Control method of photovoltaic snow sweeping robot and photovoltaic snow sweeping robot

Abstract

The invention discloses a control method of a photovoltaic snow sweeping robot and the photovoltaic snow sweeping robot, and relates to the technical field of photovoltaic.The control method comprises the steps that operation state parameters are obtained, and accumulated snow is removed; wherein the operation state parameters comprise at least one of a pressure value of a snow cleaning assembly arranged on the photovoltaic snow cleaning robot during operation and position change information of the photovoltaic snow cleaning robot; in the accumulated snow removing step, when the operation state parameter meets a first preset condition, the snow removing assembly can execute a preset snow shaking action; and when the running state parameter meets a second preset condition, the photovoltaic snow sweeping robot executes a preset impact snow pushing action. Under the working conditions of heavy snow and thick snow, different snow removal modes can be switched by obtaining the operation state parameters of the photovoltaic snow sweeping robot, and the snow removal efficiency and reliability of the photovoltaic snow sweeping robot are remarkably improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and more specifically, to a control method for a photovoltaic snow removal robot and the photovoltaic snow removal robot itself. Background Technology

[0002] In photovoltaic power plants in cold regions, winter snowfall accumulates on the surface of photovoltaic modules, directly obstructing sunlight and causing a significant drop in power generation efficiency, or even a complete halt to power generation in severe cases. Furthermore, the heavy snow accumulation creates a massive snow load, potentially causing irreversible physical damage to the glass covers, frames, and support structures of the photovoltaic modules, and even triggering the collapse of the entire photovoltaic array, resulting in substantial economic losses and safety hazards. Relying solely on roller brushes is insufficient for effectively clearing heavy snow.

[0003] In related technologies, by fixing a scraper to one side of the photovoltaic robot, the snow is pushed forward during the cleaning process, thereby reducing the pressure of the roller brush. However, this will cause the snow to accumulate during the forward pushing process, hindering the photovoltaic robot's progress and thus affecting the overall cleaning action. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a control method for a photovoltaic snow sweeping robot, so as to improve the snow removal efficiency and reliability of the photovoltaic snow sweeping robot when facing heavy snow or thick snow accumulation.

[0005] Another objective of this application is to provide a photovoltaic snow-sweeping robot.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A control method for a photovoltaic snow-sweeping robot includes:

[0008] The operating status parameters are obtained, including at least one of the pressure value of the snow removal component set on the photovoltaic snow removal robot during operation and the position change information of the photovoltaic snow removal robot;

[0009] When the operating status parameters meet the first preset condition, the snow removal component performs a preset snow shaking action; when the operating status parameters meet the second preset condition, the photovoltaic snow removal robot performs a preset impact snow pushing action, pushing the snow away through the snow removal component.

[0010] Optionally, in the above control method, in the step of clearing snow, when the operating state parameters meet the first preset condition, the snow removal component performs the snow shaking action; when the operating state parameters meet the second preset condition, the photovoltaic snow sweeping robot performs the impact snow pushing action.

[0011] Optionally, in the above control method, the first preset condition is that the displacement value of the photovoltaic snow sweeping robot within a preset time is less than a first displacement threshold, and the pressure value of the snow removal component during operation is greater than the first threshold.

[0012] Optionally, in the above control method, the second preset condition is that the pressure value of the snow removal component during operation is greater than a second threshold, and the second threshold is greater than the first threshold.

[0013] Optionally, in the above control method, the snow-shaking action is the snow-clearing component performing multiple reciprocating lifting or flipping actions.

[0014] Optionally, in the above control method, the impact snow-pushing action is the photovoltaic snow-sweeping robot performing multiple back-and-forth reciprocating movements, or the impact snow-pushing action includes:

[0015] The photovoltaic snow-sweeping robot moves backward a preset distance.

[0016] The photovoltaic snow-sweeping robot accelerates forward as it sprints forward.

[0017] Optionally, in the above control method, when the operating state parameters meet the second preset condition, during the process of the photovoltaic snow sweeping robot performing the preset impact snow pushing action, the snow removal component performs the preset snow shaking action.

[0018] Optionally, in the above control method, the snow removal further includes:

[0019] When the operating status parameters meet the third preset condition, the snow thickness is obtained, and the height layering adjustment threshold of the snow removal component is obtained based on the maximum snow removal thickness of the snow removal component in the historical snow removal data. A mapping relationship between the snow thickness and the height layering adjustment threshold is established, and the snow is processed in layers. During the snow removal component's layering process, the snow removal component cleans the snow layer by layer from top to bottom based on the height layering adjustment threshold.

[0020] Optionally, in the above control method, when the operating state parameters meet the third preset condition, the photovoltaic snow sweeping robot prioritizes the layering of snow.

[0021] Optionally, in the above control method, the third preset condition includes at least one of the following:

[0022] The pressure value experienced by the snow removal component during operation is greater than the third threshold.

[0023] The displacement value of the photovoltaic snow sweeping robot is less than the second displacement threshold within a preset time.

[0024] Optionally, the above control method further includes:

[0025] The location information is obtained, and the relative positional relationship between the photovoltaic snow sweeping robot and the bridge between the photovoltaic array is obtained in real time through the positioning component;

[0026] When the distance between the photovoltaic snow-sweeping robot and the bridge between the photovoltaic array meets a preset distance threshold, the snow-clearing component is raised to a non-working state and passes through the bridge.

[0027] A photovoltaic snow-sweeping robot includes:

[0028] The robot itself;

[0029] A walking assembly is disposed at both ends of the robot body, and the walking assembly is capable of driving the robot body to move on the photovoltaic module;

[0030] A snow removal component is mounted on the robot body and is capable of removing snow from the photovoltaic module.

[0031] A power unit is mounted on the robot body and is capable of driving the snow removal component to perform lifting and / or flipping actions.

[0032] A pressure detection element is disposed on the snow removal assembly, and the pressure detection element is used to detect the pressure value of the snow applied to the snow removal assembly.

[0033] Optionally, in the above-mentioned photovoltaic snow removal robot, the snow removal component includes a mounting beam and at least one scraper assembly, the scraper assembly is mounted on the mounting beam, and the mounting beam is connected to the power component.

[0034] Optionally, in the above-mentioned photovoltaic snow sweeping robot, at least two scraper assemblies are provided along the axial direction of the mounting beam, and two adjacent scraper assemblies can rotate about opposite ends.

[0035] Optionally, in the above-mentioned photovoltaic snow sweeping robot, the walking component includes a walking track assembly, walking wheels, limiting wheels, and a walking drive component. The walking drive component can drive the walking track assembly and the walking wheels to rotate respectively. The walking wheels and the walking track assembly can move on the surface of the photovoltaic module, and the limiting wheels can be close to the frame of the photovoltaic module.

[0036] Optionally, in the above-mentioned photovoltaic snow sweeping robot, the walking track assembly includes a track drive wheel, a track driven wheel, a track, and a tensioning mechanism. The track is respectively wound around the track drive wheel and the track driven wheel, and there are two limiting wheels. The two limiting wheels are respectively connected to the walking wheel and the track drive wheel through right-angle transmission components. The output shaft of the walking drive component is connected to the input shaft of the two right-angle transmission components through a transmission belt. The tensioning mechanism can drive the track driven wheel to move in a direction away from or close to the track drive wheel.

[0037] Optionally, in the above-mentioned photovoltaic snow sweeping robot, the walking track assembly further includes a mounting base and a connector. The mounting base has a first mounting part and a second mounting part. The track drive wheel is mounted on the first mounting part through the right-angle transmission member. The track driven wheel is connected to the connector in a transmission connection. The connector is mounted on the first mounting part. One of the connector and the first mounting part is provided with a horizontal adjustment hole, and the other is provided with a fixing hole that cooperates with the horizontal adjustment hole.

