Photovoltaic panel cleaning robot capable of automatically adjusting angle and cleaning method thereof

Abstract

The invention relates to the technical field of photovoltaic panel cleaning robots, and discloses a photovoltaic panel cleaning robot capable of automatically adjusting the angle and a cleaning method thereof.The photovoltaic panel cleaning robot comprises main frame bodies, walking assemblies and sweeping assemblies, the main frame bodies are arranged on the two sides of a photovoltaic panel, and the walking assemblies and the sweeping assemblies are arranged on the main frame bodies; the sweeping assembly comprises a first brush roller, a second brush roller, a universal joint, a third brush roller, a third brush roller swing motor and a dust suction device, one end of the first brush roller is connected with one end of the second brush roller through the universal joint, the third brush roller is connected with the driving end of the third brush roller swing motor, and the dust suction device is arranged on the main frame body. Through the industrial camera and the angle adjusting device, the cleaning angle is automatically adjusted according to the dust amount on the surface of the photovoltaic panel, and the cleaning efficiency is improved. And through cooperation of the travel switch and the driving wheel motor, the robot is prevented from falling off. The dust collection device is matched with the sweeping mechanism with the adjustable angle, dust falling back to the surface of the photovoltaic panel is swept, and secondary pollution is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of photovoltaic panel cleaning robots, in particular to a photovoltaic panel cleaning robot capable of autonomously adjusting an angle and a cleaning method thereof. BACKGROUND

[0002] With the transformation of global energy structure to green and low carbon, photovoltaic power generation technology is widely used due to its clean and renewable characteristics. The surface cleanliness of photovoltaic panels, as the core components of the power generation system, directly affects the photoelectric conversion efficiency. Studies have shown that long-term adhesion of pollutants such as dust, snow and bird droppings can cause a 15%-30% decrease in photovoltaic module efficiency. In areas with frequent dust and little rainfall, regular cleaning has become a key link to ensure power plant efficiency.

[0003] Most existing photovoltaic panel cleaning robots use rotating brushes as the main pollution removal means. When such mechanisms work, the brush filaments sweep the panel surface at high speed and induce local turbulence, which easily lifts fine dust, sand and micro debris and suspends them above the module. Due to the array spacing and local wind conditions, these particles are easily re-deposited onto the original panel or adjacent panel within a short period of time, causing secondary pollution, reducing the effectiveness of single cleaning and passively increasing cleaning frequency, and raising operation and maintenance costs. Furthermore, when the brush pressure or rotational speed is too high, the brush may drag and scratch the glass or coating layer, forming micro scratches and adhesion points, which increases the risk of subsequent dust retention and re-deposition. If combined with a small amount of wet cleaning, the lifted dust and water mix into a muddy residue in the frame and joints, affecting long-term power generation efficiency.

[0004] After searching, an existing intelligent flat single-axis photovoltaic cleaning robot (publication number: CN119543802A) uses a flexible cable to drive the rotation of the brush drive wheel, which drives the brush to rotate and clean the surface of the photovoltaic panel. However, this method has the following disadvantages: the high-speed rotation of the brush can effectively remove pollutants on the surface of the photovoltaic panel, but the lifted dust will fall back onto the surface of the photovoltaic panel, causing secondary pollution.

[0005] To solve the above problems, we propose a photovoltaic panel cleaning robot capable of autonomously adjusting an angle and a cleaning method thereof. SUMMARY

[0006] The purpose of the present application is to provide a photovoltaic panel cleaning robot capable of autonomously adjusting an angle and a cleaning method thereof to solve the problems raised in the background.

[0007] To achieve the above object, the application provides the following technical scheme: a photovoltaic panel cleaning robot capable of autonomously adjusting angle and a cleaning method thereof, comprising a main frame, a walking assembly and a cleaning assembly; The main frame is arranged on both sides of the photovoltaic panel; the main frame is provided with the walking assembly and the cleaning assembly; The cleaning assembly comprises a first brush roller, a second brush roller, a universal joint, a third brush roller, a third brush roller swing motor and a dust suction device; one end of the first brush roller is connected to one end of the second brush roller through the universal joint; the third brush roller is connected to the driving end of the third brush roller swing motor; and the dust suction device is arranged on the main frame.

[0008] Preferably, the main frame comprises a second connecting plate, a first connecting plate, a sliding guide rail, a supporting wheel and a supporting wheel support. The second connecting plate is connected to the first connecting plate through the sliding guide rail; the sliding guide rail has a double-track symmetrical distribution structure; the sliding guide rail penetrates through the side shell; a plurality of side shells are connected; the top of the side shell is connected to a top shell; one end of the sliding guide rail is connected to the second connecting plate, and the other end of the sliding guide rail is slidably connected to the first connecting plate through an extendable sleeve; the main frame is provided with a supporting wheel support at the bottom; the supporting wheel support is provided with a supporting wheel at the bottom; and the circumferential outer wall of the supporting wheel is in abutment with the side wall of the photovoltaic panel.

