corner position of the photovoltaic panel array, and the photovoltaic cleaning robot stops moving forward to prevent the photovoltaic cleaning robot from falling.

[0112] When the photovoltaic cleaning robot reaches the second corner position of the photovoltaic panel array, the cleaning path of the photovoltaic cleaning robot covers the entire photovoltaic panel array, and the photovoltaic cleaning robot completes the cleaning of the photovoltaic panel array. The second corner position and the first corner position are located at the two ends of the photovoltaic panel array, respectively, and are also different according to the different moving paths. For example: when moving in an N-shaped path, when the first corner position is the lower left corner or the upper left corner, the second corner position is the lower right corner or the upper right corner, and when the first corner position is the lower right corner or the upper right corner, the second corner position is the lower left corner or the upper left corner; when moving in a Z-shaped path, when the first corner position is the lower left corner or the lower right corner, the second corner position is the upper right corner or the upper left corner, and when the first corner position is the upper right corner or the upper left corner, the second corner position is the lower left corner or the lower right corner.

[0113] In order to determine whether the photovoltaic cleaning robot has moved to the second corner position, the present embodiment preferably configures a detection system on the photovoltaic cleaning robot, and determines whether the photovoltaic cleaning robot has moved to the second corner position through the detection system. However, it is understandable that in some other embodiments, other methods can also be used to determine whether the photovoltaic cleaning robot has moved to the second corner position. For example: an external camera can be used to capture an image of the position of the photovoltaic cleaning robot on the photovoltaic panel array, and then the second corner position is identified through the image. The photovoltaic cleaning robot determines whether it has moved to the second corner position based on the position information obtained by the image recognition.

[0114] In order to determine the first corner position, the second corner position and whether to perform seam crossing. The detection system 3 of this embodiment includes a panel detector, such as Fig.16 As shown, the panel detector includes a first panel detector 31 and a second panel detector 32. The first panel detector 31 and the second panel detector 32 are both used to detect whether there is a photovoltaic panel. The first panel detector 31 is arranged in front of the second panel detector 32. The width distance between the first panel detector 31 and the second panel detector 32 is greater than the distance between adjacent photovoltaic panels in the photovoltaic panel array.

[0115] In this embodiment, the first panel detector 31 is preferably an infrared distance sensor, which is set corresponding to the photovoltaic panel and is used to detect whether there is a photovoltaic panel. The second panel detector 32 in this embodiment is a single-point laser distance sensor, which is set corresponding to the photovoltaic panel and is used to detect whether there is a photovoltaic panel.

[0116] It can be understood that, in addition to the above-mentioned sensors, the first panel detector 31 and the second panel detector 32 in this embodiment may also be other sensors in the prior art, such as ultrasonic sensors.

[0117] The detection system 3 determines the first corner position, such as Fig.17 As shown, the following steps are included:

[0118] In the first step, the photovoltaic cleaning robot moves linearly in any direction on the surface of the photovoltaic panel array (for example, linear motion to the left, linear motion to the right, linear motion forward, or linear motion backward, etc.), and the photovoltaic cleaning robot reaches the edge of the photovoltaic panel array. At this time, the front end of the photovoltaic cleaning robot protrudes out of the photovoltaic panel array, and the first panel detector 31 and the second panel detector 32 cannot detect the photovoltaic panel.

[0119] In the second step, the photovoltaic cleaning robot retreats a predetermined distance (for example, 5 sides or 10 cm, etc.) to ensure that the first panel detector 31 and the second panel detector 32 can detect the photovoltaic panel again.

[0120] In the third step, the photovoltaic cleaning robot rotates 90 degrees to the left or right, and then continues to move in a straight line until the photovoltaic cleaning robot reaches the edge of the photovoltaic panel array. At this time, the front end of the photovoltaic cleaning robot protrudes out of the photovoltaic panel array, and the first panel detector 31 and the second panel detector 32 cannot detect the photovoltaic panel.

[0121] Fourth, the photovoltaic cleaning robot retreats a predetermined distance (eg, 5 sides or 10 cm, etc.) to ensure that the first panel detector 31 and the second panel detector 32 can detect the photovoltaic panel again. At this time, the photovoltaic cleaning robot is located at the first corner position.

[0122] The detection system 3 determines the second corner position, including the following steps:

[0123] Step 1: The photovoltaic cleaning robot reaches the edge of the photovoltaic panel array due to N-shaped path movement or Z-shaped path movement. At this time, the front end of the photovoltaic cleaning robot protrudes out of the photovoltaic panel array, and the first panel detector 31 and the second panel detector 32 cannot detect the photovoltaic panel.

[0124] Step 2: The photovoltaic cleaning robot retreats a predetermined distance (eg, 5 sides or 10 cm, etc.) to ensure that the first panel detector 31 and the second panel detector 32 can detect the photovoltaic panel again.

[0125] In the third step, the photovoltaic cleaning robot rotates 90 degrees to the left or right (the rotation direction is different according to the cleaning path), and if the first panel detector 31 and the second panel detector 32 cannot detect the photovoltaic panel after the rotation, it means that the position is the second corner position.

[0126] In order to determine whether the photovoltaic cleaning robot has reached the gap between photovoltaic panels or the edge of the photovoltaic panel, the detection system 3 includes the following steps:

[0127] Step 1: The photovoltaic cleaning robot moves forward so that the first panel detector 31 cannot detect the photovoltaic panel.

