Cleaning robot

Abstract

The invention relates to the technical field of robots, and discloses a cleaning robot. The cleaning robot comprises a mounting bracket; one end of the adsorption device is connected with the mounting bracket, and the other end of the adsorption device can be switched between a fixed state fixed on the surface of the to-be-cleaned object and a separated state separated from the surface of the to-be-cleaned object; one end of the rotating device is movably connected with the mounting bracket, and the other end of the rotating device can be switched between a fixed state fixed on the surface of the to-be-cleaned object and a separated state separated from the surface of the to-be-cleaned object; the cleaning mechanism is arranged on one side of the rotating device and abuts against the surface of the to-be-cleaned object; when the adsorption device is in the fixed state, the rotating device in the disengaged state can move relative to the to-be-cleaned object so as to drive the cleaning mechanism to move relative to the to-be-cleaned object, and the surface of the to-be-cleaned object is cleaned. The cleaning robot is higher in energy utilization efficiency and lower in energy consumption.

Description

Technical Field

[0001] This application relates to the technical field of robots, for example, a cleaning robot is involved. Background Art

[0002] Photovoltaic modules undertake the function of photoelectric conversion in a photovoltaic power station and are formed by connecting a certain number of photovoltaic cells in series and parallel through wires and encapsulating them. The problems of dust and snow accumulation on the surface of photovoltaic modules will affect the power generation performance of photovoltaic modules. Regularly cleaning the dust on the surface of photovoltaic modules can effectively improve the power generation efficiency of photovoltaic modules, reduce the temperature on the surface of photovoltaic modules, and extend the service life of photovoltaic modules to a certain extent. Therefore, the research on the surface cleaning of photovoltaic modules has important economic significance and application value.

[0003] In the related art, a cleaning robot for photovoltaic panels is disclosed, which includes a lead screw. A control panel and a solar panel are arranged at the upper end of the lead screw; a bracket is connected to the front end of the lead screw, a steering gear is connected to the front end of the bracket, the rotation of the steering gear is controlled by a main controller on the control panel, a fixing frame is connected to the lower end of the steering gear through a first connecting member, two cleaning brushes are arranged in the fixing frame, and the outer ends of the cleaning brushes are connected to a driving DC motor; a vacuum cleaner is connected to the rear side of the cleaning brushes through a second connecting member at the lower end of the lead screw; a moving device is also included, and the moving device is respectively connected to both sides of the lead screw.

[0004] Although the cleaning robot in the related art can achieve flexible cleaning of photovoltaic panels, various separately arranged driving devices, such as steering gears, DC motors, vacuum cleaners, and moving devices, etc., are likely to cause a large amount of energy consumption and the energy utilization efficiency is low. Summary of the Invention

[0005] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. The summary is not a general review, nor is it to identify key / important constituent elements or delineate the protection scope of these embodiments, but rather serves as a preface to the subsequent detailed description.

[0006] The embodiments of the present disclosure provide a cleaning robot with higher energy utilization efficiency and lower energy consumption.

[0007] In some embodiments, a cleaning robot is provided, including: a mounting bracket; an adsorption device, one end of which is connected to the mounting bracket, and the other end of which can be switched between a fixed state fixed to the surface of the object to be cleaned and a detached state detached from the surface of the object to be cleaned; a rotating device, one end of which is movably connected to the mounting bracket, and the other end of which can be switched between a fixed state fixed to the surface of the object to be cleaned and a detached state detached from the surface of the object to be cleaned; a cleaning mechanism, arranged on one side of the rotating device and abutted against the surface of the object to be cleaned; wherein, when the rotating device is in the fixed state, the adsorption device and the mounting bracket in the detached state can move relative to the object to be cleaned; when the adsorption device is in the fixed state, the rotating device in the detached state can move relative to the object to be cleaned to drive the cleaning mechanism to move relative to the object to be cleaned and clean the surface of the object to be cleaned.

[0008] Optionally, the rotating device includes: a first moving structure movably connected to the mounting bracket; a first lifting structure arranged on the first moving structure; a first adsorption structure arranged on the first lifting structure, and one side of the first adsorption structure away from the first lifting structure can be switched between a fixed state fixed to the surface of the object to be cleaned and a detached state detached from the surface of the object to be cleaned; a rotating structure arranged on the first adsorption structure; wherein, the first moving structure can drive the rotating device to move relative to the object to be cleaned when the first adsorption structure is in the detached state; the first lifting structure can drive the first adsorption structure to move in a direction close to or away from the object to be cleaned when the adsorption device is in the fixed state; the rotating structure can drive the first lifting structure to rotate relative to the first adsorption structure when the first adsorption structure is in the fixed state.

[0009] The rotating structure can drive the first lifting structure to rotate relative to the first adsorption structure when the first adsorption structure is in the fixed state.

[0010] Optionally, the first adsorption structure includes: a suction cup including a ventilation hole; a guide air cylinder rotatably connected to the side of the suction cup away from the object to be cleaned, a guide air channel is arranged in the guide air cylinder, and the guide air channel is communicated with the ventilation hole; an air pump arranged in the guide air cylinder for changing the gas flow direction in the guide air channel; wherein, the first lifting structure is connected to the guide air cylinder, and the rotating structure is arranged on the suction cup.

[0011] Optionally, the rotating structure includes: a rotating bracket sleeved on one end of the guide air cylinder close to the suction cup and rotatably connected to the suction cup; a first motor arranged on the rotating bracket; a first gear sleeved on the output shaft of the first motor, and the first motor is used to drive the first gear to rotate; a second gear fixedly connected to the suction cup, and the external gear of the first gear is rotatably connected to the external gear of the second gear.

[0012] Optionally, the first lifting structure includes: a lifting bracket connected to the first moving structure; a second motor disposed on the lifting bracket; a first transmission assembly, the input end of the first transmission assembly is connected to the output end of the second motor, and the output end of the first transmission assembly is connected to the air guide cylinder.

[0013] Optionally, the first moving structure includes: a moving bracket connected to the first lifting structure; a third motor disposed on the moving bracket; a second transmission assembly movably connected to the mounting bracket, and the input end of the second transmission assembly is connected to the output end of the third motor.

[0014] Optionally, the cleaning mechanism includes: a third housing disposed on one side of the rotating device, the third housing includes a third cavity and a dust collection port that communicate with each other; a first cleaning member, part of the first cleaning member is located in the third cavity, and part of the first cleaning member protrudes from the third cavity and abuts against the surface of the object to be cleaned; a dust collection assembly disposed outside the third housing at the dust collection port.

[0015] Optionally, the first cleaning member includes a first roller brush; the cleaning mechanism further includes a fourth motor and a third transmission assembly, the fourth motor is disposed on the third housing, the input end of the third transmission assembly is connected to the output shaft of the fourth motor, and the output end of the third transmission assembly is connected to the first roller brush.

[0016] Optionally, the rotating device includes a first rotating member and a first plug-in member arranged at intervals; the cleaning mechanism includes a second rotating member and a second plug-in member arranged at intervals, the first rotating member and the second rotating member are rotatably connected, and the first plug-in member and the second plug-in member are detachably connected.

[0017] Optionally, the number of cleaning mechanisms is two, and the two cleaning mechanisms are respectively disposed on opposite sides of the rotating device.

[0018] Optionally, the mounting bracket includes a main bracket and an extension bracket connected together, and the axes of the length directions of the main bracket and the extension bracket are parallel to each other; wherein, the number of adsorption devices is two, and the two adsorption devices are respectively disposed on the main bracket and the extension bracket; the rotating device is movably connected to the main bracket and can move relative to the main bracket along the length direction of the main bracket.

[0019] Optionally, the mounting bracket includes a second connecting rod extending along a preset direction; the preset direction refers to a direction perpendicular to the length direction of the mounting bracket; the number of adsorption devices is two, and the two adsorption devices are respectively disposed at opposite ends of the second connecting rod.

[0020] Optionally, the mounting bracket includes a main bracket and an extension bracket which are connected; the mounting bracket further includes a third moving structure, one end of the third moving structure is connected to the main bracket, and the other end is movably connected to the extension bracket, and can drive the extension bracket to move relative to the main bracket along the length direction of the main bracket when the rotating device is in a fixed state.

[0021] The cleaning robot provided by the embodiment of the present disclosure can achieve the following technical effects:

[0022] In the cleaning robot provided by the embodiment of the present disclosure, the cleaning mechanism is arranged on one side of the rotating device and abuts against the surface of the object to be cleaned, and can move synchronously relative to the object to be cleaned when the rotating device moves relative to the object to be cleaned, so as to clean the surface of the object to be cleaned. Since the movement of the rotating device in the disengaged state relative to the object to be cleaned in the present disclosure is to cooperate with the adsorption device to realize the movement of the cleaning robot (for the specific process of the rotating device and the adsorption device cooperating to realize the movement of the cleaning robot, refer to the above embodiments), therefore, the present disclosure can clean the object to be cleaned during the movement of the cleaning robot.

[0023] Compared with the related art, there is no need to separately drive the steering gear and the DC motor for cleaning or separately drive the moving device for moving, so the energy utilization efficiency is higher and the energy consumption is lower.

