Cleaning method of photovoltaic cleaning robot

Abstract

The invention discloses a cleaning method of a photovoltaic cleaning robot. The cleaning method comprises the steps that the total length L1 of a rolling brush with the telescopic length in a folded state and the total length L2 of the rolling brush in a completely unfolded state are pre-stored; the total length L0 of the telescopic rolling brush in the state of cleaning the current photovoltaic panel is obtained, the width Ln of the current photovoltaic panel is obtained, and the width Lm of the photovoltaic panel to be cleaned is obtained; and under the condition that Lm is larger than Ln, the rolling brush is controlled to extend until the total length L0 of the rolling brush meets the condition that L0 is not smaller than Lm. According to the photovoltaic panel cleaning device, the rolling brush is arranged to be the telescopic rolling brush, the length of the rolling brush is adjusted, the photovoltaic panel cleaning device can adapt to photovoltaic panels of different sizes, the size of the photovoltaic panel can be rapidly matched, and therefore the cleaning effect can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning, and particularly relates to a cleaning method for a photovoltaic cleaning robot. Background Art

[0002] To achieve the dynamic balance of land utilization rate, power generation efficiency, and economy, photovoltaic power stations usually adopt a mixed arrangement of photovoltaic modules with different sizes.

[0003] During the cleaning process of photovoltaic modules, it is necessary to replace the roller brushes of different sizes according to the width of the photovoltaic modules, which reduces the cleaning efficiency. Summary of the Invention

[0004] In view of this, the present invention provides a cleaning method for a photovoltaic cleaning robot to improve the cleaning efficiency.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A cleaning method for a photovoltaic cleaning robot includes the steps of:

[0007] Pre-store the total length L1 of the retractable roller brush in the retracted state and the total length L2 of the roller brush in the fully extended state;

[0008] Obtain the total length L0 of the retractable roller brush in the state of cleaning the current photovoltaic panel, obtain the width Ln of the current photovoltaic panel, and obtain the width Lm of the photovoltaic panel to be cleaned;

[0009] When Lm is greater than Ln, control the roller brush to extend until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

[0010] Preferably, in the above cleaning method, the roller brush includes a first roller brush and a second roller brush, and the second roller brush can move relative to the first roller brush along the axial direction of the first roller brush, and the axial direction is the telescopic direction of the roller brush;

[0011] The cleaning method further includes: obtaining the dimensional difference L5 in the width direction between the lower edge of the current photovoltaic panel and the lower edge of the photovoltaic panel to be cleaned;

[0012] If L5 is positive and Lm is greater than Ln, the robotic arm remains stationary, and control the second roller brush to extend relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

[0013] Preferably, in the above cleaning method, the control of the second roller brush to extend relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm includes:

[0014] Determine that one end of the first rolling brush close to the lower edge of the photovoltaic panel to be cleaned is located outside the lower edge of the photovoltaic panel to be cleaned, and obtain the distance L3 between one end of the first rolling brush close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned;

[0015] Control the second rolling brush to extend relative to the first rolling brush, so that one end of the second rolling brush close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned, until the distance between one end of the second rolling brush close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the rolling brush satisfies: L0 = L3 + L4 + Lm.

[0016] Preferably, in the above cleaning method, it further includes: if L5 is positive and Lm is not greater than Ln, the robotic arm remains stationary and the total length of the rolling brush maintains L0;

[0017] Or if L5 is positive and Lm is not greater than Ln, the robotic arm remains stationary, and control the second rolling brush to retract relative to the first rolling brush until the total length L0 of the rolling brush satisfies: L0 is not less than Lm.

[0018] Preferably, in the above cleaning method, the controlling the second rolling brush to retract relative to the first rolling brush until the total length L0 of the rolling brush satisfies: L0 is not less than Lm includes:

[0019] Determine that one end of the first rolling brush close to the lower edge of the photovoltaic panel to be cleaned is located outside the lower edge of the photovoltaic panel to be cleaned, and obtain the distance L3 between one end of the first rolling brush close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned;

[0020] Control the second rolling brush to retract relative to the first rolling brush, so that one end of the second rolling brush close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned, until the distance between one end of the second rolling brush close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the rolling brush satisfies: L0 = L3 + L4 + Lm.