[0038] The tensioning mechanism includes an adjusting screw that can pass through the second mounting portion, and one end of the adjusting screw is connected to the connector.

[0039] The control method for the photovoltaic snow-sweeping robot provided in this application acquires at least one operational state parameter from the pressure value of the snow-clearing component of the photovoltaic snow-sweeping robot during operation and the position change information of the photovoltaic snow-sweeping robot. When the operational state parameter meets a first preset condition, the snow-clearing component can perform a preset snow-shaking action to loosen the snow, thereby facilitating its removal. When the operational state parameter meets a second preset condition, the photovoltaic snow-sweeping robot can also perform a preset impact snow-pushing action to push the snow through the snow-clearing component. As can be seen from the above example, the control method for the photovoltaic snow-sweeping robot provided in this application, by acquiring the operational state parameters of the photovoltaic snow-sweeping robot, can switch between different snow removal modes, avoiding blindly increasing the thrust and reducing the load of a single push. At the same time, different snow removal methods can be switched for snow of different thicknesses, effectively solving the problem that traditional robots are easily stuck and their operations are interrupted in heavy snow or thick snow conditions, significantly improving the snow removal efficiency and reliability of the photovoltaic snow-sweeping robot.

[0040] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 This is an isometric view of the photovoltaic snow-sweeping robot provided in Embodiment 1 of this application;

[0043] Figure 2 This is a front view of the photovoltaic snow-sweeping robot provided in Embodiment 1 of this application;

[0044] Figure 3 This is a side view of the photovoltaic snow-sweeping robot provided in Embodiment 1 of this application;

[0045] Figure 4 This is a top view of the photovoltaic snow-sweeping robot provided in Embodiment 1 of this application;

[0046] Figure 5 This is an isometric view of the photovoltaic snow-sweeping robot provided in Embodiment 2 of this application;

[0047] Figure 6 This is a schematic diagram of the first state of the photovoltaic snow-sweeping robot provided in the embodiments of this application;

[0048] Figure 7 This is a schematic diagram of the second state of the photovoltaic snow-sweeping robot provided in the embodiments of this application;

[0049] Figure 8 This is a schematic diagram of the scraper provided in Embodiment 1 of this application;

[0050] Figure 9 This is a schematic diagram of the scraper provided in Embodiment 2 of this application;

[0051] Figure 10 This is a schematic diagram of the structure of the connector provided in an embodiment of this application;

[0052] Figure 11 A schematic diagram of the structure of the walking track assembly provided in the embodiments of this application. Figure 1 ;

[0053] Figure 12 A schematic diagram of the structure of the walking track assembly provided in the embodiments of this application. Figure 2 ;

[0054] Figure 13 An exploded view of the walking track assembly provided in an embodiment of this application;

[0055] Figure 14 A front view of the walking track assembly provided in an embodiment of this application;

[0056] Figure 15 Provided for the embodiments of this application Figure 14 AA section view in the middle;

[0057] Figure 16 This is a schematic diagram of the structure of the connector provided in the embodiments of this application;

[0058] Figure 17 This is a schematic diagram of the structure of the mounting base provided in the embodiments of this application;

[0059] Figure 18 This is a schematic diagram of the structure of the adjusting screw provided in an embodiment of this application;

[0060] Figure 19 An isometric view of a right-angle transmission component provided in an embodiment of this application;

[0061] Figure 20 A front view of a right-angle transmission component provided in an embodiment of this application;

[0062] Figure 21 Provided for the embodiments of this application Figure 20 BB cross-section diagram.

[0063] Among them, 100 is the photovoltaic snow sweeping robot, 10 is the robot body, 11 is the main beam, 12 is the back plate, 13 is the protective cover, 20 is the walking assembly, 21 is the walking track assembly, 211 is the track drive wheel, 212 is the track driven wheel, 213 is the track, 214 is the tensioning mechanism, 2141 is the adjusting screw, 2141a is the hook part, 2141b is the notch, 215 is the mounting base, and 2151 is the first mounting... Part 2152 is the second mounting part, 216 is the connector, 2161 is the locking hole, 2162 is the fixing seat, 2163 is the driven rotating shaft, 2164 is the limiting plate, 217 is the horizontal adjustment hole, 218 is the fixing hole, 219 is the rotation limiting component, 220 is the reinforcing component, 22 is the traveling wheel, 23 is the limiting wheel, 24 is the traveling drive component, 25 is the right-angle transmission component, 251 is the housing, 252 is the drive shaft, and 253 is the driven... Drive shaft, 254 is a bevel gear, 30 is a snow removal assembly, 31 is a mounting beam, 311 is a pressure detection element, 32 is a scraper assembly, 321 is a scraper, 3211 is a snow-shoveling part, 3211a is a toothed structure, 3212 is a connecting part, 3213 is a snow-shoveling area, 3214 is a limiting area, 3215 is a cutting line, 322 is a pressure plate, 3221 is a vertical adjustment hole, 3222 is an arc-shaped reinforcing hole, 40 is a power unit. Components: 41 is the connecting component, 411 is the connecting seat, 4111 is the clearance space, 4112 is the pivot hole, 4113 is the fan-shaped reinforcing hole, 4114 is the reinforcing part, 4115 is the multi-row hole, 4116 is the connecting plate, 412 is the flipping part, 42 is the snow removal drive part, 50 is the roller brush component, 60 is the self-charging photovoltaic module, 70 is the electronic control component, 200 is the photovoltaic module, 201 is the glass plate, and 202 is the frame. Detailed Implementation

[0064] The core of this application is to provide a control method for a photovoltaic snow removal robot, which can improve the snow removal efficiency and reliability of the photovoltaic snow removal robot when facing heavy snow or thick snow accumulation.

[0065] Another core aspect of this application is to provide a photovoltaic snow-sweeping robot.

[0066] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0067] In the operation of photovoltaic power plants in cold regions, winter snowfall is an unavoidable natural phenomenon. The snow load generated by the accumulation of snow on photovoltaic modules can have multi-dimensional negative impacts on the photovoltaic system. Therefore, timely snow removal is a key aspect of ensuring the stable operation of the power plant. When clearing heavy snow, relying solely on roller brushes is insufficient for effective cleaning.

[0068] In related technologies, by fixing a scraper to one side of the photovoltaic robot, the snow is pushed forward during the cleaning process, thereby reducing the pressure of the roller brush. However, this will cause the snow to accumulate during the forward pushing process, hindering the photovoltaic robot's progress and thus affecting the overall cleaning action.

[0069] Therefore, this application discloses a control method for a photovoltaic snow-sweeping robot 100, including steps of acquiring operating status parameters and clearing snow. By acquiring the operating status parameters of the photovoltaic snow-sweeping robot 100, different snow removal modes can be switched, avoiding blindly increasing thrust and reducing the load of a single push. Simultaneously, different snow removal methods can be switched for snow of varying thicknesses, effectively solving the problem of traditional robots easily getting stuck and interrupting operations in heavy snow or thick snow conditions, significantly improving the snow removal efficiency and reliability of the photovoltaic snow-sweeping robot 100.

[0070] The control method of the photovoltaic snow sweeping robot 100 disclosed in the embodiments of this application will be explained and described in detail below.