[0009] Preferably, the cleaning assembly further comprises a brush roller fixing frame, a brush roller motor, a connecting guide rail, a brush roller angle adjusting motor, a lead screw, a first sliding block, a crank rocker, a bearing seat, a connecting block, a first telescopic universal joint, a second telescopic universal joint and a universal joint bearing. The universal joint is connected to the bearing seat; the other end of the first brush roller is connected to the first telescopic universal joint; the other end of the second brush roller is connected to the second telescopic universal joint; the first telescopic universal joint is connected to the first connecting plate through a brush roller fixing frame; and the second telescopic universal joint is connected to the second connecting plate through a brush roller fixing frame. The third brush roller is connected to the driving end of the third brush roller swing motor, and the third brush roller swing motor is fixed to the bottom of the bearing seat; the side wall of the first connecting plate is connected to the brush roller motor; the driving end of the brush roller motor is connected to the first telescopic universal joint; the universal joint is connected to the bearing seat through the universal joint bearing; the bearing seat is connected to the crank rocker through the connecting block; one end of the crank rocker is connected to the bearing seat; the other end of the crank rocker is connected to the first sliding block; the first sliding block is threadedly connected to the lead screw; one end of the lead screw is rotationally connected to the bottom of the connecting guide rail; the connecting guide rail is connected to the brush roller angle adjusting motor; and the driving end of the brush roller angle adjusting motor is connected to the other end of the lead screw. Preferably, the walking assembly comprises a driving wheel and a driving wheel motor; The second connecting plate and the first connecting plate side wall are provided with two driving wheel motors; the driving end of the driving wheel motor is connected with the driving wheel; the circumferential outer side of the driving wheel is provided with a spiral anti-skid pattern.

[0010] Preferably, the walking assembly further comprises a travel switch roller and a travel switch The travel switch is connected with the second connecting plate side wall; the travel switch roller is connected with the travel switch; the circumferential outer side wall of the travel switch roller is in abutment with the top surface of the photovoltaic panel; the travel switch is electrically connected with the driving wheel motor.

[0011] Preferably, the dust collection device comprises a negative pressure cleaner, a dust collection box, a dust suction port, a dust collector motor, a turbofan shell, a turbofan impeller and a filter screen; The first connecting plate inner side wall is connected with the dust collector motor for driving the turbofan impeller to rotate; the turbofan impeller is arranged in the turbofan shell; the turbofan shell is connected with the dust collection box; one end of the negative pressure cleaner is connected with the second connecting plate through a dust collector fixing bracket; the other end of the negative pressure cleaner is connected with the first connecting plate through a dust collector fixing bracket; the bottom of the negative pressure cleaner is provided with the dust suction port; the air inlet of the turbofan shell is provided with a filter screen.

[0012] Preferably, the cleaning assembly further comprises an electromagnetic clutch type double function driving device; the electromagnetic clutch type double function driving device comprises a brush roller motor fixing bracket, an optical axis guide rail, an electromagnetic clutch, a crank disc, a first connecting rod, a second sliding block, a second connecting rod, a friction plate, a bearing and a sliding block support; The driving end of the dust collector motor is connected with the circumferential inner side wall of the turbofan impeller, the friction plate and the bearing in sequence through the first connecting plate; the crank disc is sleeved on the circumferential outer side wall of the bearing; the bearing is connected with the first connecting rod; the brush roller motor fixing bracket is connected with the first connecting plate through the optical axis guide rail; the brush roller motor fixing bracket is slidingly connected with the optical axis guide rail; The top surface of the brush roller motor fixing bracket is connected with one end of the second connecting rod; the first connecting rod is connected with the other end of the second connecting rod through the second sliding block; the second sliding block is slidingly connected in the sliding block support; the sliding block support is connected with the first connecting plate side wall; the electromagnetic clutch is connected with the turbofan shell; the turbofan shell is provided with an air inlet end; the air inlet end of the turbofan shell is communicated with the dust collection box; the electromagnetic clutch is electrically connected with an industrial camera for detecting the photovoltaic panel.

[0013] Preferably, the specific steps comprise: S1: Walking control: when the robot is running smoothly, the travel switch roller is in normal contact with the photovoltaic panel; when the robot runs to the edge of the photovoltaic panel, the travel switch roller is separated from the surface of the photovoltaic panel, triggering a stop signal to stop the driving wheel motor from working, preventing the robot from falling off the photovoltaic panel; S2: Sweep angle adjustment: In the initial state, the included angle between the first brush roller and the second brush roller is °; the industrial camera at the end of the connecting guide rail detects the dust amount on the surface of the photovoltaic panel, and controls the brush roller angle adjustment motor to act according to the detection result, so that the driving lead screw drives the first sliding block to slide; one end of the crank rocker is connected with the first sliding block; the other end of the crank rocker is connected with the connecting block, driving the first brush roller and the second brush roller to adjust the included angle through the universal joint; the first telescopic universal joint and the second telescopic universal joint are respectively arranged between the universal joint and the two brush rollers, which compensate for the axial displacement of the brush roller and keep the transmission stable when the included angle changes, so that the first brush roller and the second brush roller form a "V" type structure and rotate towards the inside of the "V" type, so as to improve the cleaning concentration and cleaning effect; The third brush roller sweeping angle is controlled by the third brush roller swing motor; S3: Dust collection operation: the dust collector motor drives the turbofan impeller to rotate, forming a negative pressure in the dust collection box, sucking dust from the dust suction port into the dust collection box, and the filter screen at the air inlet of the turbofan shell filters the dust in the entering air flow, avoiding the dust blowing out of the turbofan exhaust port, preventing secondary pollution to the photovoltaic panel and avoiding damage to the turbofan impeller; S4: Stubborn stain cleaning operation: when the industrial camera detects that there is stubborn stain on the surface of the photovoltaic panel, the electromagnetic clutch automatically drives the friction plate to combine with the crank disc, at this time the power of the dust collector motor is transmitted to the crank disc through the friction plate, so that the crank disc drives the turbofan impeller and the crank disc to rotate at the same time, drives the first connecting rod to drive the second sliding block to slide back and forth along the sliding block support fixed on the first connecting plate, and then drives the brush roller motor fixed frame to reciprocate along the optical axis guide rail through the second connecting rod, so as to drive the brush roller to clean the photovoltaic panel along the direction of the optical axis guide rail Compared with the prior art, the beneficial effects of the present application are: 1. Through the industrial camera and the angle adjustment device, the sweeping angle can be automatically adjusted according to the amount of dust on the surface of the photovoltaic panel, so that the falling dust falls into the fixed area, improving the cleaning efficiency, and benefiting from the unique brush sweeping structure, avoiding leaving cleaning dead angles in the sweeping process.

