Photovoltaic panel cleaning robot and control method thereof

Abstract

The invention discloses a photovoltaic panel cleaning robot and a control method thereof, and belongs to the technical field of photovoltaic panel cleaning, the photovoltaic panel cleaning robot comprises a hanging rail type cleaning robot body and further comprises two sets of crossing mechanisms installed at the two ends of the hanging rail type cleaning robot body respectively, and each crossing mechanism comprises a transverse rod, a transverse rod, a transverse rod and a transverse rod. The base is fixedly mounted at the top of the climbing mechanism; the two rotating rods are rotationally installed at the two ends of the transverse rod respectively, and electric wheels are rotationally installed at the bottom ends of the rotating rods; the two electric telescopic rods are rotationally mounted between the rotating rod and the cross rod respectively; the distance sensor is mounted on the hanging rail type cleaning robot body and used for detecting the distance; and the control unit controls the electric telescopic rod to drive the rotating rod to rotate positively and negatively, so that the hanging rail type cleaning robot body is supported to advance at the gap and returns to normal work after leaving the gap.

Description

TECHNICAL FIELD

[0001] The present application relates to a photovoltaic panel cleaning robot and a control method thereof, and belongs to the technical field of photovoltaic panel cleaning equipment. BACKGROUND

[0002] The photovoltaic panel cleaning robot includes a hanging rail type photovoltaic cleaning robot and a crawler type photovoltaic cleaning robot.

[0003] The hanging rail type photovoltaic cleaning robot can clean an entire photovoltaic panel at a time, has high work efficiency, and is widely used. However, the existing hanging rail type photovoltaic cleaning robot can only be used directly on continuous photovoltaic panels. In fact, in order to facilitate installation, there is a gap between two adjacent groups of photovoltaic panels, so that the hanging rail type photovoltaic cleaning robot cannot pass through and needs to be manually transported.

[0004] Therefore, the present application proposes a new solution. SUMMARY

[0005] The main purpose of the present application is to solve the problems of the prior art and provide a photovoltaic panel cleaning robot and a control method thereof.

[0006] The purpose of the present application can be achieved by adopting the following technical solutions.

[0007] A photovoltaic panel cleaning robot includes a hanging rail type cleaning robot body, and two groups of leapover mechanisms installed at both ends of the hanging rail type cleaning robot body, respectively. The leapover mechanism includes:

[0008] A crossbar is fixedly installed at the top of the leapover mechanism.

[0009] Two rotating rods are rotatably installed at both ends of the crossbar, and the bottom end of the rotating rod is rotatably installed with an electric wheel.

[0010] Two electric telescopic rods are rotatably installed between the rotating rod and the crossbar.

[0011] A distance sensor is installed on the hanging rail type cleaning robot body to detect the distance.

[0012] A control unit controls the electric telescopic rod to drive the rotating rod to rotate forward and backward, thereby supporting the hanging rail type cleaning robot body to travel at the gap, and restoring normal work after leaving the gap.

[0013] Preferably, the telescopic adjusting mechanism is further provided, and one group of the leapover mechanisms is fixedly connected with the telescopic adjusting mechanism.

[0014] Preferably, the telescopic adjusting mechanism includes:

[0015] A first motor is installed on the top of the overhead rail cleaning robot body.

[0016] A lead screw is fixedly connected to the output end of the first motor, and a transmission block is drivingly connected to the top of the lead screw.

[0017] A sliding cover is slidingly installed on the top of the overhead rail cleaning robot body and fixedly connected with the transmission block.

[0018] A plurality of second rotating wheels are evenly installed on both sides of the sliding cover.

[0019] Preferably, a support plate is fixedly connected to the inner wall of each side of the sliding cover.

[0020] Preferably, two rib plates are fixedly connected to the outer wall of each side of the sliding cover, a connecting rod is connected between the two rib plates, and the second rotating wheels are rotatably connected with the connecting rod.

[0021] Preferably, the overhead rail cleaning robot body comprises:

[0022] A top plate, the bottom surface of the top plate is fixedly connected with side plates at both ends;

[0023] An electric control box is fixedly connected to one end of the top plate, and a storage battery is installed on the inner side of the electric control box;

[0024] A protective shell is installed on the top of the electric control box.