[0021] Preferably, in the above cleaning method, if L5 is negative and Lm is greater than Ln, control the robotic arm to move in the direction of the lower edge of the photovoltaic panel to be cleaned after cleaning the current photovoltaic panel until one end of the first rolling brush close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned;

[0022] Control the second rolling brush to extend relative to the first rolling brush until the total length L0 of the rolling brush satisfies: L0 is not less than Lm.

[0023] Preferably, in the above cleaning method, until one end of the first brush roll close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned, then, the method further includes: the distance between one end of the first brush roll close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned is L3;

[0024] Controlling the second brush roll to extend relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm, including: controlling the second brush roll to extend relative to the first brush roll so that one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the brush rolls satisfies: L0 = L3 + L4 + Lm.

[0025] Preferably, in the above cleaning method, if L5 is negative and Lm is not greater than Ln, controlling the robotic arm to move in the direction of the lower edge of the photovoltaic panel to be cleaned after cleaning the current photovoltaic panel until one end of the first brush roll close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned;

[0026] Maintaining the total length L0 of the brush rolls, or controlling the second brush roll to retract relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm.

[0027] Preferably, in the above cleaning method, until one end of the first brush roll close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned, then, the method further includes: the distance between one end of the first brush roll close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned is L3;

[0028] Controlling the second brush roll to retract relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm, including: controlling the second brush roll to retract relative to the first brush roll so that one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the brush rolls satisfies: L0 = L3 + L4 + Lm.

[0029] Preferably, in the above cleaning method, the brush rolls include a first brush roll and a second brush roll, and the second brush roll and the first brush roll can move in a direction away from each other, and the moving directions of the first brush roll and the second brush roll are the telescopic directions of the brush rolls;

[0030] The cleaning method includes: obtaining the dimension difference L5 in the width direction between the lower edge of the current photovoltaic panel and the lower edge of the photovoltaic panel to be cleaned, and obtaining the dimension difference L6 in the width direction between the upper edge of the current photovoltaic panel and the upper edge of the photovoltaic panel to be cleaned;

[0031] If L5 is positive, control the second brush roll to extend away from the first brush roll; if L6 is positive, control the first brush roll to extend away from the second brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm.

[0032] An embodiment of the present invention discloses a cleaning method for a photovoltaic cleaning robot. By setting the brush rolls as retractable brush rolls and adjusting the length of the brush rolls, it is possible to adapt to photovoltaic panels of different sizes, which is beneficial to quickly matching the size of the photovoltaic panel, thereby being beneficial to improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 It is the first position diagram in the cleaning process of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0035] Figure 2 It is the second position diagram in the cleaning process of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0036] Figure 3 It is the third position diagram in the cleaning process of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0037] Figure 4 It is the front view of the partial structure of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0038] Figure 5 It is the schematic diagram of the partial structure of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0039] Figure 6 It is the bottom view of the cleaning device of the photovoltaic cleaning robot disclosed in the embodiment of the present invention when in the retracted state;

[0040] Figure 7 It is the bottom view of the cleaning device of the photovoltaic cleaning robot disclosed in the embodiment of the present invention when in the fully extended state;

[0041] Figure 8Schematic assembly structure diagram of the first roller brush assembly of the cleaning device of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0042] Figure 9 Schematic structure diagram of the second roller brush assembly of the cleaning device of the photovoltaic cleaning robot disclosed in the embodiment of the present invention;

[0043] Figure 10 Schematic structure diagram of the guide rail of the cleaning device of the photovoltaic cleaning robot disclosed in the embodiment of the present invention. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0045] Hereinafter, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0046] During the cleaning process of photovoltaic modules, it is necessary to replace the roller brushes of different sizes according to the width of the photovoltaic modules, which reduces the cleaning efficiency. Based on the above technical problems, in combination with Figures 1 to 3 , the embodiments of the present application disclose a cleaning method for a photovoltaic cleaning robot, including the following steps:

[0047] S1: Pre-store the total length L1 of the retractable roller brush in the retracted state and the total length L2 of the roller brush in the fully extended state.

[0048] Setting the roller brush to a retractable structure can increase the cleaning range of the roller brush and adapt to the cleaning scenarios of photovoltaic modules of different sizes.

[0049] S2: Obtain the total length L0 of the retractable roller brush in the state of cleaning the current photovoltaic panel, obtain the width Ln of the current photovoltaic panel, and obtain the width Lm of the photovoltaic panel to be cleaned.