[0014] 2. Through the cooperation of the travel switch and the driving wheel motor, the robot can be stopped in time when it contacts the edge of the photovoltaic panel, so as to avoid falling of the robot and ensure the safety of the equipment.

[0015] 3. The cleaning mechanism with the dust suction device and the adjustable angle cooperates, so that the dust falling back to the surface of the photovoltaic panel during the cleaning process can be effectively collected, the secondary pollution of the dust can be avoided, the cleaning effect is improved, the operation and maintenance cost is reduced, and the negative influence on the environment is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A schematic diagram of the overall structure of the photovoltaic panel cleaning robot is provided. Figure 2 A schematic diagram of the working state of the photovoltaic panel cleaning robot is provided. Figure 3 A schematic diagram of the front view structure of the photovoltaic panel cleaning robot is provided. Figure 4 A schematic diagram of the lower view structure of the photovoltaic panel cleaning robot is provided. Figure 5 A schematic diagram of the side view structure of the photovoltaic panel cleaning robot is provided. Figure 6 A schematic diagram of the walking assembly structure of the photovoltaic panel cleaning robot is provided. Figure 7 A schematic diagram of the brush angle adjusting device structure of the photovoltaic panel cleaning robot is provided. Figure 8 A schematic diagram of the overall structure of the photovoltaic panel cleaning robot is provided. Figure 9 A schematic diagram of the electromagnetic clutch type double function driving structure of the photovoltaic panel cleaning robot is provided.

[0017] In the diagram: 1-Photovoltaic panel, 2-Top shell, 3-Side shell, 4-First connecting plate, 5-Second connecting plate, 6-Sliding guide rail, 7-Support wheel, 8-Drive wheel, 9-Limit switch roller, 10-Limit switch, 11-Drive wheel motor, 12-First brush roller, 13-Second brush roller, 14-Negative pressure vacuum cleaner, 15-Dust collection box, 16-Suction port, 17-Brush roller fixing frame, 18-Brush roller motor, 19-Data transmission line, 20-Industrial camera, 21-Connecting guide rail, 22-Brush roller angle adjustment motor, 23-Lead screw, 24-First slider, 25-Crank rocker arm, 26-Universal 27-Bearing seat, 28-Connecting block, 29-Support wheel bracket, 30-Vacuum cleaner mounting bracket, 31-First telescopic universal joint, 32-Second telescopic universal joint, 33-Third brush roller, 34-Third brush roller swing motor, 35-Brush roller motor mounting bracket, 36-Optical axis guide rail, 37-Third brush roller motor, 38-Electromagnetic clutch, 39-Crank disc, 40-First connecting rod, 41-Second slider, 42-Second connecting rod, 43-Vacuum cleaner motor, 44-Turbofan housing, 45-Turbofan impeller, 46-Friction plate, 47-Bearing, 48-Universal joint bearing, 49-Slider bracket. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Please see Figures 1-9 This invention provides a technical solution: a photovoltaic panel cleaning robot with an adjustable angle and its cleaning method, comprising a main frame, a walking component, and a cleaning component. The main frame includes a second connecting plate 4, a first connecting plate 5, a sliding guide rail 6, support wheels 7, and support wheel brackets 29. Connection relationship: The second connecting plate 4 and the first connecting plate 5 are connected by the sliding guide rail 6 to form the main frame. The main frame is fixed to both sides of the photovoltaic panel 1 by the support wheel 7 and the support wheel bracket 29. The sliding guide rail 6 is a double track symmetrical distribution structure, which is installed through the side shell 3. One end of the sliding guide rail 6 is rigidly connected to the second connecting plate 4, and the other end of the sliding guide rail 6 is slidably connected to the first connecting plate 5 through a telescopic sleeve.