[0071] When snow accumulates on the surface of the photovoltaic module 200, the photovoltaic snow removal robot 100 can choose to activate either a snow removal mode or a dust removal mode depending on whether the snow thickness exceeds a preset snow thickness value. That is, if the snow thickness exceeds the preset value, the snow removal mode can be activated to perform snow removal operations. The snow removal component 30 of the photovoltaic snow removal robot 100 will then push the snow off the surface of the photovoltaic module 200. Figure 6 As shown; if the snow thickness is not greater than the preset snow thickness value, the dust removal mode can be activated, and the roller brush component 50 of the photovoltaic snow removal robot 100 can remove the loose snow on the surface of the photovoltaic module 200, such as... Figure 7 As shown. It should be noted that the above actions can be triggered by remote commands from the operator, or automatically triggered by the controller installed on the photovoltaic snow removal robot 100 after receiving a snowfall signal through the weather station interface. That is, when the controller receives the snowfall thickness value from the weather station, it can compare and analyze it with the preset snow accumulation thickness value, thereby automatically switching between snow removal mode and dust removal mode to carry out snow removal operations on the photovoltaic modules 200.

[0072] like Figure 6As shown, if the snow thickness exceeds a preset snow thickness value, the photovoltaic snow removal robot 100 activates its snow removal mode. The photovoltaic snow removal robot 100 can advance along a predetermined path of the photovoltaic array to push the snow away from the surface of the photovoltaic module 200 via the snow removal component 30, i.e., normal snow removal mode. Simultaneously, the controller acquires the operating status parameters of the photovoltaic snow removal robot 100 in real time. These operating status parameters may include at least one of the pressure value exerted on the snow removal component 30 during operation and the position change information of the photovoltaic snow removal robot 100, i.e., the displacement value of the photovoltaic snow removal robot 100 within a preset time. That is, the operating status parameters can be either one of the pressure value exerted on the snow removal component 30 during operation and the position change information of the photovoltaic snow removal robot 100 within a preset time, or a combination of both. Then, based on the operating status parameters, the snow removal component 30 can execute a preset snow-shaking action, or the photovoltaic snow removal robot 100 can execute an impact-pushing snow action to remove the accumulated snow. During the snow-shaking action, the snow removal component 30 performs multiple reciprocating lifting or flipping actions to loosen the snow, making it easier to remove. During the impact-pushing snow action, the photovoltaic snow removal robot 100 can apply an impact force to the snow, thereby pushing the snow away through the snow removal component 30. It should be noted that the pressure value experienced by the snow removal component 30 during operation can be monitored in real time by a pressure sensor. Simultaneously, the real-time location information of the photovoltaic snow removal robot 100 can be obtained through a global positioning system module.

[0073] Of course, the photovoltaic snow removal robot 100 can also compare the output torque of the drive motor that drives the photovoltaic snow removal robot 100 to the actual walking torque of the photovoltaic snow removal robot 100 to adopt different snow removal actions. When the output torque of the drive motor that drives the photovoltaic snow removal robot 100 is greater than the actual walking torque of the photovoltaic snow removal robot 100 and lasts for a certain period of time, such as 5 seconds, the snow on the surface of the photovoltaic module 200 can be removed by the snow removal component 30; when the output torque of the drive motor that drives the photovoltaic snow removal robot 100 is greater than the actual walking torque of the photovoltaic snow removal robot 100, but lasts for a short period of time, such as 1 second, or the output torque of the drive motor that drives the photovoltaic snow removal robot 100 is equal to the actual walking torque of the photovoltaic snow removal robot 100, the loose snow on the surface of the photovoltaic module 200 can be removed by the roller brush component 50 of the photovoltaic snow removal robot 100.

[0074] In some embodiments, when the operating state parameters meet a first preset condition, the snow removal component 30 performs the snow-shaking action; when the operating state parameters meet a second preset condition, the photovoltaic snow removal robot 100 can perform an impact snow-pushing action. Specifically, when the operating state parameters meet the first preset condition, that is, when the actual displacement value of the photovoltaic snow removal robot 100 within a preset time (e.g., 5 seconds) is less than a first displacement threshold (e.g., 0.1 meters), and the pressure value experienced by the snow removal component 30 during operation is greater than the first threshold (e.g., 50 Newtons) for a period of time (e.g., 2 seconds), this indicates that although the photovoltaic snow removal robot 100 is attempting to move forward, it is almost in a state of slipping or getting stuck. At this time, the controller of the photovoltaic snow removal robot 100 recognizes that it is obstructed by snow accumulation, and thus performs the preset snow-shaking action. During the snow-shaking action, the snow removal component 30 can perform multiple... The reciprocating lifting or flipping motions loosen the snow, allowing it to be pushed away from the surface of the photovoltaic module 200 by the snow removal component 30. When the operating parameters meet the second preset condition, i.e., the pressure value of the snow removal component 30 during operation is greater than the second threshold (e.g., 80 Newtons) for a period of time (e.g., 2 seconds), and the second threshold is greater than the first threshold, the controller of the photovoltaic snow removal robot 100 recognizes that it is obstructed by severe snow accumulation, such as very thick, compacted wet snow or a mixture of ice and snow, and executes the preset impact snow pushing action to scatter the snow or push it away from the surface of the photovoltaic module 200.

[0075] In some embodiments, the impact snow-pushing action can be achieved by the photovoltaic snow-sweeping robot 100 performing multiple back-and-forth movements to repeatedly impact the snow through the snow-clearing component 30, thereby achieving the effect of scattering the snow. Of course, the impact snow-pushing action can also be achieved by the photovoltaic snow-sweeping robot 100 first moving backward a preset distance (e.g., 1 meter) or for a preset time (e.g., 3 seconds), and then the photovoltaic snow-sweeping robot 100 accelerating forward to push the snow away from the surface of the photovoltaic component 200 through the inertia brought about by the acceleration.

[0076] In some embodiments, when the operating state parameters meet the second preset condition, during the process of the photovoltaic snow sweeping robot 100 performing the preset impact snow pushing action, the snow removal component 30 can perform the preset snow shaking action. That is, when the snow removal component 30 is embedded in the snow, the snow shaking action can be triggered. At this time, the snow removal component 30 can perform multiple reciprocating lifting or flipping actions to make the snow looser, so that the snow removal component 30 can push the snow away from the surface of the photovoltaic module 200.

[0077] The control method for the photovoltaic snow-sweeping robot 100 disclosed in this application involves acquiring at least one of the following operating state parameters: the pressure value of the snow-clearing component 30 of the photovoltaic snow-sweeping robot 100 during operation, the position change information of the photovoltaic snow-sweeping robot 100, and the current value of the drive motor that drives the photovoltaic snow-sweeping robot 100. If the operating state parameter meets a first preset condition, the snow-clearing component 30 performs a preset snow-shaking action. During the snow-shaking action, the snow-clearing component 30 performs multiple reciprocating lifting or flipping actions to loosen the snow and facilitate its removal. If the operating state parameter meets a second preset condition, the photovoltaic snow-sweeping robot 100 performs a preset impact snow-pushing action to push the snow through the snow-clearing component 30.

[0078] The control method for the photovoltaic snow-sweeping robot 100 disclosed in this application obtains the operating status parameters of the photovoltaic snow-sweeping robot 100, thereby switching between different snow removal modes, avoiding blindly increasing thrust, and reducing the load of a single push. Simultaneously, different snow removal methods can be switched for snow of varying thicknesses, effectively solving the problem of traditional robots easily getting stuck and interrupting operations in heavy snow or thick snow conditions, significantly improving the snow removal efficiency and reliability of the photovoltaic snow-sweeping robot 100.