[0025] Preferably, the overhead rail cleaning robot body further comprises:

[0026] Two third motors are symmetrically installed on the top of the top plate, and the output end of the third motor is connected with a first rotating shaft;

[0027] Two side wheels are fixedly installed on the bottom end of the first rotating shaft;

[0028] Two second rotating shafts are rotatably connected between the two side plates, wheels are installed on both ends of the second rotating shaft, and bevel gears that cooperate with each other are connected to the outer wall of the first rotating shaft and one end of the second rotating shaft.

[0029] Preferably, the overhead rail cleaning robot body further comprises:

[0030] A cleaning roller is rotatably installed between the two side plates and used for cleaning dust

[0031] A fourth motor is installed on the side wall of the side plate, and the output end of the fourth motor is fixedly connected with the cleaning roller.

[0032] A control method of a photovoltaic panel cleaning robot, comprising the following steps:

[0033] Step one, the device is placed on the inclined photovoltaic panel, one end with the side wheel is located on the higher side, the lower end is lifted, the control unit controls the first motor to start, drives the sliding cover to move, so that the second rotating wheel moves to the photovoltaic panel;

[0034] Step two, the control unit controls the third motor to start, drives the device to move, at the same time, the fourth motor is started to drive the cleaning roller to clean the dust;

[0035] Step three, when cleaning to the gap, the control unit detects the distance through the distance sensor, controls the electric telescopic rod to rotate the rotating rod in the positive direction, and at the same time, the electric wheel is started, and the electric wheel drives the travel after contacting the photovoltaic panel;

[0036] Step four, after passing through the gap, the control unit detects the distance through the distance sensor, controls the electric telescopic rod to rotate the rotating rod in the reverse direction, and at the same time, the electric wheel is closed.

[0037] Preferably, the control unit brings the distance L detected by the distance sensor into the formula L-l≥m, when L-l≥m is established, the electric telescopic rod is controlled to rotate the rotating rod in the positive direction, and when L-l≥m is not established, the electric telescopic rod is controlled to rotate the rotating rod in the reverse direction;

[0038] Wherein: m is a constant, and l is the initial distance when the hanging rail type cleaning robot body is placed on the photovoltaic panel.

[0039] The photovoltaic panel cleaning robot according to the present application has the beneficial technical effects that: through the setting of the climbing mechanism, when the cleaning robot body is cleaning, the control unit detects whether there is a gap in the travel path through the distance sensor, after reaching the gap, the control unit controls the control electric telescopic rod to drive the rotating rod to rotate in the positive direction, and at the same time, the electric wheel is started, and the electric wheel drives the travel after contacting the photovoltaic panel, so as to prevent the cleaning robot body from falling from the gap, and after passing through the gap, the control unit controls the control electric telescopic rod to drive the rotating rod to rotate in the reverse direction, and at the same time, the electric wheel is closed, so that the cleaning robot body works normally. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is an overall structure schematic view of a preferred embodiment according to the present application;

[0041] Figure 2 It is an overall structure schematic view of a preferred embodiment according to the present application;

[0042] Figure 3 It is an overall structure schematic view of a preferred embodiment according to the present application;

[0043] Figure 4 It is an overall structure schematic view of a preferred embodiment according to the present application; Figure 3 It is an enlarged schematic view of the structure at A of the preferred embodiment according to the present application;

[0044] Figure 5 Structure diagram of the crossing mechanism according to a preferred embodiment of the present application;

[0045] Figure 6 Structure diagram of the sliding cover according to a preferred embodiment of the present application.

[0046] In the figure: 1, rail-mounted cleaning robot body; 2, crossing mechanism; 3, crossbar; 4, rotating rod; 5, electric wheel; 6, electric telescopic rod; 7, first motor; 8, screw rod; 9, transmission block; 10, sliding cover; 11, second rotating wheel; 12, support plate; 13, rib plate; 101, top plate; 102, electric control box; 103, battery; 104, protective shell; 105, third motor; 106, first rotating shaft; 107, side wheel; 108, side plate; 109, second rotating shaft; 110, wheel; 111, cleaning roller; 112, fourth motor. DETAILED DESCRIPTION

[0047] In order to make the technical solution of the present application more clear and explicit to those skilled in the art, the present application will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the implementation of the present application is not limited thereto.

[0048] As shown in Figures 1-6 The photovoltaic panel cleaning robot provided by the present embodiment comprises a rail-mounted cleaning robot body 1, and further comprises two groups of crossing mechanisms 2 respectively installed at two ends of the rail-mounted cleaning robot body 1. The crossing mechanism 2 comprises:

[0049] A crossbar 3 is fixedly installed at the top of the crossing mechanism 2.