[0050] Optionally, Lm is not less than L1 and not greater than L2; in other alternative embodiments, if Lm is greater than L2, the robotic arm needs to move with the roller brush to complete the cleaning.

[0051] In an alternative embodiment, it can be through Figure 4The visual sensor 400 therein detects the position and size of the photovoltaic panel 300, so as to adjust the size of the rolling brush according to the size of the photovoltaic panel 300.

[0052] The graphic information of the rolling brush and the current photovoltaic panel can be obtained by using the visual sensor 400. According to the obtained image information, the values of L0 and Ln can be obtained. Optionally, after the values of L0 and Ln are obtained by using the visual sensor 400, the above values can be recorded by the control system.

[0053] S3: Control the telescoping of the rolling brush of the cleaning device 200.

[0054] Specifically, when Lm is greater than Ln, control the rolling brush to extend until the total length L0 of the rolling brush satisfies: L0 is not less than Lm.

[0055] The cleaning method of the photovoltaic cleaning robot disclosed in the embodiments of the present application, by setting the rolling brush as a telescopic rolling brush and adjusting the length of the rolling brush, can adapt to photovoltaic panels of different sizes, which is beneficial to quickly match the size of the photovoltaic panel, and thus is beneficial to improving the cleaning effect.

[0056] In some embodiments, the rolling brush includes a first rolling brush and a second rolling brush, and the second rolling brush can move relative to the first rolling brush along the axial direction of the first rolling brush, and the axial direction is the telescopic direction of the rolling brush.

[0057] On this basis, between S2 and S3 of the cleaning method disclosed in the embodiments of the present application, there is also included:

[0058] S21: Obtain the size difference L5 between the lower edge of the current photovoltaic panel and the lower edge of the photovoltaic panel to be cleaned in the width direction. It can be understood that: calculate the distance between the position where the lower edge of the current photovoltaic panel is located and the position where the lower edge of the photovoltaic panel to be cleaned is located in the width direction.

[0059] It should be noted that: usually, the photovoltaic panel 300 is arranged obliquely. The lower edge of the photovoltaic panel 300 is the side close to the bottom surface, and the upper edge is the side far from the bottom surface. During the process of the cleaning device 200 cleaning the photovoltaic panel 300, the first rolling brush 2031 is arranged close to the lower edge, and the second rolling brush 2021 is arranged close to the upper edge.

[0060] The connection direction between the upper edge and the lower edge of the photovoltaic panel in this article is the width direction.

[0061] S3 specifically includes:

[0062] If L5 is positive and Lm is greater than Ln, the robotic arm remains stationary, and control the second rolling brush to extend relative to the first rolling brush until the total length L0 of the rolling brush satisfies: L0 is not less than Lm.

[0063] It should be noted that in this text, if the lower edge of the current photovoltaic panel protrudes from the lower edge of the photovoltaic panel to be cleaned in the direction away from the upper edge, then L5 is positive.

[0064] Specifically, controlling the second brush roller to extend relative to the first brush roller until the total length L0 of the brush rollers satisfies: L0 is not less than Lm includes:

[0065] Determine that one end of the first brush roller close to the lower edge of the photovoltaic panel to be cleaned is located outside the lower edge of the photovoltaic panel to be cleaned, and obtain the distance L3 between one end of the first brush roller close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned.

[0066] Wherein, the outside of the lower edge of the photovoltaic panel to be cleaned in this text is the side of the lower edge of the photovoltaic panel to be cleaned away from the upper edge; the outside of the upper edge of the photovoltaic panel to be cleaned in this text is the side of the upper edge of the photovoltaic panel to be cleaned away from the lower edge.

[0067] Control the second brush roller to extend relative to the first brush roller so that one end of the second brush roller close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second brush roller close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4. In this state, the total length L0 of the brush rollers satisfies: L0 = L3 + L4 + Lm.

[0068] By adjusting the telescopic brush rollers in the embodiments of the present application, the movement of the robotic arm is reduced, and the cleaning efficiency can be improved.

[0069] It should be noted that the specific values of L3 and L4 in this text are greater than 0, and the specific values are not limited. If the values of L3 and L4 are 0, it can be understood that both ends of the brush roller are in contact with the upper edge and the lower edge of the photovoltaic panel.