[0024] The above general description and the following description are only exemplary and explanatory, and are not used to limit the present application. Description of the Drawings

[0025] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations and the drawings do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a proportional limitation, and among them:

[0026] Figure 1 is a schematic diagram of the cleaning robot provided by an embodiment of the present disclosure arranged on the object to be cleaned;

[0027] Figure 2 is a schematic structural diagram of the cleaning robot provided by an embodiment of the present disclosure;

[0028] Figure 3 is Figure 2 a schematic structural diagram of another perspective of the cleaning robot in the illustrated embodiment;

[0029] Figure 4 is a schematic internal structural diagram of the cleaning robot provided by an embodiment of the present disclosure;

[0030] Figure 5 is Figure 4Schematic diagram of the enlarged structure at X in the illustrated embodiment;

[0031] Figure 6 Schematic diagram of the structure of a rotating device provided by an embodiment of the present disclosure;

[0032] Figure 7 is Figure 6 Cross-sectional view of the rotating device in the illustrated embodiment;

[0033] Figure 8 Schematic diagram of the structure of a cleaning robot provided by another embodiment of the present disclosure;

[0034] Figure 9 is Figure 8 Top view of the cleaning robot in the illustrated embodiment;

[0035] Figure 10 Schematic diagram of the structure of a cleaning robot provided by another embodiment of the present disclosure;

[0036] Figure 11 Schematic diagram of the cleaning mechanism disposed on the rotating device provided by an embodiment of the present disclosure;

[0037] Figure 12 is Figure 11 Schematic diagram of the enlarged structure at Y in the illustrated embodiment;

[0038] Figure 13 is Figure 11 Schematic diagram of the enlarged structure at P in the illustrated embodiment;

[0039] Figure 14 Schematic diagram of the connection between a first rotating member and a second rotating member provided by an embodiment of the present disclosure;

[0040] Figure 15 Schematic diagram of the connection between a first plug-in member and a second plug-in member provided by an embodiment of the present disclosure;

[0041] Figure 16 Schematic diagram of the cleaning robot when the cleaning mechanism rotates to the second position (the axis of the cleaning mechanism is parallel to the axis where the rotating device and the adsorption device are located) provided by an embodiment of the present disclosure;

[0042] Figure 17 Side view of the cleaning robot provided by an embodiment of the present disclosure disposed on the object to be cleaned;

[0043] Figure 18 is Figure 17 Schematic diagram of the enlarged structure at Q in the illustrated embodiment.

[0044] Reference numerals:

[0045] 1 Cleaning robot;

[0046] 10 Mounting bracket; 100 Slide rail; 102 Main bracket; 104 Extension bracket; 106 Third moving structure; 108 Second connecting rod; 110 Mounting surface; 112 First end; 114 Second end;

[0047] 20 Moving mechanism;

[0048] 200 Adsorption device; 202 Second lifting structure; 204 Second adsorption structure; 206 Second suction cup; 208 Second moving structure; 210 Second housing; 212 Second opening; 214 Second cavity;

[0049] 300 Rotating device; 302 First adsorption structure; 304 Suction cup; 3040 First suction cup; 306 Vent hole; 308 Air guide cylinder; 310 Air guide channel; 312 Air pump; 314 Rotating structure; 316 Rotating bracket; 318 First motor; 320 First gear; 322 Second gear; 324 First lifting structure; 326 Lifting bracket; 328 Mounting sleeve; 330 Mounting groove; 332 Second motor; 334 First transmission component; 336 First rack; 338 Third gear; 340 First moving structure; 342 Moving bracket; 344 Third motor; 346 Second transmission component; 348 Fourth gear; 350 Fifth gear; 352 First connecting rod; 354 Sixth gear; 356 Second rack; 358 First housing; 360 First opening; 362 First cavity; 364 First rotating part; 368 First plug-in part;

[0050] 400 Cleaning mechanism; 402 Third housing; 404 Third cavity; 406 Dust collection port; 408 First cleaning part; 410 First roller brush; 412 First transmission shaft; 414 Dust collection component; 416 Dust collection housing; 422 Driving component; 424 Fourth motor; 426 Third transmission component; 428 Seventh gear; 430 Eighth gear; 432 Ninth gear; 436 First toothed sleeve; 438 Second toothed sleeve; 440 Toothed chain; 442 Second cleaning part; 444 Second roller brush; 446 Second transmission shaft; 448 Second rotating part; 450 Second plug-in part;

[0051] 50 Camera; 60 Controller;

[0052] 7 Object to be cleaned; 70 Photovoltaic panel. Detailed implementation manner

[0053] In order to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are only for reference and explanation, and are not used to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, numerous details are provided to give a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0054] In the description of the embodiments of the present disclosure, the terms "first", "second", etc. in the specification, claims 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 such data may be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0055] In the embodiments of the present disclosure, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and their embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation. Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0056] In addition, the terms "arranged", "connected", "fixed" should be understood in a broad sense. For example, "connected" may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0057] Unless otherwise specified, the term "plurality" means two or more.

[0058] In the embodiments of the present disclosure, the character " / " indicates that the objects before and after are in an "or" relationship. For example, A / B means: A or B.

[0059] The term "and / or" is an associative relationship describing an object, indicating that three relationships may exist. For example, A and / or B means: A, B, and A and B these three relationships.

[0060] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other.

[0061] In some embodiments, as shown in Figures 1 to 3 FIG. 1, a cleaning robot 1 is provided, which includes a mounting bracket 10 and a motion mechanism 20. The motion mechanism 20 is disposed on the mounting bracket 10 and is configured to drive the mounting bracket 10 to move relative to a cleaning target 7, so that the cleaning robot 1 moves relative to the cleaning target 7.

[0062] In the cleaning robot 1 provided by the embodiments of the present disclosure, the motion mechanism 20 can drive the mounting bracket 10 to move relative to the cleaning target 7, thereby driving the cleaning robot 1 to move relative to the cleaning target 7, and realizing the movement control of the cleaning robot 1.

[0063] It should be noted that the cleaning target 7 in the present disclosure refers to a target area or object to be cleaned. According to the application scenario of the cleaning robot 1, the cleaning target 7 may be floor materials such as floors, carpets, and tiles in a home or commercial place, or other surfaces to be cleaned such as walls, ceilings, glass, and photovoltaic panels 70 in photovoltaic modules.

[0064] Optionally, as shown in Figures 2 to 4 FIG. 2, the motion mechanism 20 includes an adsorption device 200 and a rotating device 300. One end of the adsorption device 200 is connected to the mounting bracket 10, and the other end can be switched between a fixed state fixed to the surface of the cleaning target 7 and a detached state detached from the surface of the cleaning target 7. One end of the rotating device 300 is movably connected to the mounting bracket 10, and the other end can be switched between a fixed state fixed to the surface of the cleaning target 7 and a detached state detached from the surface of the cleaning target 7. Wherein, when the rotating device 300 is in the fixed state, the adsorption device 200 and the mounting bracket 10 in the detached state can move relative to the cleaning target 7. When the adsorption device 200 is in the fixed state, the rotating device 300 in the detached state can move relative to the cleaning target 7.

[0065] In the embodiments of the present disclosure, the adsorption device 200 and the rotating device 300 are arranged at intervals on one side of the mounting bracket 10 close to the object to be cleaned 7. One ends of the adsorption device 200 and the rotating device 300 away from the mounting bracket 10 can both switch between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7. And the adsorption device 200 and the rotating device 300 are not simultaneously in the detached state. By ensuring that the adsorption device 200 and the rotating device 300 are not simultaneously in the detached state, it is ensured that the cleaning robot 1 can stably adhere to the object to be cleaned 7 during operation, preventing sliding or falling caused by factors such as wind force and vibration, and improving the safety and stability of the operation. Through the mutual cooperation of the adsorption device 200 and the rotating device 300, the movement mechanism 20 can drive the mounting bracket 10 to move relative to the object to be cleaned 7, thereby realizing the adjustment of the position and posture of the cleaning robot 1 relative to the object to be cleaned 7.

[0066] Through the mutual cooperation of the device 300, the movement mechanism 20 can drive the mounting bracket 10 to move relative to the object to be cleaned 7, thereby realizing the adjustment of the position and posture of the cleaning robot 1 relative to the object to be cleaned 7.

[0067] It should be noted that the moving direction of the cleaning robot 1 in the present disclosure refers to the direction in which the cleaning robot 1 advances or retreats relative to the object to be cleaned 7 (such as the photovoltaic panel 70). In practical applications, the moving direction of the cleaning robot 1 will be consistent with a certain structural feature of the cleaning robot 1 itself. For example, when the mounting bracket 10 is rectangular parallelepiped-shaped, the moving direction of the cleaning robot 1 is the same as the length direction or the width direction of the mounting bracket 10. In the embodiments of the present disclosure, taking the moving direction of the cleaning robot 1 being the same as the length direction of the mounting bracket 10 as an example, when understanding the structural features of the cleaning robot 1 in some embodiments of the present disclosure, the moving direction of the cleaning robot 1 can be regarded as the length direction of the mounting bracket 10.

[0068] For the convenience of introducing the present disclosure, in combination with Figure 17 and Figure 18 As shown, along the moving direction of the cleaning robot 1, the opposite ends of the mounting bracket 10 are respectively named the first end 112 and the second end 114. Then, the specific steps for the movement mechanism 20 to drive the mounting bracket 10 to move relative to the object to be cleaned 7 through the mutual cooperation of the adsorption device 200 and the rotating device 300 are as follows:

[0069] Exemplarily, in combination with Figure 1 、 Figure 17 and Figure 18As shown, the cleaning robot 1 moves along the path shown by the dashed line in the figure on the photovoltaic panel 70. At the initial moment, the cleaning robot 1 moves relative to the photovoltaic panel 70 in the direction from A to B. At this time, the direction from A to B is the same as the direction in which the first end 112 faces the second end 114. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114 (since the mounting bracket 10 is stationary relative to the photovoltaic panel 70 at this time, the rotating device 300 also moves relative to the mounting bracket 10 during the process of moving relative to the photovoltaic panel 70). After the rotating device 300 moves to the desired position (such as when the mounting bracket 10 is close to the second end 114), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is then controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to move relative to the photovoltaic panel 70 in the direction from A to B (at this time, taking the mounting bracket 10 as the reference, the rotating device 300 moves in the direction from the second end 114 to the first end 112). After moving to the desired position (such as when the rotating device 300 is located at the position where the mounting bracket 10 is close to the first end 112), the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is then controlled to switch to the disengaged state. The rotating device 300 is controlled again to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114. After moving to the desired position, the rotating device 300 is controlled to switch to the fixed state... and so on, realizing the linear motion of the cleaning robot 1 relative to the photovoltaic panel 70 in the direction from A to B.

