Rolling brush module and control method thereof, cleaning robot

Abstract

The application relates to the technical field of photovoltaic operation and maintenance equipment, in particular to a rolling brush module, a control method thereof and a cleaning robot. The rolling brush assembly comprises a rolling brush, the first compensation assembly comprises a first base plate and an elastic piece, the rolling brush assembly is installed on the first base plate through the elastic piece, the elastic piece is used for applying elastic force to the rolling brush assembly in a first direction, the second compensation assembly comprises a second base plate and a linear motor, the first base plate is installed on the second base plate through the linear motor, so that the rolling brush assembly and the first compensation assembly are driven by the linear motor to move in the first direction, the first direction is perpendicular to the axial direction of the rolling brush, and the first direction is parallel to the second base plate. The application aims to solve at least one technical problem in the background art, and provides a rolling brush module, a control method thereof and a cleaning robot.

Description

Technical Field

[0001] This application relates to the field of photovoltaic operation and maintenance equipment technology, and more specifically, to a roller brush module and its control method, and a cleaning robot. Background Technology

[0002] With the rapid development of the photovoltaic industry, the cleanliness of photovoltaic modules has an increasingly significant impact on power generation efficiency. Roller brush cleaning robots are widely used in automated cleaning operations of photovoltaic power plants. The contact pressure of the roller brush on the photovoltaic panel surface is a core parameter affecting the cleaning effect—too little pressure results in incomplete cleaning, while too much pressure may damage the glass surface. Therefore, maintaining a constant pressure between the roller brush and the photovoltaic panel is crucial to ensuring cleaning quality. Summary of the Invention

[0003] The purpose of this application is to provide a roller brush module and its control method, as well as a cleaning robot, in response to at least one of the technical problems mentioned in the background art.

[0004] To achieve the above objectives, this application adopts the following technical solution: One aspect of this application provides a roller brush module, including a roller brush assembly, a first compensation assembly, and a second compensation assembly. The roller brush assembly includes a roller brush, and the first compensation assembly includes a first substrate and an elastic member. The roller brush assembly is mounted on the first substrate via the elastic member, and the elastic member is used to apply an elastic force to the roller brush assembly in a first direction. The second compensation component includes a second base plate and a linear motor. The first base plate is mounted on the second base plate via the linear motor so that the linear motor drives the roller brush assembly and the first compensation component to move in the first direction. The first direction is perpendicular to the axial direction of the roller brush, and the first direction is parallel to the second substrate.

[0005] Optionally, the first compensation component includes a plurality of first guide rails mounted on the first substrate, with each first guide rail evenly distributed in a second direction, and the length direction of each first guide rail parallel to the first direction. The roller brush assembly includes a roller brush substrate and a plurality of first sliders mounted on the roller brush substrate. The roller brush is mounted on the roller brush substrate, and each first slider is slidably engaged with each first guide rail in a one-to-one correspondence. Each first slider is located on the side of the second substrate away from the roller brush, and the roller brush substrate is arranged parallel to the second substrate. The second direction is parallel to the axial direction of the roller brush.

[0006] The beneficial effects of this technical solution are as follows: By installing multiple first guide rails on the first substrate and installing first sliders that slide in a one-to-one correspondence with each first guide rail on the roller brush substrate, with each first slider located on the side of the second substrate away from the roller brush, the roller brush assembly is constrained by multiple first guide rails when moving along the first direction. The multiple first guide rails are evenly distributed in the second direction, which helps to reduce the tendency of the roller brush substrate to deflect around the axis of the first direction during movement, and reduces the risk of jamming of the roller brush assembly due to uneven force. The roller brush substrate is set parallel to the second substrate, so that the driving force direction of the linear motor is consistent with the guiding direction of each first guide rail, and the displacement path of the roller brush assembly along the first direction coincides with the extension and retraction direction of the linear motor, which is beneficial for the driving force of the linear motor to be transmitted to the roller brush through the first substrate and the roller brush substrate.

[0007] Optionally, the elastic element is a spring, the axis of the spring is parallel to the first direction, the spring is disposed below the first slider, and the spring abuts against the first slider in the first direction.

