Cleaning robot

Abstract

The invention discloses a cleaning robot. The cleaning robot comprises a robot body and an unpowered cleaning mechanism, and the robot body is connected with the cleaning mechanism through a detachable connecting structure and used for providing power for movement of the cleaning robot and providing support for the cleaning mechanism; the cleaning mechanism is internally provided with multiple stages of cleaning tools and a water spraying mechanism, the water spraying mechanism is used for spraying water to a cleaning surface, spray heads of the water spraying mechanism are arranged among the multiple stages of cleaning tools, and the multiple stages of cleaning tools are used for removing dirt on the cleaning surface after water spraying and preventing water flow sprayed out of the spray heads from splashing. The technical problem that the cleaning efficiency is not ideal due to the fact that a cleaning mechanism in the prior art is prone to being clamped by a gap of a cleaning face is solved.

Description

Technical Field

[0001] The present application relates to the field of robots and photovoltaic module cleaning technology, and in particular, to a cleaning robot. Background Art

[0002] In the field of photovoltaic cleaning technology, most existing cleaning robots use cleaning mechanisms with power sources, such as electric brushing or electric vacuuming, to clean the surface of photovoltaic panels. The cleaning module is driven by a motor, and removes dust and impurities on the photovoltaic panels through a brush or vacuuming device. Due to the large weight of the cleaning mechanism, the head of the cleaning module is prone to drooping during operation, affecting the cleaning effect and the stability of the robot. There are seams between photovoltaic panels, especially when encountering seams with large drop heights, the powered cleaning module is prone to jamming and difficult to pass smoothly, limiting the robot's autonomous operation ability. In addition, during the cleaning process, the high-speed rotating brush will throw away stains and water, contaminating the cleaned area and reducing the overall cleaning efficiency.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiment of the present application provides a cleaning robot to at least solve the technical problem in the related art that the cleaning mechanism is easily stuck in the gap of the cleaning surface, resulting in unsatisfactory cleaning efficiency.

[0005] According to one aspect of an embodiment of the present application, a cleaning robot is provided, comprising: a robot body, and an unpowered cleaning mechanism, wherein the robot body is connected to the cleaning mechanism by a detachable connection structure, for providing power for the movement of the cleaning robot and providing support for the cleaning mechanism; the cleaning mechanism is provided with a multi-stage cleaning tooling and a water spraying mechanism, wherein the water spraying mechanism is used to spray water onto a cleaning surface, the nozzle of the water spraying mechanism is provided between the multi-stage cleaning tooling, and the multi-stage cleaning tooling is used to remove dirt on the cleaning surface after spraying water, and to prevent splashing of water sprayed from the nozzle.

[0006] Optionally, the detachable connection structure is a plug-in structure or a buckle structure.

[0007] Optionally, the multi-stage cleaning tooling is provided with a primary cleaning tooling and a secondary cleaning tooling, wherein the primary cleaning tooling and the secondary cleaning tooling are respectively provided as row brushes, the secondary cleaning tooling includes at least one row of row brushes, and in the traveling direction of the cleaning robot, the setting position of the primary cleaning tooling is forward of the setting position of the secondary cleaning tooling.

[0008] Optionally, the multi-stage cleaning tool is also provided with a tertiary cleaning tool, and the setting position of the tertiary cleaning tool is later than the setting position of the secondary cleaning tool in the traveling direction. When the drainage gap reserved on the cleaning surface does not meet the predetermined gap range, the tertiary cleaning tool is set as a scraper, and when the drainage gap reserved on the cleaning surface meets the predetermined gap range, the tertiary cleaning tool is set as a brush.

[0009] Optionally, the cleaning mechanism is provided with a cleaning mechanism frame and an angle adjustment plate, and the water spraying mechanism is further provided with a first type of connecting member, wherein the first type of connecting member is used to connect the nozzle and a water pipe for injecting water into the water spraying mechanism, and the angle adjustment plate is connected to the cleaning mechanism frame, and is used to fix the angle at which the first type of connecting member intersects with the cleaning mechanism frame so that the nozzle provided on the first type of connecting member maintains the angle to spray water toward the cleaning surface.

[0010] Optionally, the cleaning mechanism is provided with a fixing plate, the water spraying mechanism is provided with pipe fittings, and a second type of connecting member, wherein the second type of connecting member is used to connect the pipe fittings with corresponding nozzles, the pipe fittings are used to connect the first type of connecting member with the second type of connecting member, and the fixing plate is used to fix the pipe fittings on the cleaning mechanism frame.

[0011] Optionally, there are multiple nozzles, each of which is provided with a fan-shaped nozzle or a conical nozzle, and the total number of the multiple nozzles is determined based on the spray coverage angle of the nozzles and the shortest distance between the multiple nozzles and the cleaning surface.