[0050] Two rotating rods 4 are respectively rotatably installed at two ends of the crossbar 3, and the bottom end of the rotating rod 4 is rotatably installed with an electric wheel 5.

[0051] Two electric telescopic rods 6 are respectively rotatably installed between the rotating rod 4 and the crossbar 3.

[0052] A distance sensor is installed on the rail-mounted cleaning robot body 1 for detecting distance.

[0053] A control unit controls the electric telescopic rod 6 to drive the rotating rod 4 to rotate forward and backward, so as to support the rail-mounted cleaning robot body 1 to travel at the gap, and restore normal work after leaving the gap.

[0054] In order to overcome the existing hanging rail type photovoltaic cleaning robot in use, unable to pass through the gap between the adjacent two groups of photovoltaic panels, the application provides a solution, the specific implementation is that when the cleaning robot body 1 carries out cleaning operation, the control unit detects whether there is a gap in the advancing path through the distance sensor, after reaching the gap, the control unit controls the control electric telescopic rod 6 to drive the rotating rod 4 to forward rotation, and simultaneously starts the electric wheel 5, after the electric wheel 5 contacts the photovoltaic panel, the advancing is driven, preventing the cleaning robot body 1 from falling from the gap, after passing through the gap, the control unit controls the control electric telescopic rod 6 to drive the rotating rod 4 to reverse rotation, and simultaneously closes the electric wheel 5, so that the cleaning robot body 1 works normally.

[0055] In an optional embodiment, a telescopic adjusting mechanism is further included, and the group of leapfrog mechanisms 2 are fixedly connected with the telescopic adjusting mechanism.

[0056] The telescopic adjusting mechanism can be applied to cleaning photovoltaic panels with different widths, and the group of leapfrog mechanisms 2 are fixedly connected with the telescopic adjusting mechanism, which can move synchronously when the telescopic adjusting mechanism is adjusted, so that the function of passing through the gap is still possessed after adjustment.

[0057] In an optional embodiment, the telescopic adjusting mechanism includes:

[0058] The first motor 7 is installed at the top of the hanging rail type cleaning robot body 1;

[0059] The lead screw 8 is fixedly connected at the output end of the first motor 7, and the top of the lead screw 8 is drivingly connected with the transmission block 9;

[0060] The sliding cover 10 is slidingly installed at the top of the hanging rail type cleaning robot body 1 and is fixedly connected with the transmission block 9;

[0061] The second rotating wheel 11 is provided with a plurality of second rotating wheels, which are uniformly installed on both sides of the sliding cover 10.

[0062] The first motor 7 drives the lead screw 8 to forward and reverse rotation, and the sliding cover 10 is driven to slide through the transmission block 9, and the second rotating wheel 11 can support the advancing of the hanging rail type cleaning robot body 1 when the hanging rail type cleaning robot body 1 works.

[0063] In an optional embodiment, the inner walls on both sides of the sliding cover 10 are fixedly connected with the support plates 12.

[0064] The support plates 12 support the hanging rail type cleaning robot body 1 and support the sliding cover 10.

[0065] In an optional embodiment, the outer walls on both sides of the sliding cover 10 are fixedly connected with two rib plates 13, and the connecting rod is connected between the two rib plates 13, and the second rotating wheel 11 is rotationally connected with the connecting rod. Through the setting of the rib plates 13 and the connecting rod, the rotation of the second rotating wheel 11 can be supported.

[0066] In an optional embodiment, the track-mounted cleaning robot body 1 comprises:

[0067] The top plate 101 is fixedly connected with the side plates 108 at both ends of the bottom surface of the top plate 101.

[0068] The electric control box 102 is fixedly connected to one end of the top plate 101, and the inside of the electric control box 102 is installed with the storage battery 103.

[0069] The protective shell 104 is installed on the top of the electric control box 102.

[0070] The storage battery 103 is used for power supply, and the protective shell 104 and the electric control box 102 play a protective role.

[0071] In an optional embodiment, the track-mounted cleaning robot body 1 further comprises:

[0072] Two third motors 105 are symmetrically installed on the top of the top plate 101, and the output end of the third motor 105 is connected with the first rotating shaft 106.

[0073] Two side wheels 107 are fixedly installed at the bottom end of the first rotating shaft 106.