[0079] In some embodiments, when the operating state parameters meet a third preset condition, i.e., when the operating state parameters meet at least one of the following conditions: the pressure value experienced by the snow removal component 30 during operation is greater than a third threshold (e.g., 100 Newtons) for a period of time (e.g., 2 seconds) and the displacement of the photovoltaic snow removal robot 100 within a preset time (e.g., 5 seconds) is less than a second displacement threshold (e.g., 0.05 meters), the controller can obtain the snow thickness, obtain the height stratification adjustment threshold of the snow removal component 30 based on the maximum snow removal thickness of the snow removal component 30 in historical snow removal data, and establish the snow thickness and height stratification adjustment threshold. The snow is layered based on a mapping relationship. During the snow removal component 30's layering process, the component can adjust the height layering threshold to clean the snow layer by layer from top to bottom. For example, if the maximum snow removal thickness of the snow removal component 30 is 8cm, then the height layering threshold is 8cm. If the thickness of the snow to be removed is 12cm, the snow can be divided into two equal layers of 6cm each, and the thickness of each layer after layering is no greater than 8cm. This reduces the number of layers required for snow removal, thereby reducing the number of times the snow is cleaned layer by layer and lowering the energy consumption of the photovoltaic snow removal robot 100. It should be noted that the third threshold can be greater than the second threshold, and the second displacement threshold can be less than the first displacement threshold.

[0080] In some embodiments, during the process of performing graded snow removal, the snow removal component 30 can first raise a first preset value and push the first layer of snow, i.e., the top layer of snow, and then the photovoltaic snow removal robot 100 returns and lowers the snow removal component 30 by the first preset value and pushes the second layer of snow, i.e., the bottom layer of snow, thereby pushing all the snow away from the photovoltaic component 200.

[0081] In some embodiments, when the pressure value of the snow removal component 30 during operation is greater than a third threshold and / or the displacement value of the photovoltaic snow removal robot 100 within a preset time is less than a second displacement threshold, the snow removal component 30 can raise the second preset value and push the first layer of snow, i.e., the top layer of snow. Then, the snow removal component 30 sequentially lowers the third preset value and the fourth preset value and respectively pushes the second layer of snow, i.e., the middle layer of snow, and the third layer of snow, i.e., the bottom layer of snow. That is, when the snow thickness is relatively thick, the snow layer can also be divided into three layers for graded pushing. After the snow removal component 30 raises the second preset value and pushes the first layer of snow forward, the photovoltaic snow removal robot 100 returns and lowers the snow removal component 30 by the third preset value to push the second layer of snow. Then, the photovoltaic snow removal robot 100 returns and lowers the snow removal component 30 by the fourth preset value to push the third layer of snow, thereby pushing all the snow away from the photovoltaic module 200. It should be noted that the second preset value can be greater than the first preset value.

[0082] In some embodiments, the photovoltaic snow removal robot 100 can directly raise the snow removal component 30 to a second preset value and push the first layer of snow according to the thickness of the snow. Then, the snow removal component 30 is lowered to a third preset value and a fourth preset value, respectively, and the second and third layers of snow are pushed. Of course, the photovoltaic snow removal robot 100 can also raise the snow removal component 30 to a fifth preset value and push the upper layer of snow. If the pressure value of the snow removal component 30 during operation is still greater than the third threshold and / or the displacement value of the photovoltaic snow removal robot 100 within a preset time is still less than the second displacement threshold, then the lifting distance is changed, and the snow removal component 30 is raised to a sixth preset value, thereby dividing the snow layer into three layers for graded pushing. After raising the sixth preset value, the top layer of snow is pushed forward, then the robot returns to push the middle layer of snow, and then the robot returns to push the bottom layer of snow.

[0083] It should be noted that, in the above embodiments, the lifting and lowering distances of the snow removal component 30 can be determined according to the actual working load of the photovoltaic snow removal robot 100, and the maximum lifting height of the snow removal component 30 must be less than the total thickness of each layer of snow.

[0084] In the above embodiments, when the operating status parameters meet the third preset condition, the snow removal component 30 can preferentially execute the preset graded snow removal action, that is, the photovoltaic snow removal robot 100 can only remove the snow by using a layered processing method.

[0085] In some embodiments, when the operating state parameters meet the third preset condition, the photovoltaic snow-sweeping robot 100 can first execute a preset impact snow-pushing action. When the snow-clearing component 30 penetrates the snow, it can trigger a snow-shaking action. At this time, the snow-clearing component 30 can perform multiple reciprocating lifting or flipping actions to loosen the snow further. Then, the snow-clearing component 30 can execute a preset graded snow-clearing action to push all the snow away from the photovoltaic module 200. Alternatively, the photovoltaic snow-sweeping robot 100 can first execute a preset snow-shaking action to loosen the snow further, and then the snow-clearing component 30 can execute a preset graded snow-clearing action to push all the snow away from the photovoltaic module 200.

[0086] In some embodiments, since a bridge is typically provided in the photovoltaic array to connect photovoltaic modules 200 at different locations, and the bridge may have combined working conditions such as height differences, misalignment, and deviation angles, there is a risk of abnormal jamming when the photovoltaic snow removal robot 100 passes through this scenario. Therefore, the control method may further include the steps of acquiring position information and passing through the bridge. In the step of acquiring position information, the photovoltaic snow removal robot 100 can obtain the relative positional relationship between itself and the bridge between the photovoltaic array in real time through a positioning component to prevent the snow removal component 30 from colliding with the bridge or jamming. When the distance between the photovoltaic snow removal robot 100 and the bridge between the photovoltaic array meets a preset distance threshold, the snow removal component 30 of the photovoltaic snow removal robot 100 can be raised to a non-working state, thereby safely passing through the bridge. It should be noted that the preset distance threshold can be a threshold greater than 0, that is, ensuring that the photovoltaic snow removal robot 100 raises the snow removal component 30 to a non-working state before reaching the bridge. In the non-working state, there is a preset height between the snow removal component 30 and the photovoltaic module 200, so that the snow removal component 30 is far away from the glass plate 201 of the photovoltaic module 200. The preset height can be determined according to the actual working conditions of the cable tray.

[0087] In some embodiments, the positioning component may employ a Global Positioning System (GPS) module to acquire the location information of the photovoltaic snow-sweeping robot 100, thereby raising the snow-clearing component 30 to a non-operating state before reaching the bridge. Alternatively, the positioning component may employ an RFID (Radio Frequency Identification) reader (a device that automatically identifies target objects and acquires data via radio waves) mounted on the photovoltaic snow-sweeping robot 100 in conjunction with a tag located on the bridge, thereby acquiring the arrival information of the photovoltaic snow-sweeping robot 100, enabling the photovoltaic snow-sweeping robot 100 to raise the snow-clearing component 30 to a non-operating state before reaching the bridge. Of course, the positioning component may also employ sensors such as proximity switches, ultrasonic sensors, and photoelectric switches, in conjunction with induction baffles or other similar triggers located near the bridge, to achieve location information identification of the bridge.

[0088] like Figure 1 As shown in the illustration, this application also discloses a photovoltaic snow removal robot 100, which may include a robot body 10, a walking component 20, a snow removal component 30, a power component 40, and a pressure detection element 311. The power component 40 drives the snow removal component 30 to perform lifting and / or flipping actions, enabling it to loosen the snow in the face of heavy snow or thick snow accumulation. This allows the snow removal component 30 to push the snow away from the surface of the photovoltaic component 200, thereby improving the snow removal efficiency and reliability of the photovoltaic snow removal robot 100. Simultaneously, the pressure detection element 311 on the snow removal component 30 can detect the pressure value applied by the snow, allowing the snow removal component 30 to perform corresponding snow removal actions based on the pressure value. This allows for switching between different snow removal methods for different snow thicknesses, effectively solving the problem of traditional robots easily getting stuck and interrupting operations in heavy or thick snow conditions, significantly improving the snow removal efficiency and reliability of the photovoltaic snow removal robot 100.

[0089] The following will combine Figures 1 to 21 The photovoltaic snow-sweeping robot 100 disclosed in the embodiments of this application will be explained and described in detail.