[0070] Exemplarily, in combination with Figure 1 、 Figure 17 and Figure 18As shown, the cleaning robot 1 moves on the photovoltaic panel 70 along the path shown by the dashed line in the figure. At the initial moment, the cleaning robot 1 moves relative to the photovoltaic panel 70 in the direction from A to B, and at this time, the direction from A to B is the same as the direction in which the first end 112 faces the second end 114. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114. After the rotating device 300 moves to the desired position (such as when the mounting bracket 10 is close to the second end 114), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is then controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to rotate 180° relative to the photovoltaic panel 70. After the adsorption device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 70, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is then controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the second end 114 to the first end 112. After moving to the desired position (such as when the mounting bracket 10 is close to the first end 112), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to rotate 180° relative to the photovoltaic panel 70. After the adsorption device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 70, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is then controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is again controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114... and so on, realizing the linear motion of the cleaning robot 1 relative to the photovoltaic panel 70 in the direction from A to B.

[0071] Exemplarily, in combination with Figure 1 、 Figure 17 and Figure 18As shown, when the cleaning robot 1 reaches point B, it needs to turn from the direction from A to B to the direction from B to C. Then, the rotation device 300 is controlled to switch to the fixed state, and the adsorption device 200 is controlled to switch to the detached state. After the adsorption device 200 is in the detached state, the rotation device 300 is controlled to drive the adsorption device 200 to rotate 90° relative to the photovoltaic panel 70. After the adsorption device 200 rotates 90° relative to the photovoltaic panel 70, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotation device 300 is controlled to switch to the detached state. After the rotation device 300 is in the detached state, the rotation device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from B to C... Thus, after the cleaning robot 1 turns on the photovoltaic panel 70, it continues to move linearly relative to the photovoltaic panel 70.

[0072] In the embodiment of the present disclosure, through the switching between the fixed state and the detached state of the adsorption device 200 and the rotation device 300, and the driving of the rotation device 300, the position and posture adjustment of the cleaning robot 1 relative to the object 7 to be cleaned are realized, avoiding damages such as scratches and indentations caused by traditional wheels or tracks on the surface of the object 7 to be cleaned.

[0073] Optionally, in combination with Figures 4 to 7 As shown, the rotation device 300 includes a first moving structure 340, a first lifting structure 324, a first adsorption structure 302, and a rotation structure 314. The first moving structure 340 is movably connected to the mounting bracket 10. The first lifting structure 324 is disposed on the first moving structure 340. The first adsorption structure 302 is disposed on the first lifting structure 324, and one side of the first adsorption structure 302 away from the first lifting structure 324 can be switched between a fixed state fixed to the surface of the object 7 to be cleaned and a detached state detached from the surface of the object 7 to be cleaned. The rotation structure 314 is disposed on the first adsorption structure 302. Among them, the first moving structure 340 can drive the rotation device 300 to move relative to the object 7 to be cleaned when the first adsorption structure 302 is in the detached state. The first lifting structure 324 can drive the first adsorption structure 302 to move in a direction close to or away from the object 7 to be cleaned when the adsorption device 200 is in the fixed state, so as to realize the switching of the first adsorption structure 302 between the fixed state and the detached state. The rotation structure 314 can drive the first lifting structure 324 to rotate relative to the first adsorption structure 302 when the first adsorption structure 302 is in the fixed state, so as to drive the cleaning robot 1 to rotate relative to the object 7 to be cleaned.

[0074] Rotate with respect to the first adsorption structure 302 to drive the cleaning robot 1 to rotate relative to the object 7 to be cleaned.

[0075] In this embodiment, by combining the first moving structure 340, the first lifting structure 324, the first adsorption structure 302, and the rotating structure 314, multi-dimensional movement of the cleaning robot 1 on the object 7 to be cleaned is achieved, including translation, rotation, and lifting. The multi-dimensional movement of the robot on the object 7 to be cleaned enables the robot to cope with various complex operation scenarios and task requirements, improving the reliability and practicality of the robot.

[0076] Specifically, when the first adsorption structure 302 is in a fixed state in this embodiment, the rotating structure 314 can drive the adsorption device 200 and the mounting bracket 10 to rotate relative to the object 7 to be cleaned to achieve rotational movement. The first lifting structure 324 can drive the first adsorption structure 302 to move in a direction closer to or farther from the object 7 to be cleaned when the adsorption device 200 is in a fixed state, that is, to achieve lifting movement and realize the switching between the fixed state and the detached state of the first adsorption structure 302. For example, when it is necessary to switch the first adsorption structure 302 from the detached state to the fixed state, control the first lifting structure 324 to drive the first adsorption structure 302 to move closer to the object 7 to be cleaned so that the first adsorption structure 302 can be fixed on the surface of the object 7 to be cleaned. When it is necessary to switch the first adsorption structure 302 from the fixed state to the detached state, control the first lifting structure 324 to drive the first adsorption structure 302 to move away from the object 7 to be cleaned so that the first adsorption structure 302 can be detached from the surface of the object 7 to be cleaned. The first moving structure 340 can drive the rotating device 300 to move relative to the object 7 to be cleaned when the first adsorption structure 302 is in the detached state to achieve translational movement.

[0077] When in a certain state, drive the rotating device 300 to move relative to the object 7 to be cleaned to achieve translational movement.

[0078] Optionally, in combination with Figures 4 to 7 As shown, the first adsorption structure 302 includes a suction cup 304, a gas guide cylinder 308, and an air pump 312. The suction cup 304 includes a ventilation hole 306. The gas guide cylinder 308 is rotatably connected to the side of the suction cup 304 away from the object 7 to be cleaned. A gas guide channel 310 is provided in the gas guide cylinder 308, and the gas guide channel 310 communicates with the ventilation hole 306. The air pump 312 is arranged in the gas guide cylinder 308 and is used to change the gas flow direction in the gas guide channel 310. Among them, the first lifting structure 324 is connected to the gas guide cylinder 308. The rotating structure 314 is arranged on the suction cup 304.

[0079] In this embodiment, since the air guiding channel 310 communicates with the air vent 306 of the suction cup 304, the air pump 312 can change the gas flow direction in the air guiding channel 310 by injecting air into or extracting air from the air guiding channel 310, so as to change the air pressure between the suction cup 304 and the object to be cleaned 7, and realize the switching of the suction cup 304 between the fixed state of being fixed on the surface of the object to be cleaned 7 and the separated state of being separated from the surface of the object to be cleaned 7.

[0080] Specifically, when the suction cup 304 needs to switch from the separated state to the fixed state, after the suction cup 304 contacts the object to be cleaned 7, control the air pump 312 to extract air from the air guiding channel 310 to reduce the air pressure between the suction cup 304 and the object to be cleaned 7, so that the suction cup 304 is firmly adsorbed on the object to be cleaned 7, and the suction cup 304 is fixed on the surface of the object to be cleaned 7. When the suction cup 304 needs to switch from the fixed state to the separated state, control the air pump 312 to inject air into the air guiding channel 310 to increase the air pressure between the suction cup 304 and the object to be cleaned 7, so that the suction cup 304 is separated from the object to be cleaned 7, and the suction cup 304 is separated from the surface of the object to be cleaned 7.

[0081] Optionally, as shown in Figures 4 to 7 the rotating structure 314 includes a rotating bracket 316, a first motor 318, a first gear 320 and a second gear 322. The rotating bracket 316 is sleeved on one end of the air guiding cylinder 308 close to the suction cup 304 and is rotatably connected to the suction cup 304. The first motor 318 is arranged on the rotating bracket 316. The first gear 320 is sleeved on the output shaft of the first motor 318, and the first motor 318 is used to drive the first gear 320 to rotate. The second gear 322 is fixedly connected to the suction cup 304, and the external gear of the first gear 320 is rotatably connected to the external gear of the second gear 322.

[0082] In this embodiment, since the first gear 320 is sleeved on the output shaft of the first motor 318, the outer gear of the first gear 320 is rotatably connected to the outer gear of the second gear 322, and the second gear 322 is fixedly connected to the suction cup 304, when the first motor 318 drives the first gear 320 to rotate, the second gear 322 can be driven to rotate, thereby driving the suction cup 304 to rotate. Since the first motor 318 is set on the rotating bracket 316, and the rotating bracket 316 is sleeved on the air guide cylinder 308, when the first adsorption structure 302 is in a fixed state, the suction cup 304 is fixed to the surface of the object to be cleaned 7, so when the first motor 318 drives the first gear 320 to rotate, a reaction force can be generated between the second gear 322 and the first gear 320 to drive the first motor 318, the rotating bracket 316 and the air guide cylinder 308 to rotate relative to the suction cup 304, that is, relative to the object to be cleaned 7. Since the first lifting structure 324 is connected to the air guide cylinder 308 , the first lifting structure 324 , the first moving structure 340 , the mounting bracket 10 , etc. are driven to rotate relative to the object to be cleaned 7 , thereby realizing the steering of the cleaning robot 1 .

[0083] 4 is connected to the air guide cylinder 308, thereby driving the first lifting structure 324, the first moving structure 340, the mounting bracket 10, etc. to rotate relative to the object to be cleaned 7, thereby realizing the steering of the cleaning robot 1.

[0084] Optionally, combined Figures 4 to 7 As shown, the first lifting structure 324 includes a lifting bracket 326, a second motor 332 and a first transmission assembly 334. The lifting bracket 326 is connected to the first moving structure 340. The second motor 332 is disposed on the lifting bracket 326. The input end of the first transmission assembly 334 is connected to the output end of the second motor 332, and the output end of the first transmission assembly 334 is connected to the air guide cylinder 308.

[0085] In this embodiment, the lifting bracket 326 serves as a supporting frame of the first lifting structure 324, and is used to connect the first moving structure 340 and other structural components of the first lifting structure 324, such as the second motor 332, to ensure that the first lifting structure 324 can remain stable during the lifting process, thereby improving the stability of the rotating device 300 and the cleaning robot 1. The second motor 332 is the source of the driving force of the first lifting structure 324, and provides power for the subsequent first transmission assembly 334, thereby realizing the lifting function. The input end of the first transmission assembly 334 is connected to the output end of the second motor 332, and the output end of the first transmission assembly 334 is connected to the air guide cylinder 308 to convert the rotational motion of the second motor 332 into the lifting motion of the first adsorption structure 302, thereby realizing the switching of the first adsorption structure 302 between the fixed state and the detached state.