[0020] The walking assembly includes the drive wheel 8, the drive wheel motor 11, the limit switch 10, and the limit switch roller 9. Connection relationship: Each drive wheel 8 is connected to a drive wheel motor 11. The limit switch 10 is installed at both ends of the second connecting plate 4. The limit switch roller 9 is connected to the limit switch 10. The hub surface of each drive wheel 8 is provided with a spiral anti-slip texture and is axially floatingly connected to the drive wheel motor 11 through a flexible coupling. The drive wheel motor 11 is diagonally symmetrically distributed on the outer side of the second connecting plate 4 and the first connecting plate 5. When the robot moves smoothly, the limit switch roller 9 is in normal contact with the photovoltaic panel 1. When the robot moves to the edge of the photovoltaic panel 1, the limit switch roller 9 disengages from the surface of the photovoltaic panel 1, triggering a stop signal and causing the drive wheel motor 11 to stop working.

[0021] The cleaning assembly includes a brush roller, a dust collection device, and an electromagnetic clutch dual-function drive device.

[0022] The brush roller section includes a first brush roller 12, a second brush roller 13, a third brush roller 33, a universal joint 26, a bearing seat 27, a first telescopic universal joint 31, a second telescopic universal joint 32, a brush roller fixing frame 17, a third brush roller swing motor 34, a brush roller motor 18, a universal joint bearing 48, a connecting block 28, a crank rocker arm 25, a connecting guide rail 21, a lead screw 23, a first slider 24, and a brush roller angle adjusting motor 22. Connection relationship: The first brush roller 12 and the second brush roller 13 are connected by the universal joint 26. The universal joint 26 is provided with the bearing seat 27. The first brush roller 12 and the second brush roller 13 are respectively connected to the first telescopic universal joint 31 and the second telescopic universal joint 32. They are respectively fixed to the middle of the first connecting plate 5 and the second connecting plate 4 by the brush roller fixing bracket 17. The third brush roller 33 is connected to the third brush roller swing motor 34. The third brush roller swing motor 34 is fixed to the lower end of the bearing seat 27. The first brush roller 12 and the second brush roller 13 are connected by the universal joint 26 and driven by the brush roller motor 18. The universal joint 26 is connected to the bearing seat 27 by the universal joint bearing 48. The bearing seat 27 is connected to the crank rocker arm 25 via the connecting block 28. One end of the crank rocker arm 25 is connected to the bearing seat 27, and the other end of the crank rocker arm 25 is connected to the first slider 24 on the lead screw 23 located below the connecting guide rail 21. The lead screw 23 is driven by the brush roller angle adjustment motor 22, which drives the first slider 24 to move along the lead screw, thereby driving the bearing seat 27 to move back and forth, thus adjusting the angle between the first brush roller 12 and the second brush roller 13. An industrial camera 20 is provided at the end of the connecting guide rail 21. One end of the crank rocker arm 25 is connected to the first slider 24, and the other end is connected to the connecting block 28, thereby driving the first brush roller 12 and the second brush roller 13 to adjust their angle through the universal joint 26.

[0023] When there is little or no dust on the surface of the photovoltaic panel 1, the first brush roller 12 and the second brush roller 13 form a 180° angle to increase the cleaning speed. At the same time, the third brush roller 33 starts to work to avoid leaving a cleaning gap in the middle of the first brush roller 12 and the second brush roller 13.

[0024] When there is a lot of dust on the surface of the photovoltaic panel 1, the brush roller angle adjustment motor 22 starts to operate, driving the lead screw 23 to drive the first slider 24 to slide. One end of the crank rocker arm 25 is connected to the first slider 24, and the other end of the crank rocker arm 25 is connected to the connecting block 28, so as to drive the first brush roller 12 and the second brush roller 13 to adjust the included angle through the universal joint 26. The universal joint 26 is provided with the first telescopic universal joint 31 and the second telescopic universal joint 32 between it and the two brush rollers, which are used to compensate for the axial displacement of the brush rollers and maintain transmission stability when the included angle changes, so that the first brush roller 12 and the second brush roller 13 form a "V" shape and rotate into the "V" shape, thereby improving the cleaning concentration and cleaning effect.

[0025] The vacuuming device part: Components: The negative pressure vacuum cleaner 14, the dust collection box 15, the suction port 16, the vacuum cleaner motor 43, the turbo fan housing 44, the turbo fan impeller 45, and the filter screen. Connection relationship: The vacuum cleaner motor 43 is installed inside the first connecting plate 5 to drive the turbine impeller 45 to rotate. The turbine impeller 45 is disposed inside the turbine housing 44. The turbine housing 44 is connected to the dust collection box 15. The negative pressure vacuum cleaner 14 is installed inside the second connecting plate 4 and the first connecting plate 5 through the vacuum cleaner fixing bracket 30. The suction port 16 is provided below it. The air inlet of the turbine housing 44 is provided with a filter screen.

[0026] To avoid secondary pollution on the surface of the photovoltaic panel, this invention designs a highly efficient dust collection system. The dust collection system includes components such as the negative pressure vacuum cleaner 14, the suction port 16, the dust collection box 15, the vacuum cleaner motor 43, the turbine fan housing 44, and the turbine fan impeller 45.