[0090] Among them, such as Figure 1 , Figure 2 and Figure 4 As shown, the robot body 10 serves as the load-bearing platform for the photovoltaic snow-sweeping robot 100 and may include a main beam 11, which may be made of a hollow steel tube with a rectangular cross-section. Furthermore, to improve the load-bearing capacity of the main beam 11, multiple stiffening ribs may be welded at intervals into the inner cavity of the main beam 11 to enhance its rigidity.

[0091] like Figure 1 and Figure 2 As shown, a roller brush assembly 50 can be provided below the robot body 10 to clean dust or snow from the surface of the photovoltaic module 200. The roller brush assembly 50 may include a roller brush drive, a roller brush shaft, and a roller brush mounted on the roller brush shaft. The roller brush can contact the surface of the photovoltaic module 200. The roller brush drive can be a drive motor, and the roller brush drive is connected to the roller brush shaft for transmission. Thus, the roller brush drive can drive the roller brush shaft to rotate, thereby driving the roller brush to rotate and cleaning the dust or snow from the surface of the photovoltaic module 200.

[0092] In some embodiments, the two ends of the roller brush shaft of the roller brush assembly 50 can be mounted below the main beam 11 by brackets. The brackets can be fixed brackets or adjustable brackets that can adjust the length, so that the tilt angle of the roller brush shaft can be adjusted by adjusting the brackets. This adjusts the pressure of the roller brush contacting the photovoltaic module 200, preventing damage to the glass plate 201 on the surface of the photovoltaic module 200 due to excessive pressure applied by the roller brush. At the same time, it can avoid cleaning blind spots caused by installation errors of the photovoltaic module 200, ensuring the stability and reliability of the cleaning by the photovoltaic snow sweeping robot 100.

[0093] like Figure 2 As shown, a self-charging photovoltaic module 60 and an electronic control module 70 can be respectively installed above the robot body 10, i.e. above the main beam 11. The self-charging photovoltaic module 60 provides a power source for the photovoltaic snow sweeping robot 100 to perform walking, snow sweeping, and dust sweeping actions. At the same time, the electronic control module 70 can be equipped with a controller that can control the photovoltaic snow sweeping robot 100 to perform walking, snow sweeping, and dust sweeping actions, so that the photovoltaic snow sweeping robot 100 can sweep away dust and snow on the surface of the photovoltaic module 200.

[0094] like Figures 1 to 4 As shown, the walking components 20 can be respectively set at both ends of the robot body 10, so that the robot body 10 can be driven by the walking components 20 to move on the photovoltaic components 200, so that the photovoltaic snow sweeping robot 100 can sweep each photovoltaic component 200 on the photovoltaic array.

[0095] In some embodiments, such as Figure 1 and Figure 4 As shown, to enhance the grip and stability of the photovoltaic snow-sweeping robot 100 on wet ski slopes or icy photovoltaic module 200 surfaces, the walking assembly 20 may include a walking track assembly 21, walking wheels 22, limit wheels 23, and a walking drive component 24. Among them, as... Figure 6 As shown, the walking track assembly 21 provides the main driving force and adhesion to effectively prevent the photovoltaic snow-sweeping robot 100 from slipping, while the walking wheels 22 provide auxiliary support, steering, or efficient movement on flat surfaces. The walking drive component 24 drives the walking track assembly 21 and the walking wheels 22 to rotate, allowing them to move on the surface of the photovoltaic module 200. Simultaneously, the limiting wheel 23 keeps the robot in close contact with the frame 202 of the photovoltaic module 200 to prevent the photovoltaic snow-sweeping robot 100 from detaching from the photovoltaic module 200 and falling. It should be noted that the walking drive component 24 can be a drive motor or other similar drive components.

[0096] In some embodiments, such as Figures 11 to 15As shown, the track assembly 21 may include a track drive wheel 211, a track driven wheel 212, a track 213, and a tensioning mechanism 214. The track 213 may be wound around the track drive wheel 211 and the track driven wheel 212 respectively. Figure 1 and Figure 11 As shown, two limit wheels 23 can be used, and the two limit wheels 23 can be respectively connected to the traveling wheel 22 and the track drive wheel 211 through right-angle transmission members 25. Simultaneously, the output shaft of the traveling drive member 24 can be respectively connected to the input shaft of the two right-angle transmission members 25 through transmission belts. Furthermore, as... Figure 11 As shown, the tensioning mechanism 214 can drive the track driven wheel 212 to move away from or towards the track drive wheel 211 to adjust the tension of the track 213, ensuring that the track 213 has a suitable tension, thereby improving the stability of the photovoltaic snow sweeping robot 100.

[0097] In some embodiments, such as Figure 11 As shown, the track assembly 21 may further include a mounting base 215 and a connector 216. Wherein, as Figure 17 As shown, the mounting base 215 may have a first mounting portion 2151 and a second mounting portion 2152, and the first mounting portion 2151 and the second mounting portion 2152 may be arranged perpendicular to each other, and as... Figure 11 As shown, the track drive wheel 211 can be mounted on the first mounting portion 2151 via the right-angle transmission member 25, and the track driven wheel 212 can be connected to the connecting member 216 for transmission, and the connecting member 216 is mounted on the first mounting portion 2151. Furthermore, as... Figure 16 and Figure 17 As shown, one of the connector 216 and the first mounting part 2151 may be provided with a horizontal adjustment hole 217, and the other may be provided with a fixing hole 218 that mates with the horizontal adjustment hole 217, i.e. Figure 16 As shown, multiple horizontal adjustment holes 217 can be provided on the connector 216, and as... Figure 17As shown, the first mounting part 2151 may be provided with a fixing hole 218 that cooperates with the horizontal adjustment hole 217, or the first mounting part 2151 may be provided with multiple horizontal adjustment holes 217, and the connector 216 may be provided with a fixing hole 218 that cooperates with the horizontal adjustment hole 217, so that the installation position of the connector 216 can be horizontally adjusted and locked and fixed by fasteners such as bolts. The tensioning mechanism 214 may include an adjusting screw 2141 that can pass through the second mounting part 2152. One end of the adjusting screw 2141 is connected to the connecting member 216. Locking nuts are respectively provided on both sides of the second mounting part 2152. The locking nuts are threadedly engaged with the adjusting screw 2141. By rotating the locking nuts, one end of the adjusting screw 2141 drives the connecting member 216 to move, thereby driving the track driven wheel 212 to move away from or towards the track drive wheel 211, so as to adjust the tension of the track 213 and ensure that the track 213 has a suitable tension, thereby improving the stability of the photovoltaic snow sweeping robot 100.

[0098] In some embodiments, such as Figure 18 As shown, the end of the adjusting screw 2141 near the connector 216 may be provided with a hook portion 2141a, and as... Figure 12 and Figure 16 As shown, the connector 216 may be provided with a locking hole 2161 that engages with the locking hook 2141a. The locking hook 2141a of the adjusting screw 2141 can be engaged in the locking hole 2161, and by rotating the locking nut, a tensile or thrust force can be applied to the connector 216 in the axial direction of the adjusting screw 2141 to ensure the stability of the tension of the track 213.

[0099] In some embodiments, such as Figure 18 As shown, a notch 2141b is symmetrically provided at the end of the adjusting screw 2141 near the connector 216, and the bottom wall of the notch 2141b is flat to better connect and fix the adjusting screw 2141 to the connector 216. Simultaneously, a hook portion 2141a is formed on the side of the notch 2141b near the connector 216. When connecting the adjusting screw 2141 and the connector 216, the hook portion 2141a can be engaged with the locking hole 2161 on the connector 216, and fasteners such as bolts can be passed through the notch 2141b and fixed to the connector 216. Furthermore, to tighten the bolts and other fasteners, a washer can be placed inside the notch 2141b, and the washer is fitted onto the bolts and other fasteners. The gasket has two opposing sides, and the two sides of the gasket are respectively fitted with the two opposing sides of the recess 2141b, thereby preventing the gasket from rotating synchronously with the bolts and other fasteners, so as to ensure the tightness of the bolts and other fasteners.