[0074] Two second rotating shafts 109 are rotatably connected between the two side plates 108, the two ends of the second rotating shaft 109 are installed with the wheels 110, and the outer wall of the first rotating shaft 106 and one end of the second rotating shaft 109 are connected with the bevel gears matched with each other.

[0075] The outer wall of the first rotating shaft 106 and one end of the second rotating shaft 109 are connected with the bevel gears matched with each other, so that when the third motor 105 drives the first rotating shaft 106 to rotate, the side wheels 107 and the wheels 110 can be driven to move synchronously, thereby driving the track-mounted cleaning robot body 1 to move stably.

[0076] In an optional embodiment, the track-mounted cleaning robot body 1 further comprises:

[0077] The cleaning roller 111 is rotatably installed between the two side plates 108, and is used for cleaning dust

[0078] The fourth motor 112 is installed on the side wall of the side plate 108, and the output end of the fourth motor 112 is fixedly connected with the cleaning roller 111.

[0079] The fourth motor 112 drives the cleaning roller 111 to clean the dust on the photovoltaic panel.

[0080] A control method of a photovoltaic panel cleaning robot, comprising the following steps:

[0081] Step one, put the device on the inclined photovoltaic panel, one end with the side wheel 107 is located in the higher side, lift the lower end, the control unit control the first motor 7 start, drive the sliding cover 10 moves, so that the second runner 11 moves to the photovoltaic panel;

[0082] Step two, the control unit control the third motor 105 start, drive the device moves, while controlling the fourth motor 112 start, drive the cleaning roller 111 clean dust;

[0083] Step three, when cleaning to the gap, the control unit detects the distance sensor that the distance becomes long, control the electric telescopic rod 6 positive rotation rod 4, and at the same time start the electric wheel 5, after the electric wheel 5 contact to the photovoltaic panel drive travel;

[0084] Step four, after passing through the gap, the control unit detects the distance sensor that the distance becomes short, control the electric telescopic rod 6 reverse rotation rod 4, and at the same time close the electric wheel 5.

[0085] In an optional embodiment, the control unit brings the distance L detected by the distance sensor into the formula L-l≥m, when L-l≥m is true, control the electric telescopic rod 6 positive rotation rod 4, when L-l≥m is not true, control the electric telescopic rod 6 reverse rotation rod 4;

[0086] Wherein: m is a constant, l is the initial distance when the hanging rail type cleaning robot body 1 is placed on the photovoltaic panel.

[0087] In this embodiment, as shown in Figures 1-6 The working process of the photovoltaic panel cleaning robot provided in this embodiment is as follows:

[0088] Step one, put the device on the inclined photovoltaic panel, one end with the side wheel 107 is located in the higher side, lift the lower end, the control unit control the first motor 7 start, drive the sliding cover 10 moves, so that the second runner 11 moves to the photovoltaic panel;

[0089] Step two, the control unit control the third motor 105 start, drive the device moves, while controlling the fourth motor 112 start, drive the cleaning roller 111 clean dust;

[0090] Step three, when cleaning to the gap, the control unit detects the distance sensor that the distance becomes long, control the electric telescopic rod 6 positive rotation rod 4, and at the same time start the electric wheel 5, after the electric wheel 5 contact to the photovoltaic panel drive travel;

[0091] Step four, after passing through the gap, the control unit detects the distance sensor that the distance becomes short, control the electric telescopic rod 6 reverse rotation rod 4, and at the same time close the electric wheel 5.

[0092] The above merely illustrates the further embodiments of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can make equivalent replacements or changes according to the technical solutions and concepts of the present application within the disclosed scope, which shall all fall into the protection scope of the present application.

Claims

1. A photovoltaic panel cleaning robot comprising a suspended rail cleaning robot body (1), characterized in that, It also includes two groups of leap mechanism (2) installed at both ends of the hanging rail type cleaning robot body (1) respectively, the leap mechanism (2) includes: Crossbar (3), fixedly installed on the top of the leap mechanism (2); Two rotating rods (4) are rotatably installed at both ends of the crossbar (3) respectively, and the bottom end of the rotating rod (4) is rotatably installed with an electric wheel (5); Two electric telescopic rods (6) are rotatably installed between the rotating rod (4) and the crossbar (3) respectively; Distance sensor, installed on the hanging rail type cleaning robot body (1) for detecting distance; The control unit controls the electric telescopic rod (6) to drive the rotating rod (4) to rotate forward and reverse, so as to support the hanging rail type cleaning robot body (1) to travel at the gap, and restore normal work after leaving the gap.