[0070] If L5 is positive and Lm is not greater than Ln, the robotic arm remains stationary and the total length L0 of the brush rollers is maintained; or, if L5 is positive and Lm is not greater than Ln, the robotic arm remains stationary and the second brush roller is controlled to retract relative to the first brush roller until the total length L0 of the brush rollers satisfies: L0 is not less than Lm.

[0071] Specifically, controlling the second brush roller to retract relative to the first brush roller until the total length L0 of the brush rollers satisfies: L0 is not less than Lm includes:

[0072] Determine that one end of the first brush roller close to the lower edge of the photovoltaic panel to be cleaned is located outside the lower edge of the photovoltaic panel to be cleaned, and obtain the distance L3 between one end of the first brush roller close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned.

[0073] Control the second roller brush to retract relative to the first roller brush, so that the end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned, until the distance between the end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4. In this state, the total length L0 of the roller brush satisfies: L0 = L3 + L4 + Lm.

[0074] If L5 is negative and Lm is greater than Ln, after the manipulator finishes cleaning the current photovoltaic panel, control it to move in the direction of the lower edge of the photovoltaic panel to be cleaned until the end of the first roller brush close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned; control the second roller brush to extend relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

[0075] Specifically, after the end of the first roller brush close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned, it further includes: the distance between the end of the first roller brush close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned is L3.

[0076] The above control of the second roller brush to extend relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm includes: controlling the second roller brush to extend relative to the first roller brush so that the end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned, until the distance between the end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4. In this state, the total length L0 of the roller brush satisfies: L0 = L3 + L4 + Lm.

[0077] If L5 is negative and Lm is not greater than Ln, after the manipulator finishes cleaning the current photovoltaic panel, control it to move in the direction of the lower edge of the photovoltaic panel to be cleaned until the end of the first roller brush close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned; maintain the total length L0 of the roller brush, or control the second roller brush to retract relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

[0078] Specifically, after the end of the first roller brush close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned, it further includes: the distance between the end of the first roller brush close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned is L3.

[0079] The above-mentioned second brush roller is retracted relative to the first brush roller until the total length L0 of the brush roller satisfies: L0 is not less than Lm, including: controlling the second brush roller to retract relative to the first brush roller so that one end of the second brush roller close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second brush roller close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4. In this state, the total length L0 of the brush roller satisfies: L0 = L3 + L4 + Lm.

[0080] It should be noted that: in this article, one end of the first brush roller close to the lower edge is placed outside the lower edge of the photovoltaic panel to be cleaned, and one end of the second brush roller close to the upper edge is placed outside the upper edge of the photovoltaic panel to be cleaned, so that the length of the brush roller can be greater than the distance between the upper edge and the lower edge of the photovoltaic panel to be cleaned, ensuring the cleaning effect.

[0081] The above content discloses the control logic of the second brush roller when the second brush roller moves relative to the first brush roller. The following combines Figures 4 to 10 to describe the structure of the cleaning robot using the above brush roller.

[0082] As Figures 4 to 10 shown, the cleaning robot includes: a robotic arm 100 and a cleaning device 200. The cleaning device 200 includes a main body frame 201, a first brush roller assembly 203, and a second brush roller assembly 202.

[0083] Among them, the first brush roller assembly 203 includes a first brush roller 2031, a first fixing frame 2032, a second fixing frame 2033, and a first driving motor 2034. The second brush roller assembly 202 includes a second brush roller 2021, a third fixing frame 2022, a fourth fixing frame 2023, and a second driving motor 2024.

[0084] Among them, the first brush roller 2031 is fixed on the main body frame 201. Optionally, the first brush roller 2031 is fixed on the main body frame 201 through the first fixing frame 2032 and the second fixing frame 2033. Specifically, one end of the first brush roller 2031 in the axial direction is installed on the first fixing frame 2032, and the other end of the first brush roller 2031 in the axial direction is installed on the second fixing frame 2033; the first brush roller 2031 is rotatably connected to both the first fixing frame 2032 and the second fixing frame 2033. The first fixing frame 2032 and the second fixing frame 2033 are both fixed on the main body frame 201.

[0085] The first driving motor 2034 is drivingly connected to the first brush 2031 to drive the first brush 2031 to rotate about its axis, so as to clean the photovoltaic panel 300. Optionally, the first driving motor 2034 is mounted on the first fixing bracket 2032 or the second fixing bracket 2033. The mounting manner of the first driving motor 2034 can be set according to different requirements, and all are within the scope of protection.