[0086] Optionally, combinedFigure 7 As shown, the first transmission assembly 334 includes a first rack 336 and a third gear 338. The first rack 336 extends along the length direction of the air guide cylinder 308 and is disposed on the air guide cylinder 308. The third gear 338 is sleeved on the output shaft of the second motor 332, and the external gear of the third gear 338 is rotatably connected to the first rack 336.

[0087] In this embodiment, the first rack 336 extends along the length direction of the air guide cylinder 308. The teeth of the first rack 336 and the third gear 338 mesh with each other, so as to achieve the transmission of power. The third gear 338 is disposed on one side of the first rack 336 and is directly connected to the output end of the second motor 332. When the second motor 332 is started, its output shaft drives the third gear 338 to rotate. The rotational movement of the third gear 338 is converted into a linear movement of the first rack 336 through meshing with the first rack 336, so that the air guide cylinder 308 connected to the first rack 336 can be lifted, and thus the lifting of the first adsorption structure 302 is realized.

[0088] Optionally, in combination with Figures 4 to 7 As shown, the lifting bracket 326 includes a mounting sleeve 328. The mounting sleeve 328 is sleeved on the air guide cylinder 308, and the air guide cylinder 308 can slide relative to the mounting sleeve 328. The mounting sleeve 328 includes a mounting groove 330 extending along the length direction of the air guide cylinder 308. The teeth of the first rack 336 are located in the mounting groove 330 and are meshed and connected with the third gear 338.

[0089] In this embodiment, the mounting sleeve 328 and the air guide cylinder 308 are nested, and the air guide cylinder 308 is allowed to slide relative to the mounting sleeve 328 inside the mounting sleeve 328. While realizing the lifting function, it provides a guiding effect for the air guide cylinder 308 and ensures the smoothness of the lifting.

[0090] Optionally, in combination with Figures 4 to 7 As shown, the first moving structure 340 includes a moving bracket 342, a third motor 344 and a second transmission assembly 346. The moving bracket 342 is connected to the first lifting structure 324. The third motor 344 is disposed on the moving bracket 342. The second transmission assembly 346 is movably connected to the mounting bracket 10, and the input end of the second transmission assembly 346 is connected to the output end of the third motor 344.

[0091] In this embodiment, the moving bracket 342 is used to carry other components (such as the third motor 344 and the second transmission assembly 346), and is connected to the first lifting structure 324 to ensure that the first lifting structure 324 can move along with the movement of the moving bracket 342. The third motor 344 serves as the power source of the first moving structure 340 and is used to provide power input to the second transmission assembly 346. The second transmission assembly 346 is used to convert the rotational motion of the third motor 344 into the translational motion of the first moving structure 340, thereby driving the rotating device 300 to move relative to the object to be cleaned 7.

[0092] Optionally, as shown in Figure 4 the second transmission assembly 346 includes a fourth gear 348, a fifth gear 350, a first connecting rod 352, a sixth gear 354, and a second rack 356. The fourth gear 348 is sleeved on the output shaft of the third motor 344. The external gear of the fifth gear 350 is meshed and connected with the external gear of the fourth gear 348. The first connecting rod 352 is slidably connected to the moving bracket 342 and passes through the fifth gear 350. The sixth gear 354 is sleeved on the end of the first connecting rod 352. The second rack 356 is disposed on the mounting bracket 10 and is meshed and connected with the external gear of the sixth gear 354.

[0093] In this embodiment, the second transmission assembly 346 is formed by combining the fourth gear 348, the fifth gear 350, the first connecting rod 352, the sixth gear 354, and the second rack 356 to convert the rotational motion of the third motor 344 into the translational motion of the first moving structure 340 and ensure the stable transmission of power.

[0094] Specifically, the fourth gear 348, as the starting component of the second transmission assembly 346, is directly connected to the output shaft of the third motor 344. When the third motor 344 is started, its power is transmitted to the fourth gear 348 through the output shaft. The fifth gear 350 is meshed and connected with the fourth gear 348, forming a pair of meshing gear pairs. When the fourth gear 348 rotates, it drives the fifth gear 350 to rotate in the opposite direction. The first connecting rod 352 passes through the central hole of the fifth gear 350 and is slidably connected to the moving bracket 342, enabling the first connecting rod 352 to rotate relative to the moving bracket 342 along with the rotation of the fifth gear 350. The sixth gear 354 is connected to the end of the first connecting rod 352. When the first connecting rod 352 rotates, it drives the sixth gear 354 to rotate. The second rack 356 is meshed and connected with the sixth gear 354. When the sixth gear 354 rotates, the sixth gear 354 rolls along the tooth surface of the second rack 356, thereby converting the rotational motion into a linear motion, enabling the first moving structure 340 to translate on the mounting bracket 10, driving the rotating device 300 to move relative to the mounting bracket 10, and further relative to the object to be cleaned 7.

[0095] In some embodiments, one end of the first connecting rod 352 is fixedly connected to the sixth gear 354, and the other end is in rolling connection with the mounting bracket 10.

[0096] In some embodiments, in combination Figure 4 As shown, the number of the sixth gears 354 is two, which are respectively connected to the opposite ends of the first connecting rod 352. The number of the second racks 356 is two, and the two second racks 356 are respectively arranged on the opposite sides of the mounting bracket 10, and the two second racks 356 and the two sixth gears 354 are arranged in one-to-one correspondence.

[0097] In this embodiment, by increasing the number of the sixth gears 354 and the second racks 356, and respectively connecting the two sixth gears 354 to the opposite ends of the first connecting rod 352, arranging the two second racks 356 on the opposite sides of the mounting bracket 10, and arranging the two second racks 356 and the two sixth gears 354 in one-to-one correspondence, the power transmission of the second transmission assembly 346 is made more stable, and the moving stability of the rotating device 300 is improved.

[0098] Optionally, in combination Figure 4 As shown, the mounting bracket 10 includes two slide rails 100 that are parallel to each other and extend along the extending direction of the rack, and the opposite ends of the moving bracket 342 are respectively slidably connected to the two slide rails 100. In this embodiment, by arranging the slide rails 100 to be slidably connected to the opposite ends of the moving bracket 342, guiding is performed during the movement of the first moving structure 340 relative to the mounting bracket 10, and the moving stability of the rotating device 300 is improved.

[0099] In some embodiments, in combination Figures 2 to 4 As shown, the rotating device 300 further includes a first housing 358. The first housing 358 is arranged on the lifting bracket 326. The opposite ends of the first housing 358 are provided with first openings 360. The first housing 358 includes a first cavity 362, and the first openings 360 and the first cavity 362 are communicated. The first lifting structure 324 is located in the first cavity 362. The rotating structure 314 is located in the first cavity 362. A part of the first moving structure 340 protrudes out of the first cavity 362 through the first opening 360 and is movably connected to the mounting bracket 10. A part of the first adsorption structure 302 protrudes out of the first cavity 362 through the first opening 360 away from the first moving structure 340. In this embodiment, by arranging the first housing 358 to protect the structural components of the rotating device 300, the safety of the cleaning robot 1 is improved.

[0100] In some embodiments, in combination Figure 4As shown, the adsorption device 200 includes a second lifting structure 202 and a second adsorption structure 204. The second lifting structure 202 is connected to the mounting bracket 10. The second adsorption structure 204 is disposed on the second lifting structure 202, and one side of the second adsorption structure 204 away from the second lifting structure 202 can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7.

[0101] In this embodiment, in combination with the cooperation of the second lifting structure 202 and the second adsorption structure 204, the switching of the adsorption device 200 between the fixed state and the detached state is realized. The second lifting structure 202 can drive the second adsorption structure 204 to move towards or away from the object to be cleaned 7 when the second adsorption structure 204 is in the fixed state, so as to realize the switching of the second adsorption structure 204 between the fixed state and the detached state, thereby realizing the switching of the adsorption device 200 between the fixed state and the detached state.

[0102] Specifically, when it is necessary to switch the adsorption device 200 from the detached state to the fixed state, control the second lifting structure 202 to drive the second adsorption structure 204 to move towards the object to be cleaned 7, so that the second adsorption structure 204 can adsorb on the surface of the object to be cleaned 7, and the second adsorption structure 204 is fixed on the surface of the object to be cleaned 7. When it is necessary to switch the adsorption device 200 from the fixed state to the detached state, control the second lifting structure 202 to drive the second adsorption structure 204 to move away from the object to be cleaned 7, so that the second adsorption structure 204 can be detached from the surface of the object to be cleaned 7.

[0103] It should be noted that the specific structural components of the second lifting structure 202 and the second adsorption structure 204, as well as the component connection relationship between the second lifting structure 202 and the second adsorption structure 204, are the same as the specific structural components of the first lifting structure 324 and the first adsorption structure 302 in the above embodiment, as well as the component connection relationship between the first lifting structure 324 and the first adsorption structure 302, and will not be elaborated here. For the technical effects of the second moving structure 208, refer to the above embodiment. The difference is that in this embodiment, the lifting bracket 326 in the second lifting structure 202 is directly connected to the mounting bracket 10 to realize the connection between the second lifting structure 202 and the mounting bracket 10.

[0104] It should be noted that although the specific structural components of the second lifting structure 202 and the second adsorption structure 204 in the present disclosure are the same as those of the first lifting structure 324 and the first adsorption structure 302, the shape or size of a single component can be different, so that the second lifting structure 202 and the first lifting structure 324, or the second adsorption structure 204 and the first adsorption structure 302 are in different forms.

[0105] In a specific application, such as Figure 3 shown, the suction cup 304 in the first adsorption structure 302 is named the first suction cup 3040, and the suction cup 304 in the second adsorption structure 204 is named the second suction cup 206. The diameter of the second suction cup 206 is made smaller than that of the first suction cup 3040, so that the second adsorption structure 204 and the first adsorption structure 302 have different forms. In this embodiment, by defining that the diameter of the second suction cup 206 is smaller than that of the first suction cup 3040, the adsorption force generated when the second suction cup 206 adsorbs to the object to be cleaned 7 is smaller than the adsorption force generated when the first suction cup 3040 adsorbs to the object to be cleaned 7. While maintaining sufficient adsorption force, the adsorption force distribution is optimized, and the local pressure concentration on the surface of the object to be cleaned 7 is reduced.