[0008] The beneficial effects of this technical solution are as follows: the direction of the elastic force applied by the spring to the roller brush assembly is consistent with the direction of gravity of the roller brush. The spring transmits the elastic force to the roller brush substrate and the roller brush through the first slider. The elastic force and the driving force of the linear motor are superimposed in the first direction and act together on the roller brush. The spring abuts against the bottom of the first slider, so that the roller brush assembly can compress the spring and slide along the first guide rail when it is subjected to the reaction force of the photovoltaic panel, providing the roller brush with floating displacement space in the first direction.

[0009] Optionally, the first compensation component further includes a base plate fixed to the first substrate, the base plate being perpendicular to the first direction, and the end of the spring away from the first slider in the first direction cooperating with the base plate.

[0010] The beneficial effects of this technical solution are as follows: the spring is confined in the first direction between the first slider and the bottom plate, the bottom plate provides a fixed support reference for the spring, the compression of the spring changes with the displacement of the first slider in the first direction, a definite correspondence is formed between the change of the spring force and the displacement of the first slider, the bottom plate is fixed to the first base plate as an independent component, and the installation position and pre-compression of the spring can be set by the installation position of the bottom plate relative to the first base plate.

[0011] Optionally, the first compensation component further includes a groove fixed to the base plate, and the end of the spring located near the base plate is disposed in the groove.

[0012] The beneficial effects of this technical solution are as follows: In this way, the groove is fixed to the base plate, and the end of the spring located near the base plate is set in the groove. The groove forms a radial limit on the end of the spring, restricting the displacement of the end of the spring in a plane perpendicular to the first direction. During the extension and retraction of the spring, the tendency of the spring axis to deviate relative to the first direction is constrained by the inner wall of the groove, and the coincidence of the extension and retraction direction of the spring with the first direction is maintained. After the end of the spring is limited by the groove, the consistency between the direction of the spring force applied to the first slider and the first direction is improved. At the same time, the groove is fixed to the base plate as an independent component, which facilitates the positioning and assembly between the spring and the base plate.

[0013] Optionally, the first compensation component further includes a support top plate fixed to the first base plate, the support top plate being arranged parallel to the bottom support plate, the spring, the first slider and the first guide rail being located between the support top plate and the bottom support plate, and the output shaft of the linear motor being vertically fixed to the support top plate.

[0014] The beneficial effects of this technical solution are as follows: In this way, the driving force of the linear motor is transmitted to the supporting top plate via the output shaft, and then to the first base plate via the supporting top plate, and then to the roller brush assembly via the first guide rail and the first slider. The space between the supporting top plate and the bottom support plate accommodates the spring, the first slider and the first guide rail. The components are arranged sequentially along the first direction between the supporting top plate and the bottom support plate, and the assembly structure is compact.

[0015] Optionally, the second compensation component includes a plurality of second guide rails mounted on the second substrate, each second guide rail being evenly distributed in the second direction, and the first compensation component includes a plurality of second sliders mounted on the first substrate, each second slider being slidably engaged with each second guide rail in a one-to-one correspondence.

[0016] The beneficial effects of this technical solution are as follows: the movement of the first compensation component relative to the second substrate is constrained by multiple second guide rails. The uniform arrangement of each second guide rail in the second direction helps to reduce the tendency of the first substrate to deflect around the first direction axis during movement. The second guide rail and the first guide rail are respectively disposed on the second substrate and the first substrate, and are uniformly distributed in the second direction to form a guide structure between the first compensation component and the second compensation component and a guide structure between the first compensation component and the roller brush component. The two guide structures are arranged compactly.

[0017] Another aspect of this application provides a cleaning robot including the roller brush module provided in this application.

[0018] A third aspect of this application provides a control method for a roller brush module. The control method is implemented using the roller brush module provided in this application. The roller brush module further includes a controller and a pressure sensor. Both the pressure sensor and the linear motor are communicatively connected to the controller. The pressure sensor is used to collect real-time data on the pressure exerted by the roller brush assembly on the surface of the photovoltaic panel. The method includes: The pressure signal collected by the pressure sensor is acquired in real time, and the current pressure value and the current pressure change rate are determined based on the pressure signal. When the current pressure change rate is less than the first change rate threshold, the controller controls the linear motor to extend along the first direction at a first speed until the current pressure value is restored to the target pressure value; When the current pressure change rate is greater than the second change rate threshold, the controller controls the linear motor to contract along the first direction at a second speed until the current pressure value is restored to the target pressure value; When the current pressure value is less than the first pressure threshold and the current pressure change rate is greater than the third change rate threshold and less than the fourth change rate threshold, the controller controls the linear motor to extend along the first direction at a third speed until the current pressure value is restored to the target pressure value. Wherein, the first rate of change threshold is negative, the second rate of change threshold is positive, the third rate of change threshold is greater than the first rate of change threshold and less than zero, the fourth rate of change threshold is greater than zero and less than the second rate of change threshold, the first speed is greater than the third speed, and the second speed is greater than the third speed.