[0086] The second brush 2021 and the first brush 2031 are arranged along the radial direction of the second brush 2021. It can be understood that the axes of the first brush 2031 and the second brush 2021 are arranged in parallel. The first brush 2031 and the second brush 2021 in this article form the brushes of the cleaning device 200. It should be noted that the numbers of the first brush 2031 and the second brush 2021 in this article can be set according to different requirements, and all are within the scope of protection.

[0087] The second brush 2021 is movably connected to the main body frame 201, and the moving direction of the second brush 2021 is the axial direction of the second brush 2021.

[0088] Combined Figure 6 and Figure 7 As shown in the figure, the second brush 2021 has two extreme positions, including the first position and the second position. Among them, when the second brush 2021 is in the first position, the second brush 2021 is retracted into the main body frame 201, and the second brush 2021 and the first brush 2031 are arranged side by side along the radial direction. The length of the brush formed by the first brush 2031 and the second brush 2021 along the axial direction is L1. When the second brush 2021 is in the second position, the second brush 2021 extends out of the main body frame 201, and the second brush 2021 extends to the maximum position, that is, the second brush 2021 moves relative to the first brush 2031 along the axial direction, so that the second brush 2021 and the first brush 2031 are arranged out of alignment along the radial direction. The length of the brush formed by the first brush 2031 and the second brush 2021 along the axial direction is L2.

[0089] L2 is greater than L1, that is, after the second brush 2021 moves relative to the first brush 2031 along the axial direction, the length of the brush becomes longer. It should be noted that when the second brush 2021 in this article is in the first position, the brush is in the retracted state, and when the second brush 2021 is in the second position, the brush is in the fully extended state.

[0090] It should be noted that: by moving the second brush 2021 relative to the first brush 2031 in the axial direction, the length of the brush can be changed to meet the cleaning requirements of photovoltaic panels 300 of different sizes. There is no need to design multiple brushes of different sizes, which helps to reduce the design cost and usage cost. In addition, by moving the second brush 2021 relative to the first brush 2031, it can adapt to photovoltaic panels 300 of different sizes, that is, the size can be adjusted by the telescoping of the brush. There is no need to disassemble the second brush 2021 and the first brush 2031. Therefore, the size can be quickly adjusted, which is beneficial to quickly matching the size of the photovoltaic panel, thus improving the cleaning effect and reducing the maintenance cost caused by replacing the brush. In addition, by telescoping the second brush 2021 relative to the first brush 2031, the size of the cleaning device 200 can be reduced, and the transportation cost can be lowered.

[0091] Optionally, one end of the second brush 2021 in the axial direction is rotatably installed on the third fixing bracket 2022, and the other end of the second brush 2021 in the axial direction is rotatably installed on the fourth fixing bracket 2023. The third fixing bracket 2022 and the fourth fixing bracket 2023 can move relative to the main body frame 201.

[0092] The second driving motor 2024 is in transmission connection with the second brush 2021 to drive the second brush 2021 to rotate around its own axis, facilitating the cleaning of the photovoltaic panel 300. Optionally, the second driving motor 2024 is installed on the third fixing bracket 2022 or the fourth fixing bracket 2023. The shape and size of the third fixing bracket 2022 or the fourth fixing bracket 2023 are not specifically limited herein, and any structure that can meet the above functions can be used as the third fixing bracket 2022 or the fourth fixing bracket 2023.

[0093] The above content describes the installation methods of the first brush 2031 and the second brush 2021. The following will describe Figure 5 、 Figures 7 to 10 the moving method of the second brush 2021 disclosed in the embodiments of the present application.

[0094] The cleaning device 200 disclosed in the embodiments of the present application further includes a driving component, which is connected to the second brush 2021 and drives the second brush 2021 to move relative to the main body frame 201 in the axial direction of the second brush 2021.

[0095] The structure of the driving component can be set according to different needs. In the embodiments of the present application, the following structure is adopted:

[0096] As Figure 5 shown, the cleaning device 200 further includes a guide rail 204. As Figure 6 、 Figure 7 and Figure 9As shown, the second brush roll assembly 202 further includes a guide rail drive motor 2025.