[0106] In some embodiments, as shown in Figure 4 shown, the adsorption device 200 further includes a second moving structure 208. The second moving structure 208 is movably connected to the mounting bracket 10. The second lifting structure 202 is disposed on the second moving structure 208. The second adsorption structure 204 is disposed on the second lifting structure 202, and one side of the second adsorption structure 204 away from the second lifting structure 202 can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7. When the rotating device 300 is in a fixed state, the second moving structure 208 can drive the second adsorption structure 204 in the detached state to move relative to the mounting bracket 10.

[0107] In this embodiment, by adding the second moving structure 208, the second adsorption structure 204 in the detached state is driven to move relative to the mounting bracket 10, so as to flexibly adjust the position of the adsorption device 200 on the mounting bracket 10 as needed, improving work efficiency and work flexibility. Among them, during the movement of the cleaning robot 1 relative to the object to be cleaned 7 (the mounting bracket 10 moves relative to the object to be cleaned 7), the adsorption device 200 is stationary relative to the mounting bracket 10 to ensure the stability of the robot's movement. During the movement of the adsorption device 200 relative to the mounting bracket 10, the mounting bracket 10 is stationary relative to the object to be cleaned 7 to ensure the stability of the position adjustment of the adsorption device 200.

[0108] It should be noted that the specific structural components of the second moving structure 208 and the component connection relationship between the second moving structure 208, the mounting bracket 10, and the second lifting structure 202 are the same as the specific structural components of the first moving structure 340 in the above embodiment and the component connection relationship between the first moving structure 340, the mounting bracket 10, and the first lifting structure 324, and will not be elaborated here. For the technical effects of the second moving structure 208, refer to the above embodiment.

[0109] Optionally, in combination with Figures 2 to 4 As shown, the adsorption device 200 further includes a second housing 210. The second housing 210 is disposed on the lifting bracket 326 of the second lifting structure 202. Second openings 212 are provided at opposite ends of the second housing 210. The second housing 210 includes a second cavity 214, and the second openings 212 communicate with the second cavity 214. The second lifting structure 202 is located within the second cavity 214. A part of the second moving structure 208 protrudes out of the second cavity 214 through the second opening 212 and is movably connected to the mounting bracket 10. A part of the second adsorption structure 204 protrudes out of the second cavity 214 through the second opening 212 away from the second moving structure 208. In this embodiment, by providing the second housing 210, the structural components of the adsorption device 200 are protected, improving the safety of the cleaning robot 1.

[0110] In some embodiments, in combination with Figures 2 to 4 As shown, the number of the adsorption devices 200 is two. Along the moving direction of the cleaning robot 1, the two adsorption devices 200 are respectively located on opposite sides of the rotating device 300 and are spaced apart from the rotating device 300.

[0111] In this embodiment, the two adsorption devices 200 are respectively located on opposite sides of the rotating device 300, and the two adsorption devices 200 act synchronously to provide stable support for the mounting bracket 10, improving the stability and reliability of the movement and operation of the cleaning robot 1. In this embodiment, the specific structures of the two adsorption devices 200 may be the same or different.

[0112] In some embodiments, in combination with Figures 2 to 4 As shown, along the moving direction of the robot, the two adsorption devices 200 are respectively located at opposite ends of the mounting bracket 10.

[0113] Optionally, in combination with Figure 8 As shown, the mounting bracket 10 includes a main bracket 102 and an extension bracket 104 that are connected. The axes of the length directions of the main bracket 102 and the extension bracket 104 are parallel to each other. The two adsorption devices 200 are respectively disposed on the main bracket 102 and the extension bracket 104. The rotating device 300 is movably connected to the main bracket 102 and can move relative to the main bracket 102 along the length direction of the main bracket 102.

[0114] In this embodiment, the mounting bracket 10 is divided into the main bracket 102 and the extension bracket 104. By adding the extension bracket 104, the total length of the mounting bracket 10 is increased, thereby increasing the step length of the cleaning robot 1 during each translation process, enabling the cleaning robot 1 to cross a larger gap and improving the moving performance of the cleaning robot 1.

[0115] Optionally, in combination with Figure 8As shown, the mounting bracket 10 further includes a third moving structure 106. One end of the third moving structure 106 is connected to the main bracket 102, and the other end is movably connected to the extension bracket 104. When the rotating device 300 is in a fixed state, the third moving structure 106 can drive the extension bracket 104 to move relative to the main bracket 102 along the length direction of the main bracket 102.

[0116] In this embodiment, by providing the third moving structure 106 between the main bracket 102 and the extension bracket 104, it is convenient to drive the extension bracket 104 to move relative to the main bracket 102 when needed, further extending the total length of the mounting bracket 10, increasing the step length of the cleaning robot 1 during each translation process, and improving the moving performance of the cleaning robot 1.

[0117] It should be noted that the specific structural components of the third moving structure 106 are the same as those of the first moving structure 340 in the above embodiment, and will not be elaborated here. For the technical effects of the third moving structure 106, refer to the above embodiment. The difference is that one end of the moving bracket 342 in the third moving structure 106 is fixedly connected to the main bracket 102, and the other end is slidably connected to the extension bracket 104. The second rack 356 in the third moving structure 106 is provided on the extension bracket 104.

[0118] Optionally, in combination with Figure 9 As shown, the mounting bracket 10 includes a second connecting rod 108. The second connecting rod 108 extends along a preset direction. The preset direction refers to a direction perpendicular to the length direction of the mounting bracket 10. The number of the adsorption devices 200 is two, and the two adsorption devices 200 are respectively arranged at opposite ends of the second connecting rod 108.

[0119] In this embodiment, the adsorption device 200 includes a second lifting structure 202 and a second adsorption structure 204. The second lifting structure 202 is connected to the end of the second connecting rod 108, and the second adsorption structure 204 is arranged on the second lifting structure 202. In this embodiment, by providing the second connecting rod 108, it is convenient to add the adsorption device 200. By increasing the number of the adsorption devices 200, it is convenient to improve the adsorption stability of the cleaning robot 1 on the surface of the object to be cleaned 7 and improve the working stability of the cleaning robot 1.

[0120] Optionally, in combination with Figure 9As shown, the number of the second linkages 108 is two. The two second linkages 108 are respectively located at the first end 112 and the second end 114 of the mounting bracket 10. The number of the adsorption devices 200 is four. Among them, two adsorption devices 200 are respectively arranged at the opposite ends of the second linkage 108 at the first end 112, and the other two adsorption devices 200 are respectively arranged at the opposite ends of the second linkage 108 at the second end 114. In this embodiment, by increasing the number of the second linkages 108 and further increasing the number of the adsorption devices 200, the adsorption stability of the cleaning robot 1 is further improved.

[0121] In some embodiments, in combination with Figures 2 to 4 As shown, the cleaning robot 1 further includes a cleaning mechanism 400. The cleaning mechanism 400 is arranged on one side of the rotating device 300 and abuts against the surface of the object to be cleaned 7. Among them, when the adsorption device 200 is in a fixed state, the rotating device 300 in a disengaged state can move relative to the object to be cleaned 7 to drive the cleaning mechanism 400 to move relative to the object to be cleaned 7, so as to clean the surface of the object to be cleaned 7.

[0122] In this embodiment, the cleaning mechanism 400 is arranged on one side of the rotating device 300 and abuts against the surface of the object to be cleaned 7, and can move synchronously relative to the object to be cleaned 7 when the rotating device 300 moves relative to the object to be cleaned 7, so as to clean the surface of the object to be cleaned 7. Since the movement of the rotating device 300 in a disengaged state relative to the object to be cleaned 7 in the present disclosure is to cooperate with the adsorption device 200 to realize the movement of the cleaning robot 1 (for the specific process of the cooperation between the rotating device 300 and the adsorption device 200 to realize the movement of the cleaning robot 1, refer to the above embodiment), therefore, in the present disclosure, the cleaning of the object to be cleaned 7 can be realized during the movement of the cleaning robot 1. Compared with the related art, there is no need to separately drive the servo motor and the DC motor for cleaning or separately drive the moving device for moving, and the energy utilization efficiency is higher and the energy consumption is lower.

[0123] In some embodiments, in combination with Figures 2 to 4 As shown, the cleaning mechanism 400 is arranged on one side of the first housing 358. In this embodiment, by arranging the cleaning mechanism 400 on one side of the first housing 358, the cleaning mechanism 400 is arranged on one side of the rotating device 300, so as to move synchronously with the movement of the rotating device 300.

[0124] Optionally, in combination with Figure 2 、 Figure 3 、 Figure 4 and Figure 10As shown, the cleaning mechanism 400 includes a third housing 402, a first cleaning member 408, and a dust collection assembly 414. The third housing 402 is disposed on one side of the rotating device 300. The first cleaning member 408 is disposed on the third housing 402 and abuts against the surface of the object 7 to be cleaned. The dust collection assembly 414 is disposed on the third housing 402 for collecting impurities removed by the first cleaning member 408.

[0125] In this embodiment, since the first cleaning member 408 abuts against the surface of the object 7 to be cleaned, when the rotating device 300 moves relative to the object 7 to be cleaned, stress can be generated between the first cleaning member 408 and the surface of the object 7 to be cleaned, thereby realizing the cleaning of the surface of the object 7 to be cleaned. The dust collection assembly 414 is used for collecting impurities removed by the first cleaning member 408, such as dust, hair, snow, debris, etc., so that the impurities removed during the cleaning process can be collected and stored in time, preventing them from re-scattering into the environment and causing secondary pollution.

[0126] Optionally, as shown in Figure 2 、 Figure 3 and Figure 4 , the third housing 402 includes a third cavity 404 and a dust collection port 406 that communicate with each other. Part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes from the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The dust collection assembly 414 is disposed outside the third housing 402 at the dust collection port 406.

[0127] In this embodiment, part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes from the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The third cavity 404 serves as a space for accommodating part of the first cleaning member 408, which is used to protect the first cleaning member 408 from the influence of the external environment and ensure that the first cleaning member 408 can effectively contact the surface of the object 7 to be cleaned. The dust collection assembly 414 is located at the dust collection port 406, and the dust collection port 406 communicates with the third cavity 404, so as to guide the impurities removed by the first cleaning member 408 during the cleaning process to the dust collection assembly 414 through the dust collection port 406.