[0019] Optionally, when the current pressure change rate is less than a first change rate threshold, the controller controls the linear motor to extend along the first direction at a first speed until the current pressure value recovers to the target pressure value, including: When the current pressure change rate is less than the first change rate threshold, the controller controls the linear motor to extend along the first direction at the first speed. During the extension process, the controller continuously acquires the real-time pressure signal collected by the pressure sensor. When the real-time pressure value recovers to the target pressure value, the controller controls the linear motor to stop extending and maintain the current position.

[0020] The beneficial effect of this technical solution is that, in the process of the linear motor extending along the first direction at the first speed, the controller continuously acquires the real-time pressure signal collected by the pressure sensor, and uses the real-time pressure value to restore the target pressure value as the control basis for the linear motor to stop extending and maintain the current position, thereby forming a complete closed-loop control link from pressure signal acquisition, controller judgment to the termination of linear motor action.

[0021] The technical solution provided in this application can achieve at least one of the following beneficial effects: The roller brush module and its control method, as well as the cleaning robot provided in this application, are mounted on a first substrate by setting an elastic element, which applies elastic force to the roller brush assembly in a first direction. The first substrate is mounted on a second substrate by a linear motor, which drives the roller brush assembly and the first compensation assembly to move as a whole in the first direction, thereby forming a double-layer compensation structure formed by the linear motor and the elastic element. This helps to maintain constant pressure between the roller brush and the photovoltaic panel. Moreover, in this double-layer compensation structure, the elastic force applied by the elastic element to the roller brush assembly can bear the weight of the roller brush and absorb the instantaneous impact during the cleaning process. This reduces the response frequency and displacement amplitude of the linear motor to high-frequency disturbances, allowing the linear motor to mainly compensate for the slow positional drift of the elastic element caused by roller brush wear. After the adjustment frequency of the linear motor is reduced, its reciprocating stroke and cumulative number of actions are correspondingly reduced, which helps to extend the service life of the linear motor and reduce the failure rate.

[0022] The additional technical features and advantages of this application will become more apparent from the following description or from practical application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the specific embodiments of this application, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 A three-dimensional structural schematic diagram of one embodiment of the roller brush module provided in this application; Figure 2 This is a left-side structural schematic diagram of one embodiment of the roller brush module provided in this application.

[0025] Figure label: 01. Second substrate; 02. Linear motor; 03. Support plate; 04. Roller brush substrate; 06. Second guide rail; 07. First substrate; 08. Elastic components; 09. Roller brush motor; 10. Roller brush; 11. First guide rail; 12. Container trough; 13. Base plate; 14. First slider; 15. Second slider. Detailed Implementation

[0026] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. 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.

[0027] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] like Figure 1 and Figure 2 As shown, one aspect of this application provides a roller brush module, including a roller brush assembly, a first compensation assembly, and a second compensation assembly. The roller brush assembly includes a roller brush 10. The first compensation assembly includes a first substrate 07 and an elastic member 08. The roller brush assembly is mounted on the first substrate 07 via the elastic member 08. The elastic member 08 is used to apply elastic force to the roller brush assembly in a first direction. The second compensation component includes a second substrate 01 and a linear motor 02. The first substrate 07 is mounted on the second substrate 01 via the linear motor 02 so that the linear motor 02 can drive the roller brush assembly and the first compensation component to move in the first direction. The first direction is perpendicular to the axial direction of the roller brush 10 and parallel to the second substrate 01.