[0012] Optionally, the cleaning mechanism is provided with a water baffle, which is installed above the multi-stage cleaning tool and is used to block water droplets splashing vertically upward from the cleaning surface.

[0013] Optionally, the robot body has the ability to move forward and backward, and the robot body switches the movement direction by rotating.

[0014] Optionally, the cleaning surface is a photovoltaic component, and the width of the cleaning mechanism is greater than the width of the photovoltaic component.

[0015] In the embodiment of the present application, the cleaning robot includes: a robot body and a non-powered cleaning mechanism, wherein the robot body is connected to the cleaning mechanism by a detachable connection structure, which is used to provide power for the movement of the cleaning robot and to provide support for the cleaning mechanism; the cleaning mechanism is provided with a multi-stage cleaning tool and a water spraying mechanism, wherein the water spraying mechanism is used to spray water on the cleaning surface, the nozzle of the water spraying mechanism is arranged between the multi-stage cleaning tool, and the multi-stage cleaning tool is used to remove dirt on the cleaning surface after spraying water, and to prevent the splashing of the water sprayed from the nozzle. The purpose of reducing the weight of the cleaning mechanism and improving the cleaning stability is achieved, and the technical effect of improving the cleaning operation efficiency is achieved, thereby solving the technical problem in the related art that the cleaning mechanism is easily stuck in the gap of the cleaning surface, resulting in unsatisfactory cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 is a schematic structural diagram of an optional cleaning robot provided according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of a buckle of an optional cleaning robot provided according to an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of a cleaning mechanism of an optional cleaning robot provided according to an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of an optional water spraying mechanism of a cleaning robot provided according to an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of an optional application of a cleaning robot provided according to an embodiment of the present application;

[0022] The reference numerals include:

[0023] Cleaning robot 1; robot body 10, robot connecting frame 101;

[0024] Cleaning mechanism 20; multi-stage cleaning tool 201, primary cleaning tool 2001, secondary cleaning tool 2002, tertiary cleaning tool 2003; water spraying mechanism 202; first type connecting member 2011, second type connecting member 2012; cleaning mechanism frame 203, water baffle plate 204, angle adjustment plate 205, fixing plate 206;

[0025] Detachable connecting structure 30; buckle structure 301. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] A cleaning robot is also provided in an embodiment of the present application. The cleaning robot provided in the embodiment of the present application is introduced below.

[0029] Figure 1 is a schematic diagram of the structure of a cleaning robot provided according to an embodiment of the present application, such as Figure 1 As shown, the system includes: a robot body 10, and an unpowered cleaning mechanism 20, wherein:

[0030] The robot body 10 is connected to the cleaning mechanism 20 by a detachable connection structure 30, which is used to provide power for the movement of the cleaning robot 1 and to provide support for the cleaning mechanism 20;

[0031] The cleaning mechanism 20 is provided with a multi-stage cleaning tool 201 and a water spraying mechanism 202, wherein the water spraying mechanism 202 is used to spray water onto the cleaning surface, and the nozzle of the water spraying mechanism 202 is arranged between the multi-stage cleaning tool 201, and the multi-stage cleaning tool 201 is used to remove dirt on the cleaning surface after spraying water and prevent the water sprayed from the nozzle from splashing.

[0032] In an optional embodiment, the detachable connection structure 30 is a plug-in structure or a buckle structure 301. In the design of the cleaning robot 1, the detachable connection structure 30 is introduced as a connection method between the robot body 10 and the cleaning mechanism 20, so that the robot body 10 and the cleaning mechanism 20 can be easily separated and reassembled, which not only enhances the flexibility of the equipment, but also facilitates maintenance and upgrading, without the need for overall replacement, only replacement or repair of specific modules.

[0033] For example, in the photovoltaic panel cleaning operation, different cleaning mechanisms 20 may need to be replaced according to different photovoltaic panel layouts or cleaning requirements. The use of a plug-in or snap-on connection allows the cleaning mechanism 20 to be quickly replaced without consuming too much time, thereby improving the operating efficiency and adaptability of the equipment. Compared with traditional bolt fixing or welding methods, the plug-in structure or snap-on structure 301 is easier to operate, does not require special tools, and reduces the complexity and difficulty of on-site operations.

[0034] Figure 2 is a schematic diagram of an optional buckle of the cleaning robot 1 provided according to an embodiment of the present application, such as Figure 2 As shown, taking the buckle structure 301 as an example, the buckle structure 301 includes two parts: one part is fixed on the robot connecting frame 101 connected to the robot body 10, and the other part is fixed on the cleaning mechanism frame 203 of the cleaning mechanism 20. When the robot body 10 and the cleaning mechanism 20 are docked, the buckle structure 301 is connected by mutual engagement or hooking, without the need for additional fasteners, and the operation is simple and quick.