2. A photovoltaic panel cleaning robot according to claim 1, characterized in that, It also includes a telescopic adjusting mechanism, one group of the leap mechanism (2) is fixedly connected with the telescopic adjusting mechanism.

3. A photovoltaic panel cleaning robot according to claim 2, characterized in that, The telescopic adjusting mechanism includes: First motor (7), installed on the top of the hanging rail type cleaning robot body (1); Lead screw (8), fixedly connected at the output end of the first motor (7), the top of the lead screw (8) is drivingly connected with a transmission block (9); Sliding cover (10), slidingly installed on the top of the hanging rail type cleaning robot body (1), and fixedly connected with the transmission block (9); Second rotating wheel (11), provided with a plurality of, uniformly installed on both sides of the sliding cover (10).

4. A photovoltaic panel cleaning robot according to claim 3, characterized in that, The inner wall of both sides of the sliding cover (10) is fixedly connected with a support plate (12).

5. A photovoltaic panel cleaning robot according to claim 4, characterized in that, The outer wall of both sides of the sliding cover (10) is fixedly connected with two rib plates (13), and the connecting rod is connected between the two rib plates (13), and the second rotating wheel (11) is rotatably connected with the connecting rod.

6. The photovoltaic panel cleaning robot according to claim 1, characterized in that, The hanging rail type cleaning robot body (1) includes: Top plate (101), the bottom surface of the top plate (101) is fixedly connected with a side plate (108) at both ends; Electric control box (102), fixedly connected at one end of the top plate (101), the inner side of which is provided with a storage battery (103); Protective shell (104), installed on the top of the electric control box (102).

7. A photovoltaic panel cleaning robot according to claim 6, characterized in that, The hanging rail type cleaning robot body (1) further includes: Two third motors (105), symmetrically installed on the top of the top plate (101), the output end of the third motor (105) is connected with a first rotating shaft (106); Two side wheels (107), fixedly installed at the bottom end of the first rotating shaft (106); Two second rotating shafts (109) are rotatably connected between the two side plates (108), and the two ends of the second rotating shaft (109) are provided with wheels (110), and the outer wall of the first rotating shaft (106) and one end of the second rotating shaft (109) are connected with the bevel gears matched with each other.

8. A photovoltaic panel cleaning robot according to claim 7, characterized in that, The hanging rail type cleaning robot body (1) further includes: Cleaning roller (111), rotatably installed between the two side plates (108), used for cleaning dust Fourth motor (112), installed on the side wall of the side plate (108), and the output end thereof is fixedly connected with the cleaning roller (111).

9. A control method of a photovoltaic panel cleaning robot, suitable for a photovoltaic panel cleaning robot according to any one of claims 1 to 8, characterized in that, The method includes the following steps: Step one, put the device on the inclined photovoltaic panel, with one end of the edge wheel (107) on the higher side, lift the lower end, the control unit controls the first motor (7) to start, drive the sliding cover (10) to move, so that the second rotating wheel (11) moves to the photovoltaic panel; Step two, the control unit controls the third motor (105) to start, drives the device to move, at the same time controls the fourth motor (112) to start, drives the cleaning roller (111) to clean the dust; Step three, when cleaning to the gap, the control unit detects that the distance becomes longer through the distance sensor, controls the electric telescopic rod (6) to rotate the rotating rod (4) in the positive direction, and at the same time starts the electric wheel (5), which drives the travel after the electric wheel (5) contacts the photovoltaic panel; Step four, after passing through the gap, the control unit detects that the distance becomes shorter through the distance sensor, controls the electric telescopic rod (6) to rotate the rotating rod (4) in the reverse direction, and at the same time closes the electric wheel (5).

10. The control method of a photovoltaic panel cleaning robot according to claim 9, characterized in that, The control unit brings the distance L detected by the distance sensor into the formula L-l≥m, when L-l≥m is established, the electric telescopic rod (6) is controlled to rotate the rotating rod (4) in the positive direction, and when L-l≥m is not established, the electric telescopic rod (6) is controlled to rotate the rotating rod (4) in the reverse direction; Wherein: m is a constant, and l is the initial distance when the hanging rail type cleaning robot body (1) is placed on the photovoltaic panel.

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