[0097] The guide rail 204 is fixed to the main body frame 201, and the guide rail drive motor 2025 is fixed to one end of the second brush roll 2021 along the axial direction. Optionally, the guide rail drive motor 2025 is fixed to the third fixing bracket 2022 or the fourth fixing bracket 2023. Exemplarily, the third fixing bracket 2022 is connected to the first end of the second brush roll 2021, the fourth fixing bracket 2023 is connected to the second end of the second brush roll 2021, and the first end of the second brush roll 2021 is the end where the second brush roll 2021 extends out of the main body frame 201; the guide rail drive motor 2025 is fixed to the fourth fixing bracket 2023, and the second drive motor 2024 is fixed to the third fixing bracket 2022.

[0098] The extending direction of the guide rail 204 is the axial direction of the second brush roll 2021. The fourth fixing bracket 2023 is in sliding fit with the guide rail 204. During the process of the fourth fixing bracket 2023 sliding along the guide rail 204, the second brush roll 2021 is moved along the guide rail 204.

[0099] It should be noted that: in this text, the fourth fixing bracket 2023 is in sliding fit with the guide rail 204, which can increase the moving distance of the fourth fixing bracket 2023, thereby increasing the moving stroke of the second brush roll 2021; in addition, the length of the guide rail 204 can be reduced. If the third fixing bracket 2022 is matched with the guide rail 204, to ensure the moving stroke of the second brush roll 2021, the length of the guide rail 204 needs to be increased, which is not conducive to the miniaturization requirement of the cleaning device 200.

[0100] In addition, the guide rail drive motor 2025 is not limited to being arranged on the fourth fixing bracket 2023, and can also be arranged on the same side as the second drive motor 2024 to reduce the cable length. The center of gravity position of the second brush roll assembly 202 can be adjusted according to the arrangement positions of the guide rail drive motor 2025 and the second drive motor 2024.

[0101] As Figure 10 shown, the guide rail 204 disclosed in the embodiment of the present application includes: a guide tooth 2041 and a guide rail seat 2042.

[0102] Among them, the guide rail 204 is fixed to the main body frame 201 through the guide rail seat 2042. Specifically, there are multiple guide rail seats 2042 along the guide rail 204, which can improve the connection stability between the guide rail 204 and the main body frame 201, realize multi-point connection between the guide rail 204 and the main body frame 201, ensure the connection rigidity between the guide rail 204 and the main body frame 201, and further enhance the connection stiffness between the guide rail 204 and the second brush roll 2021.

[0103] The guide rail 204 is provided with a plurality of guide teeth 2041 along the extending direction, and the guide rail driving motor 2025 meshes with the guide teeth 2041 for transmission. Optionally, a transmission gear is fixed to the output shaft of the guide rail driving motor 2025, and the transmission gear meshes with the guide teeth 2041 for transmission.

[0104] During the operation of the guide rail driving motor 2025, the guide rail driving motor 2025 drives the transmission gear to rotate, so that the transmission gear rotates along the guide teeth 2041, thereby realizing the movement of the second brush 2021 along the guide rail 204. And by the forward and reverse rotation of the guide rail driving motor 2025, the reciprocating movement of the second brush 2021 along the guide rail 204 is realized. That is, the cooperation of the guide rail driving motor 2025, the transmission gear and the guide teeth 2041 provides the power for the movement of the second brush 2021.

[0105] Those skilled in the art can understand that the positions of the above-mentioned guide rail 204 and the guide rail driving motor 2025 can be interchanged, that is, the guide rail 204 is connected to the second brush 2021, and the guide rail driving motor 2025 is installed on the main body frame 201.

[0106] In order to prevent the second brush 2021 from detaching from the main body frame 201 during the process of extending outward relative to the first brush 2031, a limiting device is provided on the main body frame 201 disclosed in the embodiment of the present application, and the limiting device can limit the moving position of the second brush 2021.

[0107] As Figure 8 shown, the limiting device disclosed in the embodiment of the present application is a limiting hole 2011. Specifically, a limiting hole 2011 is provided at one end of the main body frame 201 for the second brush 2021 to extend outward. Optionally, when the second brush 2021 is in the first position, one end of the second brush 2021 away from the limiting hole 2011 has a structure that can be in limiting contact with the limiting hole 2011. Optionally, the structure of the second brush 2021 in limiting contact with the limiting hole 2011 includes but is not limited to the guide rail driving motor 2025 fixed to the fourth fixing frame 2023.