[0128] Optionally, as shown in Figure 2 、 Figure 3 、 Figure 4 and Figure 10 , the dust collection assembly 414 includes a dust collection housing 416 and a blower (not shown in the figure). The dust collection housing 416 is disposed outside the third housing 402 and covers the dust collection port 406. The dust collection housing 416 and the third housing 402 together form a dust collection cavity (not shown in the figure). The blower is disposed in the dust collection cavity.

[0129] In this embodiment, the dust collection housing 416 is disposed outside the third housing 402 and covers the dust collection port 406 to ensure the sealing of the dust collection port 406 and prevent impurity leakage. The dust collection housing 416 and the third housing 402 together form a closed dust collection chamber as a space for impurity collection, so as to efficiently accommodate and store the impurities removed from the surface of the object to be cleaned 7. The blower is disposed in the dust collection chamber and is responsible for generating a strong suction force to suck the impurities from the dust collection port 406 into the dust collection chamber. In this embodiment, the dust collection chamber formed by the dust collection housing 416 and the third housing 402 provides a closed and sufficiently capacious impurity collection space, ensuring that the impurities can be effectively collected and stored to avoid secondary pollution. The strong suction force of the blower further enhances the impurity collection efficiency, enabling even tiny impurities to be easily sucked into the dust collection chamber, achieving efficient impurity collection.

[0130] Optionally, as shown in combination with Figure 4 and Figure 11 shown, the first cleaning member 408 includes a first roller brush 410. The first roller brush 410 is disposed on the third housing 402 and abuts against the surface of the object to be cleaned 7.

[0131] In this embodiment, since the first roller brush 410 abuts against the surface of the object to be cleaned 7, when the rotating device 300 moves relative to the object to be cleaned 7, a frictional force can be generated between the first roller brush 410 and the surface of the object to be cleaned 7 to drive the first roller brush 410 to rotate and roll relative to the object to be cleaned 7. Through the rolling cleaning method of the first roller brush 410, the stains and impurities on the surface of the object to be cleaned 7 can be cleaned more deeply. Compared with the static cleaning method, the first roller brush 410 can more effectively remove the impurities that are difficult to clean.

[0132] Optionally, as shown in combination with Figures 11 to 13 shown, the cleaning mechanism 400 further includes a driving assembly 422. The driving assembly 422 is disposed on the third housing 402, and the output end of the driving assembly 422 is connected to the first roller brush 410 for driving the first roller brush 410 to roll.

[0133] In this embodiment, the driving assembly 422 is used to provide power to drive the first roller brush 410 to roll. By providing the driving assembly 422, a more flexible cleaning method and higher cleaning efficiency can be achieved. For example, when the driving assembly 422 is not started, the first roller brush 410 can rotate relative to the object to be cleaned 7 under the action of the frictional force between the first roller brush 410 and the surface of the object to be cleaned 7. Let the rotation direction of the first roller brush 410 at this time be the positive direction, and the rotation speed of the first roller brush 410 at this time depends on the magnitude of the frictional force. By flexibly starting the driving assembly 422 to change the rotation speed and / or rotation direction of the first roller brush 410 (such as changing the rotation direction of the first roller brush 410 to the reverse direction), the frictional force between the first roller brush 410 and the surface of the object to be cleaned 7 can be increased to achieve more efficient cleaning.

[0134] Optionally, in combination with Figures 11 to 13 As shown, the driving assembly 422 includes a fourth motor 424 and a third transmission assembly 426. The fourth motor 424 is disposed in the third housing 402. The input end of the third transmission assembly 426 is connected to the output shaft of the fourth motor 424, and the output end of the third transmission assembly 426 is connected to the first roller brush 410.

[0135] In this embodiment, the fourth motor 424 is used to provide driving force, and the third transmission assembly 426 is used to transmit the driving force generated by the fourth motor 424 to the first roller brush 410, ensuring that the first roller brush 410 can roll at a stable speed and direction to ensure the cleaning efficiency of the cleaning mechanism 400.

[0136] Optionally, in combination with Figures 11 to 13 As shown, one end of the first roller brush 410 is provided with a first transmission shaft 412. The third transmission assembly 426 includes a seventh gear 428, an eighth gear 430, and a ninth gear 432. The seventh gear 428 is sleeved on the output shaft of the fourth motor 424. The outer gear of the eighth gear 430 is rotationally connected to the outer gear of the seventh gear 428. The ninth gear 432 is sleeved on the first transmission shaft 412 and the outer gear of the ninth gear 432 is rotationally connected to the outer gear of the eighth gear 430.

[0137] In this embodiment, the third transmission assembly 426 is jointly constituted by the seventh gear 428, the eighth gear 430, and the ninth gear 432. Among them, the seventh gear 428 is sleeved on the output shaft of the fourth motor 424 and serves as the starting point of power input, responsible for transmitting the rotational motion generated by the fourth motor 424 to the eighth gear 430. The outer gear of the eighth gear 430 is rotationally connected to the outer gears of both the seventh gear 428 and the ninth gear 432. The eighth gear 430 is responsible for further transmitting the rotational motion to the ninth gear 432. The ninth gear 432 is sleeved on the first transmission shaft 412 and is responsible for further transmitting the rotational motion to the first roller brush 410 to ensure that the first roller brush 410 can roll at a stable speed and direction.

[0138] Optionally, in combination with Figures 11 to 13 As shown, the diameter of the eighth gear 430 is greater than the diameter of the seventh gear 428. The diameter of the eighth gear 430 is greater than the diameter of the ninth gear 432.

[0139] In this embodiment, the diameter of the eighth gear 430 is larger than that of the seventh gear 428, and the diameter of the eighth gear 430 is larger than that of the ninth gear 432, so as to optimize the transmission ratio between the eighth gear 430 and the seventh gear 428 and the ninth gear 432, reduce the relative sliding speed when the eighth gear 430 meshes with the seventh gear 428 and the ninth gear 432, thereby reducing the frictional loss and wear between the eighth gear 430 and the seventh gear 428 and the ninth gear 432. The smaller relative sliding speed can reduce the energy loss between the gears and make the power transmission more efficient, further improving the energy utilization efficiency of the cleaning robot 1.

[0140] Optionally, as shown in Figures 11 to 13 There are multiple first brush rollers 410, and the multiple first brush rollers 410 are arranged at intervals on the third housing 402. There are multiple eighth gears 430, and the outer gears of adjacent eighth gears 430 are rotatably connected to each other. The outer gear of the seventh gear 428 is rotatably connected to one of the multiple eighth gears 430. There are multiple ninth gears 432, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple first brush rollers 410, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple eighth gears 430.

[0141] In this embodiment, there are multiple eighth gears 430, multiple ninth gears 432, and multiple first brush rollers 410. By rotatably connecting the outer gears of adjacent eighth gears 430 to each other and rotatably connecting the outer gear of the seventh gear 428 to one of the multiple eighth gears 430, the rotational motion generated by the fourth motor 424 is sequentially transmitted to each eighth gear 430. And the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple eighth gears 430, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple first brush rollers 410, further realizing the sequential transmission of the rotational motion to each first brush roller 410 and driving the multiple first brush rollers 410 to work simultaneously.

[0142] In this embodiment, since the outer gears of adjacent eighth gears 430 are rotatably connected to each other, the rotation directions of adjacent eighth gears 430 are opposite, so as to drive the reverse rotation of adjacent two first brush rollers 410, so as to drive the dust on the photovoltaic panel to fly, and then use the dust collection assembly 414 to realize the collection of the dust on the surface of the photovoltaic panel. At the same time, the simultaneous operation of the multiple first brush rollers 410 can significantly improve the cleaning efficiency of the cleaning robot 1, enabling the cleaning robot 1 to complete a larger cleaning task in a shorter time. The multiple first brush rollers 410 arranged at intervals can better cover the cleaning area, reduce omissions, and improve the cleaning quality and effect. In addition, the multiple first brush rollers 410 in this embodiment are all driven by the fourth motor 424, which can maximize the utilization of the driving force, thereby further improving the energy utilization efficiency of the cleaning robot 1.

[0143] Optionally, in combination with Figure 3 and Figure 11 as shown, the cleaning mechanism 400 further includes a second cleaning member 442, and the second cleaning member 442 is disposed on the first housing 358 and abuts against the surface of the object 7 to be cleaned.

[0144] In this embodiment, a second cleaning member 442 is added. Since the second cleaning member 442 is disposed on the first housing 358 and abuts against the surface of the object 7 to be cleaned, when the rotating device 300 moves relative to the object 7 to be cleaned, the second cleaning member 442 can be driven to move relative to the object 7 to be cleaned, further realizing the cleaning of the object 7 to be cleaned. In this embodiment, by adding the second cleaning member 442 and the first cleaning member 408, the cleaning efficiency of the cleaning robot 1 is further enhanced, thereby improving the energy utilization efficiency of the cleaning robot 1.

[0145] Optionally, in combination with Figure 3 and Figure 11 as shown, part of the second cleaning member 442 is located in the first cavity 362, and part of the second cleaning member 442 protrudes from the first cavity 362 and abuts against the surface of the object 7 to be cleaned.

[0146] In this embodiment, part of the second cleaning member 442 is located in the first cavity 362, and part of the second cleaning member 442 protrudes from the first cavity 362 and abuts against the surface of the object 7 to be cleaned. The first cavity 362 serves as a space for accommodating part of the second cleaning member 442, which is used to protect the second cleaning member 442 from the influence of the external environment and ensure that the second cleaning member 442 can effectively contact the surface of the object 7 to be cleaned.

[0147] Optionally, in combination with Figure 3 and Figure 11 as shown, the second cleaning member 442 includes a second rotary brush 444, and the second rotary brush 444 is disposed on the first housing 358 and abuts against the surface of the object 7 to be cleaned.