[0030] The roller brush module provided in this application mounts the roller brush assembly onto the first substrate 07 using an elastic element 08, which applies a spring force to the roller brush assembly in a first direction. A linear motor 02 mounts the first substrate 07 onto the second substrate 01, and the linear motor 02 drives the roller brush assembly and the first compensation assembly to move together in the first direction, forming a double-layer compensation structure composed of the linear motor 02 and the elastic element 08. This structure helps maintain constant pressure between the roller brush 10 and the photovoltaic panel. Furthermore, in this double-layer compensation structure, the spring force applied by the elastic element 08 to the roller brush assembly can bear the weight of the roller brush 10 and absorb instantaneous impacts during the cleaning process, reducing the response frequency and displacement amplitude of the linear motor 02 to high-frequency disturbances. This allows the linear motor 02 to primarily compensate for the wear and tear caused by the roller brush 10 on the elastic element 08. With slow position drift, the adjustment frequency of the linear motor 02 is reduced, which correspondingly reduces its reciprocating stroke and cumulative number of actions, thus helping to extend the service life of the linear motor 02 and reduce the failure rate. At the same time, the pressure provided by the elastic element 08 and the active displacement applied by the linear motor 02 are superimposed and act on the roller brush assembly in the first direction. Under the constraint that the first direction is perpendicular to the axis of the roller brush 10 and parallel to the second substrate 01, the driving force direction of the linear motor 02 is consistent with the gravity direction of the roller brush assembly, which is beneficial to maintaining the stability of the contact pressure during the use of the roller brush 10. Moreover, the first compensation component and the second compensation component are arranged along the stack, and the roller brush assembly, the first substrate 07 and the second substrate 01 are arranged in sequence. The assembly layers between the components are clear, the overall structure is compact, and it is easy to integrate and install in the limited space of the cleaning robot.

[0031] Optionally, the first compensation component includes a plurality of first guide rails 11 mounted on the first substrate 07, with each first guide rail 11 evenly distributed in the second direction, and the length direction of each first guide rail 11 parallel to the first direction. The roller brush assembly includes a roller brush substrate 04 and a plurality of first sliders 14 mounted on the roller brush substrate 04. The roller brush 10 is mounted on the roller brush substrate 04, and each first slider 14 is slidably engaged with each first guide rail 11 in a one-to-one correspondence. Each first slider 14 is located on the side of the second substrate 01 opposite to the roller brush 10. The roller brush substrate 04 is arranged parallel to the second substrate 01, and the second direction is parallel to the axial direction of the roller brush 10. In this way, by installing multiple first guide rails 11 on the first substrate 07 and installing first sliders 14 on the roller brush substrate 04 that slide in a one-to-one correspondence with each of the first guide rails 11, and with each first slider 14 located on the side of the second substrate 01 away from the roller brush 10, the roller brush assembly is constrained by multiple first guide rails 11 when moving along the first direction. The multiple first guide rails 11 are evenly distributed in the second direction, which helps to reduce the tendency of the roller brush substrate 04 to deflect around the axis of the first direction during movement, and reduces the risk of jamming of the roller brush assembly due to uneven force. The roller brush substrate 04 is set parallel to the second substrate 01, so that the driving force direction of the linear motor 02 is consistent with the guiding direction of each first guide rail 11, and the displacement path of the roller brush assembly along the first direction coincides with the extension and retraction direction of the linear motor 02, which is beneficial for the driving force of the linear motor 02 to be transmitted to the roller brush 10 through the first substrate 07 and the roller brush substrate 04.

[0032] Optionally, the roller brush assembly further includes a roller brush motor 09, and the roller brush 10 is mounted on the roller brush base plate 04 via the roller brush motor 09. The roller brush 10 is driven by the roller brush motor 09 to rotate around its own axis to achieve the cleaning operation.

[0033] Optionally, the elastic element 08 is a spring, with its axis parallel to the first direction. The spring is positioned below the first slider 14, and in the first direction, it abuts against the first slider 14. Preferably, the spring stiffness is 0.5 N / mm to 2 N / mm. This ensures that the direction of the spring force applied to the roller brush assembly is consistent with the direction of gravity of the roller brush 10. The spring transmits the spring force to the roller brush substrate 04 and the roller brush 10 through the first slider 14, so that the spring force and the driving force of the linear motor 02 are superimposed in the first direction and act together on the roller brush 10. The spring abuts against the lower part of the first slider 14, allowing the roller brush assembly to compress the spring and slide along the first guide rail 11 when subjected to the reaction force of the photovoltaic panel, providing floating displacement space for the roller brush 10 in the first direction. Preferably, the upper end of the spring abuts against the lower surface of the first slider 14, and the lower end of the spring directly or indirectly cooperates with the first substrate 07. There are multiple springs, and they are evenly distributed in the second direction.