[0035] Optionally, a positioning pin or a positioning groove may be provided in the detachable connecting structure 30 to ensure the precise alignment of the cleaning mechanism 20 and the robot body 10 when connected, to prevent positional displacement during connection, and thus to ensure stability and cleaning effect during the cleaning process.

[0036] Optionally, the detachable connecting structure 30 can also be designed with a release mechanism. The operator can separate the robot body 10 and the cleaning mechanism 20 through simple manual operation. The release mechanism can have various mechanisms, such as pressing a release button or rotating an unlocking mechanism, to facilitate quick disassembly and replacement during different cleaning tasks or maintenance.

[0037] Optionally, the robot body 10 is connected to the cleaning mechanism 20 via the robot connecting frame 101 and the buckle structure 301 , and the cleaning mechanism 20 and the robot body 10 are fixedly connected together.

[0038] Optionally, the cleaning mechanism frame 203 can be made of aluminum alloy or other materials through cutting, bending, welding or other processes, or can be realized by combining stamping process. The cleaning mechanism frame 203 is composed of horizontal and vertical structural members, providing framework structural support to resist external impact. There are holes on it for fixing the water baffle 204, the fixing plate 206, the angle adjustment plate 205 and the multi-stage cleaning tool 201 with screws or rivets.

[0039] Optionally, the above-mentioned aluminum alloy and other materials include but are not limited to aluminum alloy, stainless steel, magnesium alloy, titanium alloy and other metals or acrylic, ABS (Acrylonitrile Butadiene Styrene Copolymer) and other plastics. All materials that can be used to achieve structure and function are within the scope of protection of this application.

[0040] In an optional embodiment, Figure 3 is a schematic diagram of a cleaning mechanism of an optional cleaning robot provided according to an embodiment of the present application, such as Figure 3 As shown, the multi-stage cleaning tool 20 is provided with a primary cleaning tool 2001 and a secondary cleaning tool 2002, wherein the primary cleaning tool 2001 and the secondary cleaning tool 2002 are respectively provided as row brushes, and the secondary cleaning tool 2002 includes at least one row of row brushes, and in the moving direction of the cleaning robot, the setting position of the primary cleaning tool 2001 is forward of the setting position of the secondary cleaning tool 2002.

[0041] It can be understood that in the optional embodiment of the present application, the multi-stage cleaning tool 201 includes a primary cleaning tool 2001 and a secondary cleaning tool 2002, both of which use a row brush as a cleaning medium, but their installation positions and functions are significantly different. In the main travel (cleaning) direction of the robot, the one in front is the primary cleaning tool 2001, and the one in the back is the secondary cleaning tool 2002, that is, if the setting mode of the robot in the back cleaning mechanism in front is selected, the travel direction is to advance the cleaning forward, then the one far away from the robot body side is the primary cleaning tool 2001; if the setting mode of the robot in the front cleaning mechanism in the back is selected, the robot drags the cleaning mechanism forward, then the one close to the robot body side should be the primary cleaning tool 2001. The principle is that the cleaning robot drives the tool to run, the primary cleaning tool 2001 blocks the splashing of water, the water nozzle is between the primary cleaning tool 2001 and the secondary cleaning tool 2002, and the secondary cleaning tool 2002 performs the main cleaning work after spraying water.

[0042] After high-pressure water spraying, the stains and water stains on the surface of the photovoltaic panel are further removed. The multi-row design of the secondary cleaning tool 2002 can ensure that the cleaning surface is scraped and brushed multiple times, thereby achieving a more thorough cleaning effect. At the same time, the row brush can also capture the tiny water droplets splashed from the nozzle when scraping the stains to prevent them from contaminating the cleaned area and avoiding secondary pollution. The design of the primary cleaning tool 2001 and the secondary cleaning tool 2002 effectively prevents the spread of stains during the water spraying process. The primary cleaning tool 2001 controls most of the dust within a certain range before spraying water, while the secondary cleaning tool 2002 scrapes and brushes immediately after spraying water to ensure the cleanliness of the cleaning area and will not bring stains out of the cleaning area to affect the overall cleaning effect. The hardness of the row brush can be adapted to the conditions of different photovoltaic panel surfaces through material selection or fixed groove length adjustment. Whether it is a smooth surface or a slightly uneven surface, efficient cleaning can be achieved through the flexible adjustment of the row brush.