[0108] With the above structure, during the process of the second brush 2021 extending outward relative to the first brush 2031, the second brush 2021 moves until the guide rail driving motor 2025 abuts against the limiting hole 2011, and the second brush 2021 extends to the maximum distance, and the second brush 2021 is in the second position.

[0109] Optionally, when the size of the guide rail driving motor 2025 is larger than the size of the limiting hole 2011, the limiting contact between the guide rail driving motor 2025 and the limiting hole 2011 can be realized.

[0110] It should be noted that: In the embodiment of the present application, a limiting hole 2011 is provided at one end of the main frame 201 for the second rolling brush 2021 to extend outwards, and a guide rail driving motor 2025 is provided on the fourth fixing frame 2023. By using the abutment of the guide rail driving motor 2025 and the limiting hole 2011, the limiting of the movement of the second rolling brush 2021 is realized, which can make the second rolling brush 2021 have a large moving stroke and has a simple structure.

[0111] Only one first rolling brush 2031 and one second rolling brush 2021 are shown in the cleaning device 200 of the embodiment of the present application. In other alternative embodiments, the first rolling brush 2031 of the cleaning device 200 can also be two or three or even more, and the first rolling brushes 2031 can be arranged side by side in the radial direction. Of course, the first rolling brushes 2031 can also be arranged offset in the radial direction. By increasing the number of the first rolling brushes 2031, the cleaning area of the cleaning device 200 can be increased and the cleaning efficiency can be improved.

[0112] In addition, the embodiment of the present application also discloses a rolling brush, which includes a first rolling brush and a second rolling brush. Among them, the first rolling brush and the second rolling brush can move in a direction away from each other, and the moving directions of the first rolling brush and the second rolling brush are the telescopic directions of the rolling brush.

[0113] On the basis of this technical solution, between S2 and S3 of the above cleaning method, it further includes:

[0114] S22: Obtain the size difference L5 in the width direction between the lower edge of the current photovoltaic panel and the lower edge of the photovoltaic panel to be cleaned, and obtain the size difference L6 in the width direction between the upper edge of the current photovoltaic panel and the upper edge of the photovoltaic panel to be cleaned.

[0115] S3 specifically includes:

[0116] If L5 is positive, control the second rolling brush to extend in a direction away from the first rolling brush; if L6 is positive, control the first rolling brush to extend in a direction away from the second rolling brush until the total length L0 of the rolling brush satisfies: L0 is not less than Lm.

[0117] Both the first rolling brush and the second rolling brush in the present application can be telescopic, which can improve the convenience during the adjustment process and further reduce the number of movements of the robotic arm.

[0118] Optionally, in order to ensure the cleaning effect, one end of the first rolling brush close to the lower edge is placed outside the lower edge of the photovoltaic panel to be cleaned, and one end of the second rolling brush close to the upper edge is placed outside the upper edge of the photovoltaic panel to be cleaned.

[0119] Among them, the control of the second rolling brush to extend in a direction away from the first rolling brush specifically includes: adjusting the position of the first rolling brush until the distance between one end of the first rolling brush close to the lower edge and the lower edge of the photovoltaic panel to be cleaned is L3.

[0120] Controlling the first rolling brush to extend away from the second rolling brush specifically includes: adjusting the position of the second rolling brush until the distance between the first section near the upper edge of the second rolling brush and the upper edge of the photovoltaic panel to be cleaned is L4.

[0121] After the first rolling brush and the second rolling brush are adjusted in place, the total length L0 of the rolling brushes satisfies: L0 = L3 + L4 + Lm.

[0122] It should be noted that the cleaning photovoltaic robot in this article can achieve automatic adjustment of the rolling brush length by adopting the above cleaning method, adapt to the width of the photovoltaic panel, and reduce the labor intensity of the operator. In addition, it can also realize the telescoping of the rolling brush in advance, shorten the time for individual adjustment of the rolling brush, and is beneficial to improving the cleaning efficiency.