[0034] Preferably, the first compensation component includes two elastic elements 08, which are disposed at both ends of the first substrate 07 in a one-to-one correspondence in the second direction.

[0035] Optionally, the first compensation component further includes a base plate 13 fixed to the first substrate 07. The base plate 13 is perpendicular to the first direction, and the end of the spring away from the first slider 14 in the first direction engages with the base plate 13. This confines the spring between the first slider 14 and the base plate 13 in the first direction. The base plate 13 provides a fixed support reference for the spring. The compression of the spring varies with the displacement of the first slider 14 along the first direction, and a definite correspondence is formed between the change in spring force and the displacement of the first slider 14. The base plate 13 is fixed to the first substrate 07 as an independent component, and the installation position and pre-compression of the spring can be set by the installation position of the base plate 13 relative to the first substrate 07. Preferably, the base plate 13 is fixed to the side surface of the first substrate 07 facing the roller brush assembly, and the base plate 13 is located below the first slider 14. The lower end of the spring abuts against the upper surface of the base plate 13, and the upper end of the spring abuts against the lower surface of the first slider 14.

[0036] Optionally, the first compensation component further includes a receiving groove 12 fixed to the base plate 13, with the end of the spring located near the base plate 13 disposed within the receiving groove 12. Thus, the receiving groove 12 is fixed to the base plate 13, and the end of the spring located near the base plate 13 is disposed within the receiving groove 12. The receiving groove 12 provides radial restraint to the end of the spring, limiting displacement of the spring end in a plane perpendicular to the first direction. During the extension and retraction of the spring, the tendency of the spring's axis to deviate relative to the first direction is constrained by the inner wall of the receiving groove 12, maintaining the overlap between the spring's extension / retraction direction and the first direction. After the spring end is restrained by the receiving groove 12, the consistency between the spring force applied to the first slider 14 and the first direction is improved. Simultaneously, the receiving groove 12, as an independent component fixed to the base plate 13, facilitates the positioning and assembly between the spring and the base plate 13. Preferably, the receiving groove 12 is disposed on the upper surface of the base plate 13, the opening of the receiving groove 12 faces the first slider 14, and the radial dimension of the receiving groove 12 is adapted to the outer diameter of the spring; the receiving groove 12 is welded to or fixed to the surface of the base plate 13 facing the first slider 14 by fasteners.

[0037] Optionally, the first compensation assembly further includes a supporting top plate 03 fixed to the first base plate 07. The supporting top plate 03 is arranged parallel to the bottom support plate 13. The spring, the first slider 14, and the first guide rail 11 are all located between the supporting top plate 03 and the bottom support plate 13. The output shaft of the linear motor 02 is vertically fixed to the supporting top plate 03. In this way, the driving force of the linear motor 02 is transmitted to the supporting top plate 03 via the output shaft, and then transmitted from the supporting top plate 03 to the first base plate 07, and then transmitted to the roller brush assembly via the first guide rail 11 and the first slider 14. The space between the supporting top plate 03 and the bottom support plate 13 accommodates the spring, the first slider 14, and the first guide rail 11. The components are arranged sequentially along the first direction between the supporting top plate 03 and the bottom support plate 13, resulting in a compact assembly structure. Preferably, the supporting top plate 03 is fixed to the surface of the first substrate 07 opposite to the roller brush assembly, the body of the linear motor 02 is fixed to the second substrate 01, and the output shaft of the linear motor 02 is fixed to the surface of the supporting top plate 03 opposite to the first substrate 07. The extension and retraction direction of the output shaft of the linear motor 02, the length direction of the first guide rail 11, the axial direction of the spring, and the first direction are parallel to each other.