[0100] In some embodiments, such as Figures 11 to 13As shown, the track assembly 21 may further include a rotation limiting member 219, which has a U-shaped structure. Specifically, the rotation limiting member 219 consists of two cantilever plates and a cantilever connecting plate connecting the two cantilever plates. Each of the two cantilever plates has symmetrical rectangular openings, allowing them to engage with locking nuts on both sides of the second mounting portion 2152, thus preventing the locking nuts from rotating freely and ensuring the stability of the track tension adjustment. Simultaneously, the cantilever connecting plate can be fixed to the second mounting portion 2152 using bolts or other fasteners. The rotation limiting member 219 can be a one-piece structure or a separate structure formed by welding two cantilever plates and a cantilever connecting plate; this is not limited here.

[0101] In some embodiments, such as Figure 16 As shown, the connector 216 may include a fixed base 2162 and a driven shaft 2163 disposed on the fixed base 2162. Meanwhile, the first mounting portion 2151 of the mounting base 215 may be provided with a rectangular hole that matches the fixed base 2162, so that the driven shaft 2163 of the connector 216 can pass through the rectangular hole and be rotatably connected to the track driven wheel 212. In addition, a limiting plate 2164 can be provided on the fixed base 2162. The limiting plate 2164 can fit with the first mounting part 2151 to prevent the connector 216 from coming out of the rectangular hole. The connector 216 can move along the rectangular hole to adjust the installation position of the connector 216. At the same time, the horizontal adjustment hole 217 and the locking hole 2161 can be opened on the limiting plate 2164 so that the connector 216 and the first mounting part 2151 can be connected and fixed by fasteners such as bolts. The adjusting screw 2141 can be connected to the limiting plate 2164 to realize the connection and fixation between the adjusting screw 2141 and the connector 216.

[0102] In some embodiments, such as Figures 19 to 21 As shown, the right-angle transmission component 25 may include a housing 251, a drive shaft 252, a driven shaft 253, and a bevel gear 254. The drive shaft 252 and the driven shaft 253 may be arranged perpendicularly to each other, and each may be equipped with a bevel gear 254, allowing the drive shaft 252 and the driven shaft 253 to be connected via the bevel gear 254. The bevel gear 254 may be located inside the housing 251, while the drive shaft 252 may extend out of the housing 251. One end of the drive shaft 252 may be connected to a traveling wheel 22 or a track drive wheel 211, and the other end of the drive shaft 252 may be connected to the output shaft of the traveling drive component 24 via a transmission belt. Meanwhile, the driven shaft 253 can pass through the housing 251 and connect to the limiting wheel 23, so that the walking wheel 22, the track drive wheel 211 and the limiting wheel 23 can be driven to rotate simultaneously by a walking drive component 24, thereby simplifying the structure of the walking component 20 and meeting the lightweight requirements of the photovoltaic snow sweeping robot 100.

[0103] In some embodiments, such as Figure 19 As shown, the housing 251 can adopt an L-shaped structure, and multiple threaded holes are respectively provided on the two end faces of the housing 251. The threaded holes on the end face of the housing 251 that protrude from the drive shaft 252 can mate with the connecting holes on the first mounting part 2151 of the mounting base 215, so that the right-angle transmission component 25 can be fixed to the first mounting part 2151 of the mounting base 215 by fasteners such as bolts. Figure 12 As shown, a reinforcing member 220 may be provided between the right-angle transmission member 25 and the first mounting part 2151. The reinforcing member 220 may be a plate-shaped structure that has been bent multiple times, so that one end of the reinforcing member 220 can be fixed to the first mounting part 2151 of the mounting base 215 by fasteners such as bolts, and the other end of the reinforcing member 220 can be connected to the threaded hole on the end face of the driven shaft 253 of the housing 251 by fasteners such as bolts, thereby improving the connection strength between the right-angle transmission member 25 and the first mounting part 2151.

[0104] In some embodiments, such as Figure 1 As shown, back plates 12 can be fixed to both ends of the main beam 11. The walking track assembly 21 and the walking wheels 22 can be located on opposite sides of the two back plates 12. The walking drive component 24 can be located on the same side as the walking wheels 22. The output shaft of the walking drive component 24 and the drive shafts 252 of the two right-angle transmission components 25 can pass through the back plates 12 and be connected via a transmission belt on opposite sides of the two back plates 12. Simultaneously, the housings 251 of the two right-angle transmission components 25 can be fixed to the back plates 12 with bolts or other fasteners to achieve the connection and fixation between the walking assembly 20 and the robot body 10. Furthermore, a protective cover 13 can be installed on the opposite sides of the two back plates 12 to prevent dust and / or snow from interfering with the transmission between the output shaft of the walking drive component 24 and the drive shafts 252 of the two right-angle transmission components 25, thereby ensuring the stability of the photovoltaic snow-sweeping robot 100's movement.

[0105] like Figures 1 to 4 As shown, the snow removal component 30 and the power component 40 can both be mounted on the robot body 10, and the snow removal component 30 can be located in front of the roller brush component 50, so that during the movement of the photovoltaic snow removal robot 100, the snow removal component 30 can push the snow off the photovoltaic module 200, thereby achieving the effect of removing the snow from the photovoltaic module 200. Meanwhile, as... Figure 6 and Figure 7 As shown, the power component 40 can drive the snow removal component 30 to perform lifting and / or flipping actions, thereby loosening the snow through the snow removal component 30, making it easier to remove the snow from the photovoltaic module 200. In addition, it can realize the switching between the working state and the non-working state of the snow removal component 30 to ensure that the photovoltaic snow removal robot 100 can safely pass through the bridge.

[0106] In some embodiments, such as Figure 1 As shown, the snow removal assembly 30 may include a mounting beam 31 and at least one scraper assembly 32 mounted on the mounting beam 31. That is, one scraper assembly 32 may be used, or two or more may be arranged at intervals along the mounting beam 31. The mounting beam 31 is connected to the power assembly 40, so that the power assembly 40 can drive the snow removal assembly 30 to perform lifting and / or tilting actions.

[0107] In some embodiments, such as Figure 1 and Figure 5 As shown, the scraper assembly 32 may include a scraper 321 and a pressure plate 322. The scraper 321 is mounted on the mounting beam 31 via the pressure plate 322. That is, the scraper 321 can be fixed to the pressure plate 322 by fasteners such as bolts. At the same time, the pressure plate 322 can be mounted on the mounting beam 31, thereby realizing the connection between the scraper assembly 32 and the mounting beam 31.

[0108] In some embodiments, such as Figure 5 As shown, at least two scraper assemblies 32 can be arranged along the axial direction of the mounting beam 31, that is, two or more scraper assemblies 32 can be used, and each scraper assembly 32 can be arranged along the axial direction of the mounting beam 31. At the same time, two adjacent scraper assemblies 32 can rotate about their opposite ends, thereby adjusting the angle of the scraper assemblies 32 to adapt to the bending deformation of the photovoltaic module 200 in the flat single-axis scenario and prevent excessive compression of the photovoltaic module 200.