[0027] The vacuum cleaner motor 43 is installed inside the first connecting plate 5 and drives the turbine impeller 45 to rotate. The turbine impeller 45 is disposed inside the turbine housing 44, which is connected to the dust collection box 15. The negative pressure vacuum cleaner 14 is installed inside the second connecting plate 4 and the first connecting plate 5 via the vacuum cleaner mounting bracket 30, and has a suction port 16 below it. A filter screen is provided at the air inlet of the turbine housing 44 to filter dust in the incoming airflow, so as to prevent dust from being blown out from the turbine exhaust port, thus preventing secondary pollution to the photovoltaic panel 1 and preventing damage to the turbine impeller 45. The dust collection box 15 has a sealing function to ensure that the collected dust does not leak and maintains a clean effect.

[0028] The electromagnetic clutch dual-function drive device part: Components: the electromagnetic clutch 38, the friction plate 46, the bearing 47, the crank disc 39, the first connecting rod 40, the second slider 41, the second connecting rod 42, the brush roller motor mounting bracket 35, the optical axis guide rail 36, and the slider bracket 49. Connection relationship: The vacuum cleaner motor 43 is fixed to the inner side of the first connecting plate 5. Its motor shaft passes through the first connecting plate 5 and is connected in sequence to the turbine impeller 45, the friction plate 46, and the inner ring of the bearing 47. The crank disc 39 is fixed to the outer ring of the bearing 47 and is connected to the first connecting rod 40. The first connecting rod 40 is connected to the second connecting rod 42 set on the brush roller motor fixing bracket 35 through the second slider 41. The electromagnetic clutch 38 is installed on the turbine housing 44. The air inlet end of the turbine housing 44 is connected to the dust collection box 15. When the industrial camera 20 detects the photovoltaic panel 1... When stubborn stains are present, the electromagnetic clutch 38 automatically drives the friction plate 46 to engage with the crank disc 39. The power of the vacuum cleaner motor 43 is transmitted to the crank disc 39 through the friction plate 46, causing it to simultaneously drive the turbine impeller 45 and the crank disc 39 to rotate. This drives the first connecting rod 40 to drive the second slider 41 to slide back and forth along the slider bracket 49 fixed on the first connecting plate 5. In turn, the second connecting rod 42 drives the brush roller motor fixing frame 35 to reciprocate along the optical axis guide rail 36, causing the brush roller to clean the photovoltaic panel 1 along the direction of the optical axis guide rail 36.

[0029] The electromagnetic clutch-type dual-function drive structure allows the electromagnetic clutch 38 to transmit power from the vacuum cleaner motor 43 to the crank disc 39 when there is a lot of dust. This power is then transmitted to the brush roller motor mounting bracket 35 via the second slider 41, the second slider 41, and the second connecting rod 42, enabling the brush roller motor mounting bracket 35 to reciprocate along the optical axis guide rail 36. Telescopic universal joints are installed at the connection points between the first brush roller 12 and the second brush roller 13 and the connecting plate. These universal joints provide space for the lateral movement of the brushes, allowing the brush rollers connected to the brush roller motor to reciprocate laterally with the brush roller motor mounting bracket.

[0030] like Figures 1-2 As shown, the second connecting plate 4 and the first connecting plate 5 are connected by the sliding guide rail 6 to form the main frame. The sliding guide rail 6 has a double-track symmetrical distribution structure. The sliding guide rail 6 passes through the side shell 3 and is fixed to both sides of the robot. The top surface of the side shell 3 is provided with a top shell 2. One end of the sliding guide rail 6 is rigidly connected to the second connecting plate 4, and the other end of the sliding guide rail 6 is slidably connected to the first connecting plate 5 through a telescopic sleeve. This design ensures the stability of the robot's main frame and allows for appropriate adjustment as needed.

[0031] like Figures 3-4As shown, the support wheels 7 are installed on both sides of the robot's main body structure and are fixed to both sides of the photovoltaic panel by the support wheel brackets 29, supporting the robot to move stably on the surface of the photovoltaic panel 1. The support wheels 7 cooperate with the support wheel brackets 29 to provide necessary support on the surface of the photovoltaic panel 1, ensuring that the robot will not fall due to tilting during the cleaning process.

[0032] like Figures 5-6 As shown, the walking assembly of the present invention includes four drive wheels 8 and a limit switch 10. The drive wheels 8 are respectively installed on the inner sides of the second connecting plate 4 and the first connecting plate 5, and the four drive wheels 8 adopt a four-wheel all-wheel drive layout. Each drive wheel 8 is driven by a drive wheel motor 11, and the drive wheel 8 is connected to the drive wheel motor 11 through a flexible coupling. The hub surface of the drive wheel 8 is designed with a spiral anti-slip texture to increase the friction with the surface of the photovoltaic panel 1 and ensure the stable movement of the robot.

[0033] The limit switches 10 are installed at both ends of the second connecting plate 4, and contact the surface of the photovoltaic panel 1 via the limit switch rollers 9. When the robot moves to the edge of the photovoltaic panel 1, the limit switch rollers 9 disengage from the surface of the photovoltaic panel 1, triggering a stop signal, causing the drive wheel motor 11 to stop working, preventing the robot from falling off the photovoltaic panel 1. This design effectively ensures the safe operation of the robot and avoids falls caused by positional deviation. The limit switches 10 are LX19-001 limit switches, which have the advantages of stable performance, high protection level, automatic return function, flexible installation, and adaptability to harsh environments.