[0043] Optionally, a row of brushes refers to fixing single or linked rows of bristles to a row of brushes base to form a row of brushes with a certain rigidity of the fixed portion. The hardness of the row of brushes can be adjusted by changing the material or increasing the length of the brush fixing groove of the row of brush base.

[0044] The installation height of the brush should be lower than the ground height, so that it is slightly bent and the end is pressed on the ground.

[0045] The row brush can use nylon wire as the working medium, such as wool, horse hair and other materials, the thickness can be 5mm (millimeter), preferably in the range of 3 to 10mm. The row brush base is connected to the cleaning mechanism frame 203 and the water baffle 204, and the row brush bristles are slightly longer than the distance from the row brush base to the ground, 0 to 30mm. The wiper is in slight contact with the cleaning surface, and can be made of EVA (Ethylene VinylAcetate, ethylene-vinyl acetate copolymer) material, or any soft wear-resistant material such as rubber and silicone. The wiper preferably uses a 10mm thick EVA board, and the width is close to the length of the row brush bristles.

[0046] In an alternative embodiment, Figure 3 As shown, the multi-stage cleaning tool 201 is also provided with a tertiary cleaning tool 2003. In the traveling direction, the setting position of the tertiary cleaning tool 2003 is later than the setting position of the secondary cleaning tool 2002. The tertiary cleaning tool 2003 is arranged between the secondary cleaning tool 2002 and the robot body 10. When the drainage gap reserved on the cleaning surface does not meet the predetermined gap range, the tertiary cleaning tool 2003 is arranged as a scraper. When the drainage gap reserved on the cleaning surface meets the predetermined gap range, the tertiary cleaning tool 2003 is arranged as a brush.

[0047] It can be understood that the position of the tertiary cleaning tool 2003 is set in the direction of travel, which is at a position behind the secondary cleaning tool 2002. That is, if the setting mode of the robot in the back and the cleaning mechanism in the front is selected, and the direction of travel is to push forward to clean, then the side farther away from the robot body is the secondary cleaning tool 2002, and the side closer to the robot body is the tertiary cleaning tool 2003; if the setting mode of the robot in the front and the cleaning mechanism in the back is selected, and the robot drags the cleaning mechanism forward, then the side closer to the robot body should be the secondary cleaning tool 2002, and the side farther away from the robot body should be the tertiary cleaning tool 2003. Its specific form (scraper or brush) depends on whether the drainage gap reserved on the cleaning surface of the photovoltaic panel meets the preset gap range, and the configuration strategy of the tertiary cleaning tool 2003 is based on the actual situation of the cleaning surface (the size of the drainage gap). When the gap is small and insufficient for water and dirt to be naturally discharged, the three-time cleaning tool 2003 adopts a scraper form. Through the contact and scraping action of the scraper, the residual water and dirt are directly guided to the gap or edge, ensuring the dryness and cleanliness of the cleaning surface and improving the cleaning effect. When the drainage gap meets the preset range, the three-time cleaning tool 2003 is set as a brush, which is used to further remove the water stains and tiny dirt particles that may remain after the secondary cleaning. The use of the brush can avoid the spread of dirt that may be caused by the scraper, effectively prevent secondary pollution, and ensure the cleanliness and dryness of the photovoltaic panel cleaning area. Whether it is a scraper or a brush, the three-time cleaning tool 2003 can improve the cleaning effect. By selecting the form of the three-time cleaning tool 2003 according to the actual situation of the drainage gap on site, the cleaning robot 1 can flexibly respond to the photovoltaic cleaning needs under different environments. Whether it is a photovoltaic panel with a large installation gap or a complex layout with a small gap, it can ensure the cleaning effect while avoiding equipment jamming or damage.

[0048] Optionally, in the case where the cleaning surface is a photovoltaic module, the application scenario is to clean the photovoltaic module. In order to be used with the cleaning robot 1 and achieve the maximum operating effect, the multiple photovoltaic panels included in the photovoltaic module should be installed in the same plane as much as possible, and a drainage spacing of 15 to 100 mm is preferably left between the panels, and the ideal value is 30 to 50 mm. After the cleaning robot 1 is mounted on one end of the photovoltaic module, it moves along the long side of the photovoltaic module, and the dust attached to the photovoltaic panel is preliminarily dispersed by a primary cleaning brush (i.e., a primary cleaning tool 2001). The nozzle sprays high-pressure water onto the panel surface and mixes with the dust to form sewage. The splash during the spraying can be blocked by a water retaining plate, a primary cleaning brush, and a secondary cleaning brush (i.e., a secondary cleaning tool 2002) to prevent leakage. The secondary cleaning brush further mixes the mixed sewage with the residual stains on the panel surface to achieve complete cleaning. According to the on-site environment, the tertiary cleaning tool can choose a brush or a wiper. If there is a large gap in the on-site environment, a brush can be used. If the gap is small, a wiper is required. The combination of tertiary cleaning and secondary cleaning can carry the sewage to the gaps and discharge it under the photovoltaic panels to achieve a cleaning effect.