[0148] In this embodiment, since the second rotary brush 444 abuts against the surface of the object 7 to be cleaned, when the rotating device 300 moves relative to the object 7 to be cleaned, a frictional force can be generated between the second rotary brush 444 and the surface of the object 7 to be cleaned to drive the second rotary brush 444 to rotate and roll relative to the object 7 to be cleaned. Through the rolling cleaning method of the second rotary brush 444, the stains and impurities on the surface of the object 7 to be cleaned can be cleaned more deeply.

[0149] It should be noted that according to the specific component structure dimensions or shapes of the cleaning robot 1, the second roller brush 444 and the first roller brush 410 can be the same or different. For example, when the shapes of the first housing 358 and the third housing 402 are the same, the second roller brush 444 and the first roller brush 410 are respectively arranged along the length directions of the third housing 402 and the first housing 358, and at this time, the second roller brush 444 and the first roller brush 410 are the same; when the shapes of the first housing 358 and the third housing 402 are different, such as the length of the first housing 358 is less than the length of the third housing 402, the second roller brush 444 and the first roller brush 410 are respectively arranged along the length directions of the third housing 402 and the first housing 358, and at this time, the second roller brush 444 and the first roller brush 410 are different.

[0150] Optionally, in combination with Figures 11 to 13 As shown, one end of the second roller brush 444 is provided with a second transmission shaft 446. The third transmission assembly 426 further includes a first toothed sleeve 436, a second toothed sleeve 438 and a toothed chain 440. The first toothed sleeve 436 is fixedly arranged on the eighth gear 430, the second toothed sleeve 438 is sleeved on the second transmission shaft 446, and the toothed chain 440 is arranged between the first toothed sleeve 436 and the second toothed sleeve 438.

[0151] In this embodiment, the third transmission assembly 426 further includes a first toothed sleeve 436, a second toothed sleeve 438 and a toothed chain 440. By fixedly arranging the first toothed sleeve 436 on the eighth gear 430, sleeving the second toothed sleeve 438 on the second transmission shaft 446, and rotatably connecting the first toothed sleeve 436 and the second toothed sleeve 438 with the toothed chain 440, the rotational motion transmitted to the eighth gear 430 is further transmitted to the second transmission shaft 446, thereby driving the second roller brush 444 to move, ensuring that the second roller brush 444 can roll at a stable speed and direction. In this embodiment, the driving force generated by the fourth motor 424 can not only be used to drive the first roller brush 410, but also drive the second roller brush 444 at the same time, improving the utilization rate of the driving force, and thus further improving the energy utilization efficiency of the cleaning robot 1.

[0152] Optionally, in combination with Figure 3 、 Figure 4 and Figure 11 As shown, the number of the cleaning mechanisms 400 is two, and the two cleaning mechanisms 400 are respectively arranged on opposite sides of the rotating device 300.

[0153] In this embodiment, the two cleaning mechanisms 400 are respectively located on opposite sides of the axis where the rotating device 300 and the adsorption device 200 are located. By increasing the number of cleaning mechanisms 400, the cleaning robot 1 can cover a larger cleaning area, further improving the cleaning efficiency of the cleaning robot 1. In addition, by respectively arranging the two cleaning mechanisms 400 on opposite sides of the rotating device 300, the structural stability of the cleaning robot 1 is ensured.

[0154] Optionally, in combination with Figure 10 , Figure 14 and Figure 15 As shown, the rotating device 300 further includes a first rotating member 364 and a first plug-in member 368 which are spaced apart. The cleaning mechanism 400 further includes a second rotating member 448 and a second plug-in member 450 which are spaced apart. The first rotating member 364 and the second rotating member 448 are rotatably connected, and the first plug-in member 368 and the second plug-in member 450 are detachably connected.

[0155] In this embodiment, the first rotating member 364 and the first plug-in member 368 are respectively arranged on opposite side surfaces of the first housing 358, and are located near the cleaning mechanism 400 of the first housing 358. The second rotating member 448 and the second plug-in member 450 are respectively arranged on opposite side surfaces of the third housing 402, and are located near the rotating device 300 of the third housing 402. Among them, the first rotating member 364 and the second rotating member 448 are correspondingly arranged, and the first plug-in member 368 and the second plug-in member 450 are correspondingly arranged. In this embodiment, through the detachable connection between the first plug-in member 368 and the second plug-in member 450, and the rotatable connection between the first rotating member 364 and the second rotating member 448, when the first plug-in member 368 and the second plug-in member 450 are in a separated state, the cleaning mechanism 400 can rotate relative to the rotating device 300 to realize the switching of the cleaning mechanism 400 at different positions.

[0156] Exemplarily, the cleaning mechanism 400 can rotate relative to the rotating device 300 with the axis of the second rotating member 448 as the rotation axis. As Figure 10 shown, when the cleaning mechanism 400 rotates to the first position, the axis of the cleaning mechanism 400 is perpendicular to the axis where the rotating device 300 and the adsorption device 200 are located. At this time, the first plug-in member 368 and the second plug-in member 450 can be connected, so that the cleaning robot 1 can cover the largest cleaning area and ensure the cleaning efficiency of the cleaning robot 1. As Figure 16 shown, when the cleaning mechanism 400 rotates to the second position, the axis of the cleaning mechanism 400 is parallel to the axis where the rotating device 300 and the adsorption device 200 are located. At this time, the first plug-in member 368 and the second plug-in member 450 are separated, and the space volume occupied by the cleaning robot 1 is smaller, which is convenient for storage and transportation.

[0157] In some embodiments, the first rotating member 364 and the second rotating member 448 can be rotatably connected through a bearing or a shaft pin. The first plug-in member 368 and the second plug-in member 450 can be detachably connected through a buckle, a screw or a pin.

[0158] Optionally, in combination Figure 17 with Figure 18 as shown, the cleaning robot 1 further includes a camera 50. The cameras 50 are respectively disposed at opposite ends of the mounting bracket 10 along the moving direction of the cleaning robot 1, and the principal optical axes of the cameras 50 face outward of the mounting bracket 10 and point to the surface of the object to be cleaned 7. The camera 50 is configured to collect image information of the surface of the object to be cleaned 7 in the current moving direction of the cleaning robot 1, and communicate with the outside to transmit the image information. Among them, the motion mechanism 20 can receive a control signal generated externally based on the image information, and adjust the moving direction of the mounting bracket 10 relative to the surface of the object to be cleaned 7, so that the cleaning robot 1 travels along a preset path.

[0159] In this embodiment, along the moving direction of the cleaning robot 1, cameras 50 are disposed at opposite ends of the mounting bracket 10, and the principal optical axes of the cameras 50 face outward of the mounting bracket 10 and point to the surface of the object to be cleaned 7, so that an angle is formed between the principal optical axes of the cameras 50 and the plane where the surface of the object to be cleaned 7 is located, so as to reduce the interference of reflected light, and enable the camera 50 to more directly and accurately collect the image information of the surface of the object to be cleaned 7 in the current moving direction of the cleaning robot 1, and reduce image distortion or blind spots caused by improper position or angle of the camera 50. Furthermore, the motion mechanism 20 is controlled according to the control signal generated based on the image information to adjust the moving direction of the mounting bracket 10 relative to the surface of the object to be cleaned 7, so as to realize the control of the traveling direction of the cleaning robot 1.

[0160] In this embodiment, by adjusting the setting position and angle of the camera 50, the probability of image distortion or blind spots is reduced, especially the image blind spots in the moving direction of the cleaning robot 1, thereby improving the control accuracy of the moving direction of the cleaning robot 1.

[0161] Optionally, in combination Figure 17 with Figure 18 as shown, the angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 is an acute angle. In this embodiment, by defining the angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 as an acute angle, it is ensured that the setting angle of the camera 50 can reduce the interference of reflected light, so that the camera 50 can more directly and accurately collect the image information of the surface of the object to be cleaned 7, and reduce image distortion or blind spots.

[0162] Optionally, in combination Figure 17 with Figure 18As shown, the angular range between the principal optical axis of the camera 50 and the surface of the object 7 to be cleaned is from 30° to 60°.

[0163] To facilitate the introduction of the embodiments of the present disclosure, the angle between the principal optical axis of the camera 50 and the surface of the object 7 to be cleaned is referred to as a preset angle β, so 30° ≤ β ≤ 60°. In this embodiment, by making the principal optical axis of the camera 50 form a preset angle β with the plane where the surface of the object 7 to be cleaned is located after installation, image quality problems caused by light reflection, shadow occlusion, or perspective deviation are reduced, and the clarity and accuracy of image information acquisition are improved. By limiting the value range of the preset angle β to be from 30° to 60°, the cleaning robot 1 can capture more comprehensive image information of the surface of the object 7 to be cleaned in the current moving direction of the cleaning robot 1, reduce the perspective blind area, and improve the accuracy of the moving direction control of the cleaning robot 1. Exemplarily, the specific values of the preset angle β are 30°, 45°, or 60°.

[0164] Optionally, in combination with Figure 17 and Figure 18 As shown, along the moving direction of the cleaning robot 1, mounting surfaces 110 are respectively provided at opposite ends of the mounting bracket 10, and the plane where the mounting surface 110 is located forms a first angle with the axis along the height direction of the mounting bracket 10. Two cameras 50 are respectively arranged on the two mounting surfaces 110, and a second angle is formed between the principal optical axis of the camera 50 and the plane where the mounting surface 110 is located. The first angle and the second angle satisfy a preset condition, so that the angle between the principal optical axis of the camera 50 and the surface of the object 7 to be cleaned is an acute angle.

[0165] In this embodiment, a first angle (such as the angle θ shown in Figure 18 ) is formed between the plane where the mounting surface 110 is located and the axis along the height direction of the mounting bracket 10. Two cameras 50 are respectively mounted on two mounting surfaces 110 with an inclination angle (the first angle). A second angle (such as the angle α shown in Figure 18 ) is formed between the principal optical axis of the camera 50 and the plane where the mounting surface 110 is located to adapt to the inclination angle of the mounting surface 110, so that the angle between the principal optical axis of the camera 50 and the plane where the surface of the object 7 to be cleaned is located is an acute angle, so that when the camera 50 acquires image information, its viewing angle will naturally incline towards the surface of the object 7 to be cleaned.