[0034] The cleaning assembly is the core component of this invention, consisting of the first brush roller 12, the second brush roller 13, an angle adjustment device, and a dust collection device. The following are the detailed structures and working principles of each part of the cleaning assembly: The first brush roller 12 and the second brush roller 13 are respectively connected to the first telescopic universal joint 31 and the second telescopic universal joint 32, and are respectively fixed to the middle of the first connecting plate 5 and the second connecting plate 4 by the brush roller fixing frame 17, so that they can move freely in the axial direction of the brush rollers. The third brush roller 33 is connected to the third brush roller swing motor 34, which is fixed to the lower end of the bearing seat 27 and is used to control the cleaning angle of the third brush roller 33. The brush roller motor 18 drives the first brush roller 12 and the second brush roller 13 to rotate at high speed. The brush roller motor 18 is a high-efficiency DC motor that can maintain stable output under different cleaning conditions to meet cleaning needs.

[0035] The rotation direction and speed of the first brush roller 12 and the second brush roller 13 can be adjusted according to the degree of contamination on the photovoltaic panel surface to ensure cleaning effectiveness. The contact pressure between the first brush roller 12 and the second brush roller 13 and the photovoltaic panel 1 can be intelligently adjusted according to the thickness of the surface dust layer to avoid excessive pressure causing scratches to the surface of the photovoltaic panel 1.

[0036] like Figure 7 As shown, the brush roller angle adjustment motor 22 provides power, driving the lead screw 23 to act on the first slider 24 to move in the tightening direction, thereby driving the bearing seat 27 connected by the crank rocker arm 25 and the connecting block 28 to move, and further causing the universal joint 26 installed between the bearing seats 27 to move, thereby realizing the adjustment of the angle between the first brush roller 12 and the second brush roller 13. The bristle length of the first brush roller 12 and the second brush roller 13 is 10cm, and the angle adjustment range is limited to 100°~150°. In this way, the included angle of the first brush roller 12 and the second brush roller 13 can be flexibly adjusted, avoiding leaving cleaning dead corners and avoiding mutual interference between the two first brush rollers 12 and the second brush roller 13 due to the angle being too small, so as to adapt to the cleaning needs of different photovoltaic panel 1 surfaces.

[0037] The robot is equipped with an industrial camera 20 to monitor the dust on the surface of the photovoltaic panel 1 in real time. Based on the collected image data, the control system will automatically adjust the angle between the first brush roller 12 and the second brush roller 13 to ensure that the cleaning angle is optimal.

[0038] The photovoltaic panel cleaning robot is equipped with an intelligent control system, including a PLC controller and multiple sensors. Based on real-time data from the industrial camera 20, the PLC controller automatically adjusts the rotation direction, angle, and speed of the first brush roller 12 and the second brush roller 13 to achieve the best cleaning effect.

[0039] The control system adjusts the robot's motion state in real time by controlling each drive motor, ensuring smooth operation on different photovoltaic panel surfaces. During operation, the control system monitors the robot's position in real time based on feedback signals from the limit switches 10, ensuring safe movement on the photovoltaic panel surface and preventing falls or damage.

[0040] The specific work steps include: S1: Walking control: When the robot is moving smoothly, the limit switch roller 9 is in normal contact with the photovoltaic panel 1; when the robot moves to the edge of the photovoltaic panel 1, the limit switch roller 9 disengages from the surface of the photovoltaic panel 1, triggering a stop signal to stop the drive wheel motor 11 and prevent the robot from falling off the photovoltaic panel 1. S2: Cleaning angle adjustment: In the initial state, the angle between the first brush roller 12 and the second brush roller 13 is 180°. The industrial camera 20 at the end of the connecting guide rail 21 detects the amount of dust on the surface of the photovoltaic panel 1 and controls the brush roller angle adjustment motor 22 to move according to the detection result, so that the drive screw 23 drives the first slider 24 to slide. One end of the crank rocker arm 25 is connected to the first slider 24. The other end of the crank rocker arm 25 is connected to the connecting block 28, which drives the first brush roller 12 and the second brush roller 13 to adjust the angle through the universal joint 26. The universal joint 26 and the two brush rollers are respectively provided with the first telescopic universal joint 31 and the second telescopic universal joint 32, which compensate for the axial displacement of the brush rollers and maintain transmission stability when the angle changes, so that the first brush roller 12 and the second brush roller 13 form a "V" shape and rotate into the "V" shape to improve the cleaning concentration and cleaning effect. The cleaning angle of the third brush roller 33 is controlled by the third brush roller swing motor 34. S3: Vacuuming operation: The vacuum cleaner motor 43 drives the turbine impeller 45 to rotate, creating a negative pressure in the dust collection box 15, which draws dust from the suction port 16 into the dust collection box 15. The filter screen at the air inlet of the turbine housing 44 filters the dust in the airflow, preventing dust from being blown out from the turbine exhaust port, thus preventing secondary pollution to the photovoltaic panel 1 and avoiding damage to the turbine impeller 45. S4: Stubborn stain cleaning operation: When the industrial camera 20 detects stubborn stains on the surface of the photovoltaic panel 1, the electromagnetic clutch 38 automatically drives the friction plate 46 to engage with the crank disk 39. At this time, the power of the vacuum cleaner motor 43 is transmitted to the crank disk 39 through the friction plate 46, causing the crank disk 39 to simultaneously drive the turbine impeller 45 and the crank disk 39 to rotate. This drives the first connecting rod 40 to drive the second slider 41 to slide back and forth along the slider bracket 49 fixed on the first connecting plate 5. In turn, the second connecting rod 42 drives the brush roller motor fixing frame 35 to reciprocate along the optical axis guide rail 36, thereby driving the brush roller to clean the photovoltaic panel 1 along the direction of the optical axis guide rail 36.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0042] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A photovoltaic panel cleaning robot with an autonomously adjustable angle, characterized in that, Includes the main frame, walking components, and cleaning components; The main frame is disposed on both sides of the photovoltaic panel; the main frame is equipped with the walking component and the cleaning component; The cleaning assembly includes a first brush roller (12), a second brush roller (13), a universal joint (26), a third brush roller (33), a third brush roller swing motor (34), and a dust collection device; one end of the first brush roller (12) is connected to one end of the second brush roller (13) through the universal joint (26), and the third brush roller (33) is connected to the drive end of the third brush roller swing motor (34); the dust collection device is mounted on the main frame.