[0128] Step 2: When the first panel detector 31 cannot detect the photovoltaic panel, the photovoltaic cleaning robot continues to move forward a predetermined distance (eg, 5 cm).

[0129] Step three, if after moving a predetermined distance, the second panel detector 32 cannot detect the photovoltaic panel, but the first panel detector 31 can detect the photovoltaic panel, it means that there is a gap in front of the photovoltaic cleaning robot; if after moving a predetermined distance, both the first panel detector 31 and the second panel detector 32 cannot detect the photovoltaic panel, it means that the photovoltaic cleaning robot has moved to the edge of the photovoltaic panel array.

[0130] Example 6

[0131] The difference between this embodiment and embodiment 5 is that Fig.18 As shown, the detection system 3 is improved in this embodiment. In this embodiment, the detection system 3 also includes a first panel detector 31 and a second panel detector 32. The second panel detector 32 is set to 4, and the 4 second panel detectors 32 are respectively set at the four corners of the photovoltaic cleaning robot. The 4 second panel detectors 32 are distributed in a square shape. The first panel detector 31 is set to 2, which are located at the front and rear ends of the photovoltaic cleaning robot. The first panel detector 31 is also located in front of the second panel detector 32, and the width distance between the first panel detector 31 and the second panel detector 32 is greater than the distance between adjacent photovoltaic panels in the photovoltaic panel array.

[0132] It can be understood that, since the first panel detector 31 and the second panel detector 32 are also provided, the detection system 3 of this embodiment can also achieve the effects of determining the first corner position, the second corner position and judging whether to cross the seam.

[0133] In addition, since the second panel detectors 32 are set to 4, and the 4 second panel detectors 32 are respectively set at the four corners of the photovoltaic cleaning robot. The first panel detectors 31 are set to 2, which are located at the front and rear ends of the photovoltaic cleaning robot. Therefore, the detection system 3 in this embodiment can be used to perform real-time monitoring during the movement of the photovoltaic cleaning robot, prevent the photovoltaic cleaning robot from falling, and make the photovoltaic cleaning robot safer.

[0134] When the photovoltaic cleaning robot is moving, if any panel detector cannot detect the photovoltaic panel, it means that the photovoltaic panel is protruding from the position, and the photovoltaic cleaning robot needs to move away from the position. For example, when the second panel detector 32 in the upper left corner of the photovoltaic cleaning robot cannot detect the photovoltaic panel during movement, it means that the photovoltaic panel is protruding from the upper left corner of the photovoltaic cleaning robot, and the photovoltaic cleaning robot moves back to avoid falling.

[0135] The above is only an embodiment of the present invention, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A photovoltaic panel cleaning robot, characterized in that: include A cleaning component, the cleaning component includes a cleaning module, and the cleaning module is used for cleaning the photovoltaic panel array; as well as A moving component, the moving component is connected to the cleaning component, and the moving component is used to move the cleaning component; The moving assembly includes a frame and a driving module. The driving module is installed on the frame and is used to drive the frame to move.

2. The cleaning robot according to claim 1, characterized in that: The cleaning module is a roller brush module, which includes a roller brush and a driving unit. The roller brush is transmission-connected to the driving unit, and the driving unit drives the roller brush to rotate.

3. The cleaning robot according to claim 2, characterized in that: The cleaning component also includes an airflow release module, which includes an airflow releaser. The air outlet of the airflow releaser faces the roller brush, and the airflow releaser is used to release airflow.

4. The cleaning robot according to claim 1, characterized in that: The mobile assembly further comprises an adsorption module, which is mounted on the frame and is used for adsorption connection with the photovoltaic panel; and / or; The vehicle frame comprises at least three connecting sections, the connecting sections are arranged in a straight line, and the connecting sections are movably connected via a connecting structure.

5. The cleaning robot according to claim 4, characterized in that: The connection structure is a hinge structure.

6. A cleaning method using the cleaning robot according to any one of claims 1 to 5, characterized in that: The steps include: S1, the photovoltaic cleaning robot is placed on the photovoltaic panel array; S2, adjusting the posture of the photovoltaic cleaning robot so that the photovoltaic cleaning robot is aligned with the photovoltaic panel array; S3, the photovoltaic cleaning robot moves to the first corner position of the photovoltaic panel array; S4, the photovoltaic cleaning robot starts cleaning the photovoltaic panel array from the first corner position; S5, the photovoltaic cleaning robot cleans the photovoltaic panel array along an N-shaped or Z-shaped path; S6, the photovoltaic cleaning robot reaches the second corner position of the photovoltaic panel array, and the photovoltaic cleaning robot stops moving.

7. The cleaning method according to claim 6, characterized in that: The photovoltaic cleaning robot is equipped with a detection system, and the photovoltaic cleaning robot determines the first corner position and / or the second corner position through the detection system.

8. The cleaning method according to claim 6, characterized in that: The photovoltaic cleaning robot is equipped with a detection system. In S5, the photovoltaic cleaning robot determines whether to stop moving forward or to cross the seam through the detection system.

9. The cleaning method according to claim 7 or 8, characterized in that: The detection system comprises a panel detector, which is arranged at the edge of the photovoltaic cleaning robot and is used to detect the photovoltaic panel.

10. The cleaning method according to claim 9, characterized in that: The panel detector includes a first panel detector and a second panel detector; The first panel detector and the second panel detector are at least arranged at the front end of the photovoltaic cleaning robot, and the first panel detector is arranged in front of the second panel detector, and the width between the first panel detector and the second panel detector is greater than the gap width between adjacent photovoltaic panels.

Images