[0109] In some embodiments, such as Figure 5 As shown, two scraper assemblies 32 can be used, and the ends of the pressure plates 322 of the two scraper assemblies 32 that are far apart from each other are connected to the mounting beam 31 by a pin, so that the two scraper assemblies 32 can rotate around the ends that are far apart from each other. At the same time, one of the ends of the pressure plates 322 of the two scraper assemblies 32 that are close to each other and the mounting beam 31 can be provided with one or more vertical adjustment holes 3221, and the other can be provided with a threaded hole that matches the vertical adjustment hole 3221. That is, the vertical adjustment hole 3221 can be provided on the mounting beam 31 and the threaded hole can be provided on the pressure plate 322, or the vertical adjustment hole 3221 can be provided on the pressure plate 322 and the threaded hole can be provided on the mounting beam 31.

[0110] In some embodiments, such as Figure 5As shown, to facilitate the adjustment and fixing of the scraper assembly 32, the vertical adjustment hole 3221 can be provided on the pressure plate 322, and the threaded hole can be provided on the mounting beam 31. This provides a larger operating space for adjustment and fixing, thus facilitating the adjustment and fixing of the scraper assembly 32. After the angle of the scraper assembly 32 is adjusted, it can be connected by bolts or other fasteners through the vertical adjustment hole 3221 and threaded into the threaded hole from the side of the pressure plate 322 away from the mounting beam 31.

[0111] In some embodiments, to improve the connection reliability between the scraper assembly 32 and the mounting beam 31, such as Figure 5 As shown, one end of the pressure plate 322 of the two scraper assemblies 32, which is far apart from each other, and one end of the mounting beam 31 can be provided with an arc-shaped reinforcing hole 3222, while the other end is provided with a threaded hole that mates with the arc-shaped reinforcing hole 3222. That is, the arc-shaped reinforcing hole 3222 can be provided on the mounting beam 31, and the threaded hole is provided on the pressure plate 322; or the arc-shaped reinforcing hole 3222 can be provided on the pressure plate 322, and the threaded hole is provided on the mounting beam 31. This allows fasteners such as bolts to pass through the arc-shaped reinforcing hole 3222 and threadedly connect to the threaded hole, thereby improving the connection strength between the scraper assemblies 32 and the mounting beam 31, and thus improving the connection reliability between the scraper assemblies 32 and the mounting beam 31. It should be noted that, in order to ensure that the two scraper assemblies 32 can rotate around the pin shaft at their opposite ends, the arc-shaped reinforcing hole 3222 can be arranged around the pin shaft, so that the scraper assemblies 32 can rotate along the trajectory of the arc-shaped reinforcing hole 3222.

[0112] In the above embodiments, the angle adjustment of the scraper assembly 32 can be done manually, or a telescopic mechanism adapted to the scraper assembly 32 can be provided on the mounting beam 31. The movable ends of the two telescopic mechanisms are respectively connected to the close ends of the pressure plates 322 of the two scraper assemblies 32. Thus, the scraper assembly 32 can be rotated around the pin shaft by the telescopic movement of the telescopic mechanism to achieve the angle adjustment of the scraper assembly 32. Of course, a floating mechanism adapted to the scraper assembly 32 can also be provided on the mounting beam 31. The floating ends of the two floating mechanisms are respectively connected to the close ends of the pressure plates 322 of the two scraper assemblies 32. This allows the close ends of the two scraper assemblies 32 to float up and down according to the bending deformation of the photovoltaic module 200, thereby adapting to the bending deformation of the photovoltaic module 200 in the flat single-axis scenario and preventing excessive compression of the photovoltaic module 200. It should be noted that the floating mechanism may include a fixed part and a movable part with a cavity, and part of the movable part may be movably embedded in the inner cavity of the fixed part to form a deformable cavity. At the same time, a reset elastic element such as a spring may be provided in the deformable cavity. One end of the reset elastic element may be connected to the fixed part, and the other end of the reset elastic element may be connected to the movable part. The movable part is connected to the pressure plate 322 of the scraper assembly 32. Thus, through the elastic action of the reset elastic element, the scraper assembly 32 can achieve the effect of floating up and down according to the bending deformation of the photovoltaic module 200.

[0113] In some embodiments, such as Figure 8 As shown, the scraper 321 can be a toothed scraper, meaning the scraper 321 can include a snow-shoveling part 3211 and a connecting part 3212 arranged at an angle. The included angle between the snow-shoveling part 3211 and the connecting part 3212 can be 90°, 135°, 145°, etc. The connecting part 3212 can be installed on the mounting beam 31 via a pressure plate 322, meaning the connecting part 3212 can be fixed to the pressure plate 322 via bolts or other fasteners, and the pressure plate 322 is installed on the mounting beam 31. Simultaneously, the snow-shoveling part 3211 can have a toothed structure 3211a to better insert into the snow accumulation, loosen the snow, and thus push the snow away from the photovoltaic module 200.

[0114] In some embodiments, such as Figure 9As shown, the scraper strip 321 can also be a strip structure, and the scraper strip 321 may include a snow-scraping area 3213 and limiting areas 3214 located at both ends of the snow-scraping area 3213. The snow-scraping area 3213 can adhere to the surface of the glass plate 201 of the photovoltaic module 200, while the limiting areas 3214 can adhere to the outer side of the frame 202 of the photovoltaic module 200. A preset gap exists between the snow-scraping area 3213 and the limiting areas 3214 to accommodate the spacing between the glass plate 201 and the frame 202 of the photovoltaic module 200, ensuring that the snow-scraping area 3213 can better adhere to the glass plate 201 of the photovoltaic module 200, thus improving the snow-scraping effect. It should be noted that, in order to accommodate the spacing between the glass plate 201 and the frame 202 of the photovoltaic module 200, as... Figure 9 As shown, the scraper strip 321 can be cut along the cutting line 3215 at both ends so that the area between the snow scraping area 3213 and the limiting area 3214 can move, thereby ensuring that the snow scraping area 3213 can better fit the glass plate 201 of the photovoltaic module 200 and improve the snow removal effect.

[0115] In some embodiments, such as Figure 1 As shown, the power assembly 40 may include a connecting assembly 41 and a snow removal drive component 42. The snow removal assembly 30 can be movably connected to the main beam 11 of the robot body 10 via the connecting assembly 41, and the output end of the snow removal drive component 42 can be connected to the mounting beam 31 of the snow removal assembly 30, enabling the snow removal drive component 42 to drive the snow removal assembly 30 to perform lifting and / or tilting actions. It should be noted that the snow removal drive component 42 may employ an electric telescopic rod, a lead screw mechanism, a worm gear, etc.

[0116] In some embodiments, such as Figure 1 As shown, the connecting component 41 may include a connecting seat 411 and a flipping component 412. The connecting seat 411 can be installed on the main beam 11 of the robot body 10. One end of the flipping component 412 can be fixed to the mounting beam 31 of the snow removal component 30 by welding or bolting, and the other end of the flipping component 412 is hinged to the connecting seat 411 through a hinge axis, so that the snow removal drive component 42 can drive the snow removal component 30 to flip and lift around the hinge axis, thereby realizing the snow removal component 30's snow shaking action and switching between non-working states.