2. The photovoltaic panel cleaning robot with an adjustable angle according to claim 1, characterized in that, The main frame includes: a second connecting plate (4), a first connecting plate (5), a sliding guide rail (6), a support wheel (7), and a support wheel bracket (29); The second connecting plate (4) is connected to the first connecting plate (5) through the sliding guide rail (6); the sliding guide rail (6) is a double-track symmetrical distribution structure; the sliding guide rail (6) passes through the side shell (3); multiple side shells (3) are connected; the top of the side shell (3) is connected to the top shell (2); one end of the sliding guide rail (6) is connected to the second connecting plate (4), and the other end of the sliding guide rail (6) is slidably connected to the first connecting plate (5) through a telescopic sleeve; the bottom of the main frame is provided with a support wheel bracket (29); the bottom of the support wheel bracket (29) is provided with a support wheel (7); the outer circumferential wall of the support wheel (7) abuts against the side wall of the photovoltaic panel (1).

3. The photovoltaic panel cleaning robot with an adjustable angle according to claim 2, characterized in that, The cleaning assembly also includes a brush roller fixing frame (17), a brush roller motor (18), a connecting guide rail (21), a brush roller angle adjusting motor (22), a lead screw (23), a first slider (24), a crank rocker arm (25), a bearing seat (27), a connecting block (28), a first telescopic universal joint (31), a second telescopic universal joint (32), and a universal joint bearing (48). The universal joint (26) is connected to the bearing seat (27); the other end of the first brush roller (12) is connected to a first telescopic universal joint (31); the other end of the second brush roller (13) is connected to a second telescopic universal joint (32); the first telescopic universal joint (31) is connected to the first connecting plate (5) through a brush roller fixing frame (17); the second telescopic universal joint (32) is connected to the second connecting plate (4) through a brush roller fixing frame (17); The third brush roller (33) is connected to the drive end of the third brush roller swing motor (34), and the third brush roller swing motor (34) is fixed to the bottom of the bearing seat (27); the side wall of the first connecting plate (5) is connected to the brush roller motor (18); the drive end of the brush roller motor (18) is connected to the first telescopic universal joint (31); the universal joint (26) and the bearing seat (27) are connected through the universal joint bearing (48); the bearing seat (27) and the crank rocker arm (25) are connected through... The crank rocker arm (25) is connected to the bearing seat (27) at one end; the crank rocker arm (25) is connected to the first slider (24) at the other end; the first slider (24) is threaded to the lead screw (23); one end of the lead screw (23) is rotatably connected to the bottom of the connecting guide rail (21); the connecting guide rail (21) is connected to the brush roller angle adjustment motor (22); the drive end of the brush roller angle adjustment motor (22) is connected to the other end of the lead screw (23).

4. The photovoltaic panel cleaning robot with an adjustable angle according to claim 2, characterized in that, The walking assembly includes a drive wheel (8) and a drive wheel motor (11). The second connecting plate (4) and the first connecting plate (5) are each provided with two drive wheel motors (11) on their side walls; the drive end of the drive wheel motor (11) is connected to the drive wheel (8); the outer circumference of the drive wheel (8) is provided with a spiral anti-slip pattern.

5. A photovoltaic panel cleaning robot with an adjustable angle according to claim 4, characterized in that, The walking assembly also includes a limit switch roller (9) and a limit switch (10). The limit switch (10) is connected to the side wall of the second connecting plate (4); the limit switch roller (9) is connected to the limit switch (10); the outer circumferential wall of the limit switch roller (9) abuts against the top surface of the photovoltaic panel (1); the limit switch (10) is electrically connected to the drive wheel motor (11).