[0049] In an optional embodiment, if Figure 3 As shown, the cleaning mechanism 20 is provided with a water baffle 204, and the water baffle 204 is installed above the multi-stage cleaning tool 201 to block the water droplets splashing vertically upward from the cleaning surface.

[0050] It can be understood that the water baffle 204 can be made of bent metal or plastic, and is used to prevent liquid splashing caused by the elastic rebound of the high-pressure water sprayed from the nozzle and the wiper during cleaning, and is used to prevent secondary contamination of the cleaned part.

[0051] Optionally, the water baffle 204 has holes for fixing the cleaning mechanism frame 203 and the multi-stage cleaning tool 201 with screws or rivets. The connection between the cleaning mechanism frame 203 and the water baffle 204 can also be achieved by welding, mortise and tenon joints, etc.

[0052] In an optional embodiment, Figure 4 is a schematic diagram of an optional water spraying mechanism of a cleaning robot provided according to an embodiment of the present application, such as Figure 4As shown, the cleaning mechanism 20 is provided with a cleaning mechanism frame 203 and an angle adjustment plate 205, and the water spraying mechanism 202 is also provided with a first type of connecting member 2011, wherein the first type of connecting member 2011 is used to connect the nozzle and a water pipe for injecting water into the water spraying mechanism, and the angle adjustment plate 205 is connected to the cleaning mechanism frame 203, and is used to fix the angle at which the first type of connecting member 2011 intersects with the cleaning mechanism frame 203, so that the nozzle arranged on the first type of connecting member 2011 maintains the angle to spray water toward the cleaning surface.

[0053] It can be understood that the angle adjustment plate 205 is connected to the cleaning mechanism frame, and its main function is to fix the angle at which the first type of connector 2011 intersects with the cleaning mechanism frame. This means that the nozzle can be accurately positioned and oriented to ensure that the high-pressure water flow can be sprayed onto the cleaning surface of the photovoltaic panel at a preset angle, thereby improving the cleaning efficiency and effect. By adjusting the first type of connector 2011 on the angle adjustment plate 205, the water spray angle of the nozzle can be changed according to specific cleaning requirements (such as the degree of contamination of the cleaning surface). The angle adjustment and fixation of the water spray mechanism 202 are achieved through the angle adjustment plate 205, ensuring stability during the water spraying process. Even if vibration or slight terrain changes occur during the movement and operation of the robot, the water spray angle of the nozzle can remain constant, avoiding uneven cleaning or decreased efficiency caused by angle offset. The first type of connector 2011 is used to connect the nozzle and the water pipe injected into the water spray mechanism 202. Through the fixed design of the angle adjustment plate 205, the installation and maintenance process becomes simpler. The operator does not need to recalibrate the nozzle angle every time it is used or maintained, which reduces the preparation time before the operation and the complexity of maintenance.

[0054] Optionally, if the cleaning robot 1 has only one nozzle, the first type of connector 2011 can be a two-way connector. In more cases, the cleaning robot 1 has multiple nozzles, and the first type of connector 2011 can be a four-way connector, which is used to direct water from the water pipe into the pipe connecting other nozzles.

[0055] In an optional embodiment, as Figure 4 As shown, the cleaning mechanism 20 is provided with a fixing plate 206, the water spraying mechanism 202202 is provided with pipe fittings, and a second type of connecting member 2012, wherein the second type of connecting member 2012 is used to connect the pipe fittings with corresponding nozzles, the pipe fittings are used to connect the first type of connecting member 2011 with the second type of connecting member 2012, and the fixing plate 206 is used to fix the pipe fittings on the cleaning mechanism frame 203203.

[0056] It can be understood that by connecting the pipe fittings and the nozzles through the second type of connector 2012, it is ensured that each nozzle can obtain a stable and continuous water pressure and water supply. The water spray distribution helps to improve the cleaning efficiency and quality, and ensures that each area of ​​the cleaning surface (photovoltaic panel surface) can receive uniform cleaning. The difference between the second type of connector 2012 and the first type of connector 2011 is that the water pipe with the water supply is not directly connected. The first type of connector 2011 is responsible for connecting the external water source, while the second type of connector 2012 and the pipe fitting are responsible for the connection of the internal waterway and the water supply of the nozzle. This hierarchical waterway system design ensures the efficient transmission of water from the source to the nozzle. The fixing plate 206 is used to fix the pipe fittings on the cleaning mechanism frame 203, which increases the stability of the water spray mechanism 202, prevents the vibration or displacement of the pipe fittings during the movement and cleaning process of the cleaning robot 1, and can also effectively protect the pipe fittings from external impact or wear.