[0038] Optionally, the second compensation component includes a plurality of second guide rails 06 mounted on the second substrate 01, with each second guide rail 06 evenly distributed in the second direction. The first compensation component includes a plurality of second sliders 15 mounted on the first substrate 07, with each second slider 15 slidingly engaging with each second guide rail 06 in a one-to-one correspondence. This constrains the movement of the first compensation component relative to the second substrate 01 by the plurality of second guide rails 06. The even distribution of each second guide rail 06 in the second direction helps to reduce the tendency of the first substrate 07 to deflect around the first direction axis during movement. The second guide rails 06 and the first guide rails 11 are respectively disposed on the second substrate 01 and the first substrate 07, and are evenly distributed in the second direction, forming a guide structure between the first compensation component and the second compensation component and a guide structure between the first compensation component and the roller brush component. The two guide structures are compactly arranged. Preferably, each second guide rail 06 is fixed to the surface of the second substrate 01 facing the first substrate 07, and the length direction of each second guide rail 06 is parallel to the first direction. Each of the second sliders 15 is fixed to the surface of the first substrate 07 facing the second substrate 01, and each of the second sliders 15 is embedded in the corresponding second guide rail 06 and slides along the second guide rail 06. The first compensation component reciprocates relative to the second substrate 01 along the second guide rail 06 in the first direction.

[0039] Optionally, the roller brush module further includes a controller and a pressure sensor, both of which are communicatively connected to the controller. The pressure sensor is used to collect the driving force applied to the roller brush assembly by the linear motor 02 in real time and convert it into an electrical signal, which is then sent to the controller. The controller controls the extension direction and speed of the linear motor 02 based on the pressure signal collected by the pressure sensor. Preferably, the pressure sensor is disposed between the output shaft of the linear motor 02 and the supporting top plate 03, or between the supporting top plate 03 and the first substrate 07. The pressure sensor bears the driving force applied to the roller brush assembly by the linear motor 02 in the first direction and converts this driving force into an electrical signal, which is then sent to the controller. The electrical signal collected by the pressure sensor corresponds to the contact pressure of the roller brush assembly on the photovoltaic panel surface.

[0040] Another aspect of this application provides a cleaning robot including the roller brush module provided in this application.

[0041] The cleaning robot provided in this application utilizes the roller brush module provided in this application. An elastic element 08 is used to mount the roller brush assembly onto the first substrate 07, allowing the elastic element 08 to apply a spring force to the roller brush assembly in a first direction. A linear motor 02 mounts the first substrate 07 onto the second substrate 01, driving the roller brush assembly and the first compensation assembly to move together in the first direction. This forms a double-layer compensation structure composed of the linear motor 02 and the elastic element 08, which helps maintain constant pressure between the roller brush 10 and the photovoltaic panel. Furthermore, in this double-layer compensation structure, the spring force applied by the elastic element 08 to the roller brush assembly can bear the weight of the roller brush 10 and absorb instantaneous impacts during the cleaning process, reducing the response frequency and displacement amplitude of the linear motor 02 to high-frequency disturbances. This allows the linear motor 02 to primarily compensate for the impact of the roller brush 08 on the roller brush assembly. The slow positional drift caused by the wear of brush 10 reduces the adjustment frequency of linear motor 02, thereby reducing its reciprocating stroke and cumulative number of actions, which helps to extend the service life of linear motor 02 and reduce the failure rate. At the same time, the pressure provided by elastic element 08 and the active displacement applied by linear motor 02 are superimposed and act on the roller brush assembly in the first direction. Under the constraint that the first direction is perpendicular to the axis of roller brush 10 and parallel to the second substrate 01, the driving force direction of linear motor 02 is consistent with the gravity direction of roller brush assembly, which helps to maintain the stability of contact pressure during the use of roller brush 10. Moreover, the first compensation component and the second compensation component are arranged along the stack, and the roller brush assembly, the first substrate 07 and the second substrate 01 are arranged in sequence. The assembly layers between components are clear, the overall structure is compact, and it is easy to integrate and install in the limited space of the cleaning robot.

[0042] Preferably, the cleaning robot provided in this application further includes a cleaning robot body and a walking module. The walking module is installed on the cleaning robot body and is used to drive the cleaning robot to move on the surface of the photovoltaic panel. The roller brush module is installed on the cleaning robot body through the second substrate 01. During the movement of the cleaning robot, the roller brush 10 of the roller brush module contacts the surface of the photovoltaic panel and rotates around the axial direction of the roller brush 10 to clean the dust on the surface of the photovoltaic panel. In one embodiment of this application, the linear motor is a 57 through-type trapezoidal linear screw stepper motor manufactured by Guangzhou Xinda Technology.