6. The photovoltaic panel cleaning robot with an adjustable angle according to claim 2, characterized in that, The vacuuming device includes a negative pressure vacuum cleaner (14), a dust collection box (15), a suction port (16), a vacuum cleaner motor (43), a turbine fan housing (44), a turbine fan impeller (45), and a filter screen; The inner wall of the first connecting plate (5) is connected to the vacuum cleaner motor (43) for driving the turbine impeller (45) to rotate; the turbine impeller (45) is disposed inside the turbine housing (44); the turbine housing (44) is connected to the dust collection box (15); one end of the negative pressure vacuum cleaner (14) is connected to the second connecting plate (4) through the vacuum cleaner mounting bracket (30); the other end of the negative pressure vacuum cleaner (14) is connected to the first connecting plate (5) through the vacuum cleaner mounting bracket (30); the bottom of the negative pressure vacuum cleaner (14) is provided with the suction port (16); the air inlet of the turbine housing (44) is provided with a filter screen.

7. A photovoltaic panel cleaning robot with an adjustable angle according to claim 6, characterized in that, The cleaning assembly also includes an electromagnetic clutch dual-function drive device; the electromagnetic clutch dual-function drive device includes a brush roller motor mounting bracket (35), an optical axis guide rail (36), an electromagnetic clutch (38), a crank disc (39), a first connecting rod (40), a second slider (41), a second connecting rod (42), a friction plate (46), a bearing (47), and a slider bracket (49). The drive end of the vacuum cleaner motor (43) passes through the first connecting plate (5) and is connected in sequence to the inner circumference of the turbine impeller (45), the friction plate (46), and the bearing (47); the crank disc (39) is sleeved on the outer circumference of the bearing (47); the bearing (47) is connected to the first connecting rod (40); the brush roller motor fixing frame (35) is connected to the first connecting plate (5) through the optical axis guide rail (36); the brush roller motor fixing frame (35) is slidably connected to the optical axis guide rail (36). The top surface of the brush roller motor mounting bracket (35) is connected to one end of the second connecting rod (42); the first connecting rod (40) is connected to the other end of the second connecting rod (42) through the second slider (41); the second slider (41) is slidably connected in the slider bracket (49); the slider bracket (49) is connected to the side wall of the first connecting plate (5); the electromagnetic clutch (38) is connected to the turbine fan housing (44); the turbine fan housing (44) is provided with an air inlet; the air inlet of the turbine fan housing (44) is connected to the dust collection box (15); the electromagnetic clutch (38) is electrically connected to an industrial camera (20) for detecting the photovoltaic panel (1).

8. A cleaning method, wherein the method is applied to a photovoltaic panel cleaning robot with an autonomously adjustable angle as described in any one of claims 1 to 7, characterized in that: The specific steps include: S1: Walking control: When the robot is moving smoothly, the limit switch roller (9) is in normal contact with the photovoltaic panel (1); when the robot moves to the edge of the photovoltaic panel (1), the limit switch roller (9) disengages from the surface of the photovoltaic panel (1), triggering a stop signal to stop the drive wheel motor (11) from working, preventing the robot from falling off the photovoltaic panel (1); S2: Cleaning angle adjustment: In the initial state, the angle between the first brush roller (12) and the second brush roller (13) is 180°; the industrial camera (20) at the end of the connecting guide rail (21) detects the amount of dust on the surface of the photovoltaic panel (1), and controls the brush roller angle adjustment motor (22) to move according to the detection result, so that the drive screw (23) drives the first slider (24) to slide; one end of the crank rocker arm (25) is connected to the first slider (24); the other end of the crank rocker arm (25) is connected to the connecting block ( 28) Connected, driving the first brush roller (12) and the second brush roller (13) to adjust the included angle through the universal joint (26); the universal joint (26) and the two brush rollers are respectively provided with the first telescopic universal joint (31) and the second telescopic universal joint (32), which compensate for the axial displacement of the brush rollers and maintain transmission stability when the included angle changes, so that the first brush roller (12) and the second brush roller (13) form a "V" structure and rotate into the "V" shape to improve the cleaning concentration and cleaning effect; The cleaning angle of the third brush roller (33) is controlled by the swing motor (34) of the third brush roller. S3: Vacuuming operation: The vacuum cleaner motor (43) drives the turbine impeller (45) to rotate, forming a negative pressure in the dust collection box (15), which sucks dust from the suction port (16) into the dust collection box (15). The filter screen at the air inlet of the turbine housing (44) filters the dust in the airflow, preventing dust from being blown out from the turbine exhaust port, preventing secondary pollution to the photovoltaic panel (1) and preventing damage to the turbine impeller (45); S4: Stubborn stain cleaning operation: When the industrial camera (20) detects stubborn stains on the surface of the photovoltaic panel (1), the electromagnetic clutch (38) automatically drives the friction plate (46) to engage with the crank disk (39). At this time, the power of the vacuum cleaner motor (43) is transmitted to the crank disk (39) through the friction plate (46), causing the crank disk (39) to rotate simultaneously with the turbine impeller (45) and the crank disk (39), driving the first connecting rod (40) to drive the second slider (41) to slide back and forth along the slider bracket (49) fixed on the first connecting plate (5), and then through the second connecting rod (42) to drive the brush roller motor fixing frame (35) to reciprocate along the optical axis guide rail (36), thereby driving the brush roller to clean the photovoltaic panel (1) along the direction of the optical axis guide rail (36).

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