[0057] Optionally, the nozzle is connected via a water pipe, and the spray angle is aligned by controlling the rotation angle during assembly, and the water pipe and the nozzle are set at a specified angle via holes and buckles.

[0058] In an optional embodiment, there are multiple nozzles, and the multiple nozzles are respectively provided with fan-shaped nozzles or conical nozzles. The total number of the multiple nozzles is determined based on the nozzle spray coverage angle and the shortest distance between the multiple nozzles and the cleaning surface.

[0059] Optionally, the nozzle is designed to be multiple and can be a fan-shaped or cone-shaped nozzle. The total number and type of nozzles are determined based on the nozzle spray coverage angle and the shortest distance between the nozzle and the cleaning surface.

[0060] Optionally, in the case of multiple nozzles, the fixed pressing plate 206 and the angle adjustment plate 205 are used to fix the relative position of the water spray mechanism pipe on the cleaning mechanism frame 203. The first type of connector 2011 of the water spray mechanism 202 is a four-way connector, which is located in the center of the water spray mechanism 202. The downward end of the four-way connector and the nozzle pass through the lower box of the angle adjustment plate 205, and the other downward end of the four-way connector passes through the upper cover of the angle adjustment plate 205, and determines the angle with the circular hole on the cleaning mechanism frame 203 through the circular hole on the angle adjustment plate 205, which is generally vertically downward, and the angle preferably points to an angle of 45° to -45° with the running direction.

[0061] The upward end of the four-way connector is used to connect to the water supply pipeline, and the downward end (i.e., the opposite end) is equipped with a nozzle, which can be a conical or fan-shaped nozzle. If it is a fan-shaped nozzle, the nozzle direction is preferably set to be parallel to the pipeline. The left and right ends of the four-way connector are connected to pipe fittings, and the other end of the pipe fitting is connected to a three-way connector (i.e., the second type connector 2012), and the downward end of the three-way connector is an independent outlet connected to the nozzle.

[0062] According to the coverage range of the selected nozzles and the width of the cleaning mechanism frame 203, the length of the pipe and the number of nozzles can be calculated. The unit of length calculation below is meter. The total number of nozzles can be calculated in the following preferred manner: the width of the cleaning mechanism frame / (2×the shortest distance between the nozzle and the spray surface touching the ground×tan(spray coverage angle of the nozzle / 2)), rounded up; if the number of nozzles is an odd number, the length of the pipe is: (width of the cleaning mechanism frame / number of nozzles)-0.0175, which can be fine-tuned downward to an integer. If it is an even number, the central pipe needs to be replaced with two short pipes of (original pipe length / 2)-0.175, connected in the middle with a three-way connector.

[0063] In an optional embodiment, the robot body 10 has the ability to move forward and backward, and the robot body switches the direction of movement by rotating. The bidirectional movement ability of the robot body 10 significantly enhances its flexibility in photovoltaic panel cleaning operations. In addition to forward and backward movement (the cleaning state is mainly forward and backward movement), the above-mentioned robot can also perform steering operations such as rotation in situ. The rotation steering and specific angles can be set as required, all within the scope of protection of this application. Whether it is cleaning from one end of the board or adjusting the cleaning direction according to actual conditions. Photovoltaic modules may be installed in a variety of different environments, including the ground, roof, slope, etc., and their layout and direction may be variable. The bidirectional movement of the robot body 10 enables it to flexibly adapt to these different installation conditions. Whether the photovoltaic panel is tilted or there is a gap between the panels, it can be effectively cleaned, and the cleaning effect and range are not affected by the limitation of unidirectional movement.

[0064] Optionally, the robot body 10 with bidirectional motion capability can select the shortest or most effective cleaning path according to the layout of the photovoltaic panels in the cleaning path planning, without considering the detour or invalid movement of the path that may be caused by unidirectional motion, thereby saving operation time and energy consumption. Preferably, the bidirectional motion capability enables the cleaning robot 1 to quickly adjust the position and direction during the cleaning process to cope with local contamination or special cleaning needs on the photovoltaic panels. For example, if a certain area is found to be heavily contaminated during the cleaning process, the cleaning robot 1 can directly retreat to the area for repeated cleaning without the need for a complicated repositioning process, thereby improving the cleaning efficiency and quality.