[0043] A third aspect of this application provides a control method for a roller brush module. The control method is implemented using the roller brush module provided in this application. The roller brush module further includes a controller and a pressure sensor. Both the pressure sensor and the linear motor O2 are communicatively connected to the controller. The pressure sensor is used to collect real-time data on the pressure exerted by the roller brush assembly on the surface of the photovoltaic panel. The method includes: Step 100: Acquire the pressure signal collected by the pressure sensor in real time, and determine the current pressure value and the current pressure change rate based on the pressure signal; Step 200: When the current pressure change rate is less than the first change rate threshold, the controller controls the linear motor 02 to extend along the first direction at a first speed until the current pressure value is restored to the target pressure value; Step 300: When the current pressure change rate is greater than the second change rate threshold, the controller controls the linear motor 02 to contract along the first direction at a second speed until the current pressure value is restored to the target pressure value; Step 400: When the current pressure value is less than the first pressure threshold and the current pressure change rate is greater than the third change rate threshold and less than the fourth change rate threshold, the controller controls the linear motor 02 to extend along the first direction at the third speed until the current pressure value is restored to the target pressure value; Wherein, the first rate of change threshold is negative, the second rate of change threshold is positive, the third rate of change threshold is greater than the first rate of change threshold and less than zero, the fourth rate of change threshold is greater than zero and less than the second rate of change threshold, the first speed is greater than the third speed, and the second speed is greater than the third speed.

[0044] In this embodiment, the target pressure value is a preset target contact pressure value of the roller brush assembly on the photovoltaic panel surface, for example, the target pressure value can be set to 30N; the first pressure threshold is less than the target pressure value, for example, the first pressure threshold can be set to 25N; the first rate of change threshold and the second rate of change threshold are used to distinguish between a sudden drop in pressure and a sudden increase in pressure caused by abrupt changes in terrain, and the third rate of change threshold and the fourth rate of change threshold are used to define the pressure reduction range caused by brush wear. Preferably, the first rate of change threshold ranges from -5N / s to -1N / s, the second rate of change threshold ranges from 1N / s to 5N / s, the third rate of change threshold ranges from -0.5N / s to -0.1N / s, and the fourth rate of change threshold ranges from 0.1N / s to 0.5N / s; the current pressure change rate is the derivative of the current pressure value with respect to time, and the controller continuously acquires the pressure at a preset sampling period. The sensor collects pressure signals and calculates the current pressure change rate based on the ratio of the difference between two adjacent pressure values ​​to the sampling time interval. Preferably, the preset sampling period is 1 millisecond to 10 milliseconds. Before the cleaning operation begins, the controller controls the linear motor 02 to extend, pushing the roller brush assembly to move along the first direction until the roller brush 10 contacts the photovoltaic panel surface, until the pressure value collected by the pressure sensor reaches the target pressure value (e.g., 30N). The controller then controls the linear motor 02 to maintain its current position and completes initialization. During the process of the linear motor 02 extending along the first direction at the first speed, if the current pressure change rate changes from less than the first change rate threshold to greater than or equal to the first change rate threshold and the current pressure value has not yet recovered to the target pressure value, the controller controls the linear motor 02 to continue extending at the first speed until the current pressure value recovers to the target pressure value. During the process of the linear motor 02 contracting along the first direction at the second speed, if the current pressure change rate changes from greater than the second change rate threshold to less than or equal to the second change rate threshold and the current pressure value has not yet recovered to the target pressure value, the controller controls the linear motor 02 to continue contracting at the second speed until the current pressure value recovers to the target pressure value.

[0045] The brush module control method provided in this application collects the pressure signal of the brush assembly against the photovoltaic panel surface in real time through a pressure sensor. The controller determines the current pressure value and the current pressure change rate based on the pressure signal, and uses the current pressure change rate as a criterion to classify the contact state between the brush assembly and the photovoltaic panel surface into three working conditions: pressure drop, pressure increase, and pressure decrease. Under these three working conditions, the controller controls the linear motor 02 to extend at a first speed, retract at a second speed, and extend at a third speed, respectively. This ensures that the linear motor 02 responds at a higher speed during pressure drop and pressure increase, and at a lower speed during pressure decrease, thereby addressing millisecond-level pressure fluctuations caused by terrain changes and brush wear within the same control framework. The hourly pressure drift is compensated for by matching displacement. At the same time, the first rate of change threshold is negative and the second rate of change threshold is positive. The third rate of change threshold is greater than the first rate of change threshold and less than zero. The fourth rate of change threshold is greater than zero and less than the second rate of change threshold. This makes the rate of change intervals corresponding to the pressure drop condition, the pressure drop condition, and the pressure increase condition arranged sequentially on the number axis and do not overlap. The judgment boundary of each condition is clear. The linear motor 02 is only triggered when the pressure change rate falls into the corresponding interval. The frequency of the linear motor 02 in slow compensation mode is lower than the frequency of the linear motor 02 in fast response mode, which helps to reduce the cumulative number of actions and stroke of the linear motor 02 throughout the entire working period.