[0166] Optionally, the preset condition includes that the second angle is greater than the first angle, and the range of the difference between the second angle and the first angle is from 30° to 60°. In this embodiment, in combination with Figure 17 and Figure 18As shown, since α - θ = 90° - β, by limiting the range of the difference between the second angle and the first angle to be between 30° and 60°, it is ensured that the preset angle β is between 30° and 60°, and it is ensured that the included angle between the main optical axis of the camera 50 and the surface of the object to be cleaned 7 is an acute angle. Exemplarily, if the value of the second angle α is 80° and the value of the first angle θ is 30°, then the difference between the second angle and the first angle is 50°. Since α - θ = 90° - β, the value of β is 40°.

[0167] In some embodiments, in combination with Figure 17 and Figure 18 As shown, the first angle formed between the plane where the mounting surface 110 is located and the axis along the height direction of the mounting bracket 10 is an acute angle, and the angular range of the first angle is between 30° and 60°. Two cameras 50 are respectively arranged on two mounting surfaces 110, and the main optical axis of the camera 50 is perpendicular to the plane where the mounting surface 110 is located.

[0168] Optionally, in combination with Figure 2 As shown, the cleaning robot 1 further includes a controller 60. The information input end of the controller 60 is communicatively connected to the camera 50 to receive the image information output by the camera 50. The control output end of the controller 60 is communicatively connected to the motion mechanism 20 to generate a control signal according to the received image information, and control the motion mechanism 20 to adjust the moving direction of the mounting bracket 10 relative to the object to be cleaned 7, so that the cleaning robot 1 travels along a preset path.

[0169] In this embodiment, the controller 60 is used to process the data (image information) input from the camera 50, and generate a corresponding control signal according to a preset algorithm, so as to control each component of the motion mechanism 20 to perform corresponding actions, adjust the moving direction of the mounting bracket 10 relative to the object to be cleaned 7, and enable the cleaning robot 1 to travel along a preset path.

[0170] It should be noted that according to the type of the controller 60, the controller 60 can be installed on the robot body, such as on the mounting bracket 10; or it can be separately and independently arranged from the cleaning robot 1, and the two are signal - transmission connected.

[0171] Exemplarily, when the controller 60 is a control cabinet, the control cabinet can be separately and independently arranged from the cleaning robot 1, and the control cabinet and the cleaning robot 1 are signal - transmission connected.

[0172] Exemplarily, when the controller 60 is a microcontroller, the microcontroller can be installed on the robot body. The installation relationship described here is not limited to being placed inside the robot body, but also includes installation connections with other components of the cleaning robot 1, including but not limited to physical connections, electrical connections, or signal transmission connections, etc. Those skilled in the art can understand that the controller 60 can be adapted to a feasible cleaning robot 1, thereby implementing other feasible embodiments.

[0173] Specifically, for the specific process of controlling the motion mechanism 20 to adjust the moving direction of the mounting bracket relative to the photovoltaic panel according to the control signal generated from the received image information, an existing method for controlling the movement of a cleaning robot based on the surface image of the object to be cleaned can be adopted. Taking the object to be cleaned as a photovoltaic panel as an example, for instance: after obtaining the photovoltaic panel image, perform a coordinate transformation step: taking the center point of the robot body (which is the center point of the mounting bracket in the embodiments of the present disclosure) as the origin, establish a world coordinate system, and perform coordinate transformation processing on each frame of the real-time image (photovoltaic panel image); reference line recognition: identify the reference line from each frame of the real-time image; reference line coordinate calculation: calculate the coordinate set of the line where the reference line is located in the world coordinate system; distance and angle comparison: calculate the real-time distance between the reference line and the origin, and determine whether this real-time distance is within a preset distance threshold range; at the same time, obtain the real-time angle between the actual moving direction of the vehicle body and the preset direction, and determine whether this real-time angle is within a preset angle threshold range; and direction adjustment: when the real-time distance is outside the preset distance threshold range and the real-time angle is within the preset angle threshold range, control the vehicle body to adjust the moving direction to the left or right until the distance difference is within the preset distance difference threshold range, and return to the direction setting step.

[0174] When the real-time distance is outside the preset distance threshold range and the real-time angle is within the preset angle threshold range, control the vehicle body to adjust the moving direction to the left or right until the distance difference is within the preset distance difference threshold range, and return to the direction setting step.

[0175] The specific process of adjusting the moving direction of the motion mechanism relative to the object to be cleaned according to the control signal generated from the received image information can also be other control methods for the movement of a cleaning robot obtained by improving based on existing technologies according to the surface image of the object to be cleaned collected.

[0176] The above description and the accompanying drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural and other changes. Embodiments merely represent possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or substituted for parts and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A cleaning robot, characterized in that: include: Mounting bracket; An adsorption device, one end of which is connected to the mounting bracket and the other end of which is switchable between a fixed state fixed to the surface of the object to be cleaned and a detached state detached from the surface of the object to be cleaned; A rotating device, one end of which is movably connected to the mounting bracket, and the other end of which is capable of switching between a fixed state fixed to the surface of the object to be cleaned and a detached state detached from the surface of the object to be cleaned; A cleaning mechanism is arranged on one side of the rotating device and abuts against the surface of the object to be cleaned; Among them, when the rotating device is in a fixed state, the adsorption device and the mounting bracket in a disengaged state can move relative to the object to be cleaned; when the adsorption device is in a fixed state, the rotating device in a disengaged state can move relative to the object to be cleaned, so as to drive the cleaning mechanism to move relative to the object to be cleaned and clean the surface of the object to be cleaned.

2. The cleaning robot according to claim 1, characterized in that: The rotating device includes: A first movable structure is movably connected to the mounting bracket; A first lifting structure, disposed on the first moving structure; A first adsorption structure is arranged on the first lifting structure, and a side of the first adsorption structure away from the first lifting structure can be switched between a fixed state fixed to the surface of the object to be cleaned and a detached state detached from the surface of the object to be cleaned; The rotating structure is arranged on the first adsorption structure; Among them, the first movable structure can drive the rotating device to move relative to the object to be cleaned when the first adsorption structure is in a disengaged state; the first lifting structure can drive the first adsorption structure to move toward or away from the object to be cleaned when the adsorption device is in a fixed state; the rotating structure can drive the first lifting structure to rotate relative to the first adsorption structure when the first adsorption structure is in a fixed state.

3. The cleaning robot according to claim 2, characterized in that: The first adsorption structure comprises: Suction cup, including vent holes; An air guide cylinder is rotatably connected to a side of the suction cup away from the object to be cleaned, and an air guide channel is provided in the air guide cylinder, and the air guide channel and the vent hole are connected; An air pump, arranged in the air guide cylinder, is used to change the flow direction of the gas in the air guide channel; The first lifting structure is connected to the air guide cylinder, and the rotating structure is arranged on the suction cup.

4. The cleaning robot according to claim 3, characterized in that: The rotating structure includes: The rotating bracket is sleeved on one end of the air guide cylinder close to the suction cup and is rotatably connected to the suction cup; A first motor is arranged on the rotating bracket; A first gear, sleeved on an output shaft of a first motor, the first motor is used to drive the first gear to rotate; The second gear is fixedly connected to the suction cup, and the outer gear of the first gear is rotationally connected to the outer gear of the second gear.

5. The cleaning robot according to claim 3, characterized in that: The first lifting structure comprises: A lifting bracket, connected to the first movable structure; A second motor is arranged on the lifting bracket; The first transmission assembly has an input end connected to the output end of the second motor, and an output end of the first transmission assembly is connected to the air guide cylinder.

6. The cleaning robot according to claim 2, characterized in that: The first mobile structure includes: A movable bracket, connected to the first lifting structure; A third motor is arranged on the movable bracket; The second transmission component is movably connected to the mounting bracket, and the input end of the second transmission component is connected to the output end of the third motor.

7. The cleaning robot according to any one of claims 1 to 6, characterized in that: Cleaning agencies include: A third housing is disposed on one side of the rotating device, and the third housing includes a third cavity and a dust collecting port that are interconnected; A first cleaning member, part of which is located in the third cavity, and part of which protrudes out of the third cavity to abut against the surface of the object to be cleaned; The dust collecting component is arranged outside the third shell and is located at the dust collecting port.

8. The cleaning robot according to claim 7, characterized in that: The first cleaning member includes a first roller brush; The cleaning mechanism also includes a fourth motor and a third transmission assembly. The fourth motor is arranged in the third housing. The input end of the third transmission assembly is connected to the output shaft of the fourth motor. The output end of the third transmission assembly is connected to the first roller brush.

9. The cleaning robot according to any one of claims 1 to 6, characterized in that: The rotating device includes a first rotating member and a first plug-in member arranged at intervals; The cleaning mechanism comprises a second rotating member and a second plug-in member which are arranged at intervals. The first rotating member and the second rotating member are rotatably connected, and the first plug-in member and the second plug-in member are detachably connected.

10. The cleaning robot according to any one of claims 1 to 6, characterized in that: There are two cleaning mechanisms, which are respectively arranged on two opposite sides of the rotating device.

11. The cleaning robot according to any one of claims 1 to 6, characterized in that: The mounting bracket comprises a main bracket and an extension bracket which are connected and arranged, and the axes of the length directions of the main bracket and the extension bracket are parallel to each other; wherein the number of adsorption devices is two, and the two adsorption devices are respectively arranged on the main bracket and the extension bracket; the rotating device is movably connected to the main bracket and can move relative to the main bracket along the length direction of the main bracket; and / or, The mounting bracket includes a second connecting rod, which is extended along a preset direction; the preset direction refers to a direction perpendicular to the length direction of the mounting bracket; the number of adsorption devices is two, and the two adsorption devices are respectively arranged at opposite ends of the second connecting rod.

12. The cleaning robot according to claim 11, characterized in that: The mounting bracket includes a main bracket and an extension bracket that are connected and arranged; The mounting bracket also includes a third movable structure, one end of which is connected to the main bracket, and the other end is movably connected to the extension bracket. When the rotating device is in a fixed state, the extension bracket can be driven to move relative to the main bracket along the length direction of the main bracket.

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