[0065] In an optional embodiment, the cleaning surface is a photovoltaic module, and the width of the cleaning mechanism is greater than the width of the photovoltaic module. The design that the width of the cleaning mechanism 20 is greater than the width of the photovoltaic module ensures that all cleaning surfaces can be completely covered by one pass of the cleaning mechanism 20, and the cleaning task can be completed by moving in a straight line along the long side of the photovoltaic module. This means that during the movement of the cleaning robot 10, each part of the cleaning surface can receive a uniform cleaning effect, avoiding cleaning dead corners and ensuring comprehensive cleaning of the surface of the photovoltaic module.

[0066] In the embodiment of the present application, the cleaning robot includes: a robot body and a non-powered cleaning mechanism, wherein the robot body is connected to the cleaning mechanism by a detachable connection structure, which is used to provide power for the movement of the cleaning robot and to provide support for the cleaning mechanism; the cleaning mechanism is provided with a multi-stage cleaning tool and a water spraying mechanism, wherein the water spraying mechanism is used to spray water on the cleaning surface, the nozzle of the water spraying mechanism is arranged between the multi-stage cleaning tool, and the multi-stage cleaning tool is used to remove dirt on the cleaning surface after spraying water, and to prevent the splashing of the water sprayed from the nozzle. The purpose of reducing the weight of the cleaning mechanism and improving the cleaning stability is achieved, and the technical effect of improving the cleaning operation efficiency is achieved, thereby solving the technical problem in the related art that the cleaning mechanism is easily stuck in the gap of the cleaning surface, resulting in unsatisfactory cleaning efficiency.

[0067] Based on the above embodiments and optional embodiments, the present application proposes an optional implementation mode, such as Figures 1 to 4 As shown, a non-powered operating mechanism of a photovoltaic cleaning robot is provided, which is used for moving and cleaning in an application scenario where the cleaning surface is a photovoltaic module. The mechanism is mainly composed of a robot connecting frame 101, a cleaning mechanism frame 203, a primary cleaning brush (i.e., a primary cleaning tool 2001 in the form of a brush), a nozzle, a secondary cleaning brush (i.e., a secondary cleaning tool 2002 in the form of a brush), and a tertiary cleaning brush or a wiper (i.e., a tertiary cleaning tool 2003 in the form of a brush or a wiper).

[0068] The robot body 10 is connected to the cleaning mechanism 20 through the robot connecting frame 101 and the buckle 301, and the cleaning mechanism 20 is fixedly connected to the robot body 10. A power device is provided in the robot body, which can be a motor, etc., for driving the cleaning robot 1 to move.

[0069] The cleaning mechanism 20 is composed of a cleaning mechanism body, a water spraying mechanism 202, and a cleaning tool (ie, a multi-stage cleaning tool 201).

[0070] The cleaning mechanism body is composed of a cleaning mechanism frame 203, a water baffle 204, a water spray mechanism fixed pressure plate (i.e., a fixed plate 205), and a water spray mechanism angle adjustment plate (i.e., an angle adjustment plate 205). The cleaning mechanism frame 204 is composed of horizontal and vertical structural members, providing a framework-like structural support to resist external impacts. There are holes thereon for fixing the water baffle 204, the water spray mechanism fixed pressure plate, the water spray mechanism angle adjustment plate, and the cleaning tooling with screws or rivets. The water spray mechanism fixed pressure plate and the water spray mechanism angle adjustment plate are used to fix the relative position of the water spray mechanism pipe fittings on the cleaning mechanism frame 203.

[0071] The water spray mechanism 202 is composed of a four-way connector, a pipe fitting, a three-way connector, an end connector, and a nozzle. Among them, the four-way connector is the first type of connector 2011, and the three-way connector and the end connector can be the second type of connector 2012. The end connector can be a two-way connector of an elbow, which is used to connect the pipeline and the nozzle in the pipeline model. The four-way connector is located in the center of the water spray mechanism 202, and the downward end of the four-way connector and the nozzle pass through the lower box of the water spray mechanism angle adjustment plate, and the other downward end of the four-way connector passes through the upper cover of the water spray mechanism angle adjustment plate, and determines the angle with the circular hole on the water spray mechanism angle adjustment plate, which is generally vertically downward, and the preferred angle is 45° to -45° with the running direction.

[0072] The upward end of the four-way connector is used to connect to the water supply pipeline, and the downward end (i.e., the opposite end) is equipped with a nozzle, which can be a conical or fan-shaped nozzle. If it is a fan-shaped nozzle, the nozzle direction is preferably set to be parallel to the pipeline. The left and right ends of the four-way connector are connected to pipe fittings, and the other end of the pipe fitting is connected to a three-way connector (i.e., the second type connector 2012), and the downward end of the three-way connector is an independent outlet connected to the nozzle.