[0123] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0124] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning method for a photovoltaic cleaning robot, characterized in that, Including the steps: Pre-store the total length L1 when the length-adjustable roller brush is in the retracted state and the total length L2 when the roller brush is in the fully extended state; Obtain the total length L0 of the length-adjustable roller brush in the current state of cleaning the photovoltaic panel, obtain the width Ln of the current photovoltaic panel, and obtain the width Lm of the photovoltaic panel to be cleaned; When Lm is greater than Ln, control the roller brush to extend until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

2. The cleaning method according to claim 1, wherein The roller brush includes a first roller brush and a second roller brush, and the second roller brush can move relative to the first roller brush along the axis direction of the first roller brush, and the axis direction is the telescopic direction of the roller brush; The cleaning method further includes: obtaining the dimensional difference L5 in the width direction between the lower edge of the current photovoltaic panel and the lower edge of the photovoltaic panel to be cleaned; If L5 is positive and Lm is greater than Ln, the robotic arm remains stationary, and control the second roller brush to extend relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

3. The cleaning method according to claim 2, wherein The control of the second roller brush to extend relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm includes: Determine that one end of the first roller brush close to the lower edge of the photovoltaic panel to be cleaned is located outside the lower edge of the photovoltaic panel to be cleaned, and obtain the distance L3 between one end of the first roller brush close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned; Control the second roller brush to extend relative to the first roller brush so that one end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the roller brush satisfies: L0 = L3 + L4 + Lm.

4. The cleaning method according to claim 2, wherein It also includes: If L5 is positive and Lm is not greater than Ln, the robotic arm remains stationary, and the total length of the roller brush maintains L0; Or if L5 is positive and Lm is not greater than Ln, the robotic arm remains stationary, and control the second roller brush to retract relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm.

5. The cleaning method according to claim 4, wherein The control of the second roller brush to retract relative to the first roller brush until the total length L0 of the roller brush satisfies: L0 is not less than Lm includes: Determine that one end of the first roller brush close to the lower edge of the photovoltaic panel to be cleaned is located outside the lower edge of the photovoltaic panel to be cleaned, and obtain the distance L3 between one end of the first roller brush close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned; Control the second roller brush to retract relative to the first roller brush so that one end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second roller brush close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the roller brush satisfies: L0 = L3 + L4 + Lm.

6. The cleaning method according to claim 2, wherein If L5 is negative and Lm is greater than Ln, control the robotic arm to move in the direction of the lower edge of the photovoltaic panel to be cleaned after cleaning the current photovoltaic panel until one end of the first roller brush close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned; Control the second brush roll to extend relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm.

7. The cleaning method according to claim 6, wherein Until one end of the first brush roll close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned, then, it further includes: the distance between one end of the first brush roll close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned is L3; The control that the second brush roll extends relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm includes: controlling the second brush roll to extend relative to the first brush roll so that one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the brush rolls satisfies: L0 = L3 + L4 + Lm.

8. The cleaning method according to claim 2, wherein If L5 is negative and Lm is not greater than Ln, control the robotic arm to move in the direction of the lower edge of the photovoltaic panel to be cleaned after cleaning the current photovoltaic panel until one end of the first brush roll close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned; Maintain the total length of the brush rolls as L0, or control the second brush roll to retract relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm.

9. The cleaning method according to claim 8, wherein, Until one end of the first brush roll close to the lower edge of the photovoltaic panel is located outside the lower edge of the photovoltaic panel to be cleaned, then, it further includes: the distance between one end of the first brush roll close to the lower edge of the photovoltaic panel to be cleaned and the lower edge of the photovoltaic panel to be cleaned is L3; The control that the second brush roll retracts relative to the first brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm includes: controlling the second brush roll to retract relative to the first brush roll so that one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned is located outside the upper edge of the photovoltaic panel to be cleaned until the distance between one end of the second brush roll close to the upper edge of the photovoltaic panel to be cleaned and the upper edge of the photovoltaic panel to be cleaned is L4; the total length L0 of the brush rolls satisfies: L0 = L3 + L4 + Lm.

10. The cleaning method according to claim 1, characterized in that, The brush rolls include a first brush roll and a second brush roll, and the second brush roll and the first brush roll can move in a direction away from each other, and the moving directions of the first brush roll and the second brush roll are the telescopic directions of the brush rolls; The cleaning method includes: obtaining the dimension difference L5 in the width direction between the lower edge of the current photovoltaic panel and the lower edge of the photovoltaic panel to be cleaned, and obtaining the dimension difference L6 in the width direction between the upper edge of the current photovoltaic panel and the upper edge of the photovoltaic panel to be cleaned; If L5 is positive, control the second brush roll to extend in a direction away from the first brush roll; if L6 is positive, control the first brush roll to extend in a direction away from the second brush roll until the total length L0 of the brush rolls satisfies: L0 is not less than Lm.

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