[0117] In some embodiments, such as Figure 10As shown, the connecting seat 411 includes an arc-shaped segment and connecting portions located at both ends of the arc-shaped segment. The two connecting portions are respectively connected to the main beam 11 of the robot body 10 and the flipping component 412. Simultaneously, a clearance space 4111 is formed below the arc-shaped segment to avoid interference with the roller brush assembly 50 when the snow removal component 30 performs a large-angle flipping motion. For ease of understanding, the connecting portion connected to the main beam 11 of the robot body 10 is defined as the first connecting portion, and the connecting portion connected to the flipping component 412 is defined as the second connecting portion. The first connecting portion may have multiple rows of holes 4115 arranged vertically, and the side of the main beam 11 has threaded holes adapted to the multiple rows of holes 4115. This allows the first connecting portion of the connecting seat 411 to be connected and fixed to the main beam 11 by bolts or other fasteners, and the installation position of the connecting seat 411 can be adjusted. Furthermore, symmetrical reinforcing parts 4114 are fixed on both sides of the first connecting part. The reinforcing parts 4114 can adopt an L-shaped plate structure or a rectangular plate structure, and multiple rows of holes 4115 can be provided on the reinforcing parts 4114 to be connected and fixed with the threaded holes on the side of the main beam 11 by bolts or other fasteners, thereby improving the connection strength between the connecting seat 411 and the main beam 11. The second connecting part is provided with a pivot hole 4112 for installing a hinge shaft, so that the flipping part 412 and the connecting seat 411 can be hinged by the hinge shaft. At the same time, the second connecting part can also be provided with a fan-shaped reinforcing hole 4113, and the fan-shaped reinforcing hole 4113 can be arranged around the pivot hole 4112. The flipping part 412 can be connected to the fan-shaped reinforcing hole 4113 by a pin, and the pin can move along the trajectory of the fan-shaped reinforcing hole 4113 to ensure the stability of the snow removal drive 42 driving the snow removal assembly 30 to flip and lift around the hinge shaft.

[0118] In the above embodiments, such as Figure 10 As shown, the connecting seat 411 can be composed of two symmetrically arranged sub-connecting plates, and the two sub-connecting plates are connected and fixed together by multiple connecting plates 4116. Of course, the connecting seat 411 can also adopt an integral structure and be provided with one or more connecting plates 4116 to improve the strength of the connecting seat 411, which is not limited here.

[0119] In some embodiments, such as Figure 1As shown, multiple pressure detection elements 311 can be used, and each pressure detection element 311 can be spaced apart on the mounting beam 31. Each pressure detection element 311 can include a pressure sensor and a trigger plate, allowing real-time monitoring of the pressure value experienced by the snow removal component 30 during operation. This enables the snow removal component 30 to perform corresponding snow removal actions based on the pressure value, allowing for switching between different snow removal methods for snow of varying thicknesses. This effectively solves the problem of traditional robots easily getting stuck and experiencing operational interruptions in heavy snow conditions, significantly improving the snow removal efficiency and reliability of the photovoltaic snow removal robot 100. It should be noted that the pressure detection element 311 can also be a strain gauge sensor, piezoelectric sensor, etc.

[0120] The terminology used in the above embodiments is for the purpose of describing specific embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions "a," "an," "the," "the," "the," and "this" are intended to also include expressions such as "one or more," unless the context clearly indicates otherwise. It should also be understood that in the embodiments of this application, "one or more" refers to one, two, or more; "and / or" describes the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0121] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0122] The "multiple" mentioned in the embodiments of this application refers to two or more. It should be noted that in the description of the embodiments of this application, terms such as "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance, nor should they be construed as indicating or implying order.

[0123] The terms "parallel" and "perpendicular" used in this application refer to "basically parallel" and "basically perpendicular" in practical operation. "Basically parallel" can be understood as parallelism with a certain degree of error, and similarly, "basically perpendicular" can be understood as perpendicularity with a certain degree of error.

[0124] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a photovoltaic snow-sweeping robot, characterized in that, Including the following steps: Obtain operating status parameters, the operating status parameters including at least one of the pressure value of the snow removal component (30) set on the photovoltaic snow removal robot (100) during operation and the position change information of the photovoltaic snow removal robot (100); When the operating status parameters meet the first preset condition, the snow removal component (30) performs a preset snow shaking action; when the operating status parameters meet the second preset condition, the photovoltaic snow removal robot (100) performs a preset impact snow pushing action, and pushes the snow through the snow removal component (30).

2. The control method according to claim 1, characterized in that, The first preset condition is that the displacement value of the photovoltaic snow sweeping robot (100) within a preset time is less than the first displacement threshold, and the pressure value of the snow removal component (30) during operation is greater than the first threshold.

3. The control method according to claim 2, characterized in that, The second preset condition is that the pressure value of the snow removal component (30) during operation is greater than the second threshold, and the second threshold is greater than the first threshold.

4. The control method according to claim 1, characterized in that, The snow-shaking action is the snow-clearing component (30) performing multiple reciprocating lifting or flipping actions.

5. The control method according to claim 1, characterized in that, The impact snow-pushing action is the photovoltaic snow-sweeping robot (100) performing multiple back-and-forth reciprocating movements, or the impact snow-pushing action includes: The photovoltaic snow-sweeping robot (100) moves backward a preset distance. The photovoltaic snow sweeping robot (100) accelerates forward as it sprints forward.

6. The control method according to any one of claims 3 to 5, characterized in that, When the operating state parameters meet the second preset condition, during the process of the photovoltaic snow sweeping robot (100) performing the preset impact snow pushing action, the snow removal component (30) performs the preset snow shaking action.

7. The control method according to claim 1, characterized in that, The snow removal process also includes: When the operating status parameters meet the third preset condition, the snow thickness is obtained, and the height layering adjustment threshold of the snow removal component (30) is obtained according to the maximum snow removal thickness of the snow removal component (30) in the historical snow removal data. A mapping relationship between the snow thickness and the height layering adjustment threshold is established, and the snow is layered. During the snow layering process of the snow removal component (30), the snow removal component (30) cleans the snow layer by layer from top to bottom based on the height layering adjustment threshold.

8. The control method according to claim 7, characterized in that, When the operating status parameters meet the third preset condition, the photovoltaic snow sweeping robot (100) prioritizes the layering of snow.

9. The control method according to claim 7 or 8, characterized in that, The third preset condition includes at least one of the following: The pressure value experienced by the snow removal component (30) during operation is greater than the third threshold; The displacement value of the photovoltaic snow sweeping robot (100) is less than the second displacement threshold within a preset time.

10. The control method according to claim 1, characterized in that, Also includes: The location information is obtained, and the relative positional relationship between the photovoltaic snow sweeping robot (100) and the bridge between the photovoltaic array is obtained in real time through the positioning component; When the distance between the photovoltaic snow-sweeping robot (100) and the bridge between the photovoltaic array meets the preset distance threshold, the snow-clearing component (30) is raised to a non-working state and passes through the bridge.

11. A photovoltaic snow-sweeping robot, characterized in that, include: Robot body (10); Walking components (20) are respectively disposed at both ends of the robot body (10), and the walking components (20) can drive the robot body (10) to move on the photovoltaic module (200); Snow removal component (30), the snow removal component (30) is disposed on the robot body (10), the snow removal component (30) can remove snow from the photovoltaic module (200); A power assembly (40) is disposed on the robot body (10), and the power assembly (40) can drive the snow removal assembly (30) to perform lifting and / or flipping actions; A pressure detection element (311) is disposed on the snow removal assembly (30) and is used to detect the pressure value of the snow applied to the snow removal assembly (30).

12. The photovoltaic snow-sweeping robot according to claim 11, characterized in that, The snow removal assembly (30) includes a mounting beam (31) and at least one scraper assembly (32), the scraper assembly (32) being mounted on the mounting beam (31), and the mounting beam (31) being connected to the power assembly (40).

13. The photovoltaic snow-sweeping robot according to claim 12, characterized in that, At least two scraper assemblies (32) are provided along the axial direction of the mounting beam (31), and two adjacent scraper assemblies (32) can rotate about opposite ends of each other.

14. The photovoltaic snow-sweeping robot according to claim 11, characterized in that, The walking component (20) includes a walking track assembly (21), a walking wheel (22), a limiting wheel (23), and a walking drive component (24). The walking drive component (24) can drive the walking track assembly (21) and the walking wheel (22) to rotate respectively. The walking wheel (22) and the walking track assembly (21) can move on the surface of the photovoltaic module (200). The limiting wheel (23) can be close to the frame (202) of the photovoltaic module (200).

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