[0073] The cleaning tooling includes brushes and wipers, which can be arranged as needed and divided into primary cleaning, secondary cleaning, and tertiary cleaning according to their functions. The primary refers to the brushes in front of the nozzle, which are used to prevent sewage splashing and affecting the cleanliness of the cleaning area. The secondary cleaning brushes can be one row or multiple rows. The secondary refers to the brushes behind the nozzle. The tertiary cleaning brushes and wipers are two interchangeable materials that need to be selected according to the working environment. The tertiary refers to the brushes or wipers used to clean residual sewage.

[0074] Figure 5 is a schematic diagram of an optional application of a cleaning robot provided according to an embodiment of the present application, such as Figure 5As shown, the photovoltaic components are cleaned along a certain route according to the arrows. The corresponding application method is suitable for continuous horizontal or small-angle photovoltaic panels. A drainage spacing of 15 to 100 mm should be left between the panels, and the ideal value is 30 to 50 mm. The cleaning robot 1 goes up the panel from one end, turns on the water source, and adjusts the running speed according to the degree of stains, water pressure, and cleaning conditions. Move forward or backward along one side of the photovoltaic panel (depending on the installation method of the cleaning robot 1), and clean it after moving forward. Due to stains on the robot track, if the robot body 10 is in front and the cleaning mechanism 20 is in the back according to the running direction, secondary cleaning is required.

[0075] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0076] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0077] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises: a robot body and an unpowered cleaning mechanism, wherein: The robot body is connected to the cleaning mechanism by a detachable connection structure, which is used to provide power for the movement of the cleaning robot and to provide support for the cleaning mechanism; The cleaning mechanism is provided with a multi-stage cleaning tool and a water spraying mechanism, wherein the water spraying mechanism is used to spray water onto the cleaning surface, and the nozzle of the water spraying mechanism is arranged between the multi-stage cleaning tool. The multi-stage cleaning tool is used to remove dirt on the cleaning surface after spraying water and prevent the splashing of water sprayed from the nozzle.

2. The cleaning robot according to claim 1, characterized in that: The detachable connection structure is a plug-in structure or a buckle structure.

3. The cleaning robot according to claim 1, characterized in that: The multi-stage cleaning tooling is provided with a primary cleaning tooling and a secondary cleaning tooling, wherein the primary cleaning tooling and the secondary cleaning tooling are respectively provided with row brushes, and the secondary cleaning tooling includes at least one row of row brushes, and in the moving direction of the cleaning robot, the setting position of the primary cleaning tooling is ahead of the setting position of the secondary cleaning tooling.

4. The cleaning robot according to claim 3, characterized in that: The multi-stage cleaning tool is also provided with a tertiary cleaning tool. The setting position of the tertiary cleaning tool in the traveling direction is later than the setting position of the secondary cleaning tool. When the drainage gap reserved on the cleaning surface does not meet the predetermined gap range, the tertiary cleaning tool is set as a scraper. When the drainage gap reserved on the cleaning surface meets the predetermined gap range, the tertiary cleaning tool is set as a brush.

5. The cleaning robot according to claim 1, characterized in that: The cleaning mechanism is provided with a cleaning mechanism frame and an angle adjustment plate, and the water spraying mechanism is also provided with a first type of connecting member, wherein the first type of connecting member is used to connect the nozzle and a water pipe for injecting water into the water spraying mechanism, and the angle adjustment plate is connected to the cleaning mechanism frame, and is used to fix the angle at which the first type of connecting member intersects with the cleaning mechanism frame so that the nozzle arranged on the first type of connecting member maintains the angle and sprays water toward the cleaning surface.

6. The cleaning robot according to claim 5, characterized in that: The cleaning mechanism is provided with a fixing plate, the water spraying mechanism is provided with pipe fittings, and a second type of connecting piece, wherein the second type of connecting piece is used to connect the pipe fittings with corresponding nozzles, the pipe fittings are used to connect the first type of connecting piece with the second type of connecting piece, and the fixing plate is used to fix the pipe fittings on the cleaning mechanism frame.

7. The cleaning robot according to any one of claims 1 to 6, characterized in that: There are multiple nozzles, each of which is a fan-shaped nozzle or a cone-shaped nozzle. The total number of the multiple nozzles is determined based on the nozzle spray coverage angle and the shortest distance between the multiple nozzles and the cleaning surface.

8. The cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning mechanism is provided with a water baffle, which is installed above the multi-stage cleaning tool and is used to block water droplets splashing vertically upward from the cleaning surface.

9. The cleaning robot according to any one of claims 1 to 6, characterized in that: The robot body has the ability to move forward and backward, and the robot body switches the movement direction by rotating.

10. The cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning surface is a photovoltaic component, and the width of the cleaning mechanism is greater than the width of the photovoltaic component.

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