[0046] Optionally, step 200 includes: Step 210: When the current pressure change rate is less than the first change rate threshold, the controller controls the linear motor 02 to extend along the first direction at the first speed. During the extension process, the controller continuously acquires the real-time pressure signal collected by the pressure sensor. When the real-time pressure value recovers to the target pressure value (e.g., 30N), the controller controls the linear motor 02 to stop extending and maintain the current position.

[0047] Thus, as the linear motor 02 extends along the first direction at the first speed, the controller continuously acquires the real-time pressure signal collected by the pressure sensor. The controller uses the recovery of this real-time pressure value to the target pressure value as the basis for stopping the linear motor 02's extension and maintaining its current position, thereby forming a complete closed-loop control link from pressure signal acquisition and controller judgment to the termination of the linear motor 02's action. In the roller brush module control method provided in this application, the timing of the linear motor 02 stopping its extension is directly related to the actual contact pressure of the roller brush assembly on the photovoltaic panel surface, preventing the linear motor 02 from continuing to extend after the pressure value has recovered to the target value, which would cause the pressure of the roller brush assembly on the photovoltaic panel surface to exceed the target pressure value. After stopping its extension, the linear motor 02 maintains its current position, with the mover of the linear motor 02 remaining stationary at its current displacement, and the contact pressure between the roller brush assembly and the photovoltaic panel surface maintained at the target pressure value (e.g., 30N).

[0048] Optionally, step 200 further includes: Step 220: The controller records the cumulative extension displacement of the linear motor 02 during the extension process. When the cumulative extension displacement reaches the preset upper limit value, the controller controls the linear motor 02 to stop extending and issues an alarm signal.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A roller brush module, characterized in that, The device includes a roller brush assembly, a first compensation assembly, and a second compensation assembly. The roller brush assembly includes a roller brush, and the first compensation assembly includes a first substrate and an elastic element. The roller brush assembly is mounted on the first substrate via the elastic element, and the elastic element is used to apply elastic force to the roller brush assembly in a first direction. The second compensation component includes a second substrate and a linear motor. The first substrate is mounted on the second substrate via the linear motor so that the linear motor drives the roller brush assembly and the first compensation component to move in the first direction. The first direction is perpendicular to the axial direction of the roller brush, and the first direction is parallel to the second substrate.

2. The roller brush module according to claim 1, characterized in that, The first compensation component includes a plurality of first guide rails mounted on the first substrate. The first guide rails are evenly distributed in a second direction, and the length direction of each first guide rail is parallel to the first direction. The roller brush component includes a roller brush substrate and a plurality of first sliders mounted on the roller brush substrate. The roller brush is mounted on the roller brush substrate. Each first slider is slidably engaged with each first guide rail in a one-to-one correspondence. Each first slider is located on the side of the second substrate away from the roller brush. The roller brush substrate is arranged parallel to the second substrate, and the second direction is parallel to the axial direction of the roller brush.

3. The roller brush module according to claim 2, characterized in that, The elastic element is a spring, the axis of the spring is parallel to the first direction, the spring is located below the first slider, and the spring abuts against the first slider in the first direction.

4. The roller brush module according to claim 3, characterized in that, The first compensation component further includes a base plate fixed to the first substrate. The base plate is perpendicular to the first direction, and the end of the spring away from the first slider in the first direction cooperates with the base plate.

5. The roller brush module according to claim 4, characterized in that, The first compensation component also includes a groove fixed to the base plate, and the end of the spring located near the base plate is disposed in the groove.

6. The roller brush module according to claim 4, characterized in that, The first compensation component further includes a support top plate fixed to the first base plate. The support top plate is arranged parallel to the bottom support plate. The spring, the first slider, and the first guide rail are all located between the support top plate and the bottom support plate. The output shaft of the linear motor is vertically fixed to the support top plate.

7. The roller brush module according to claim 6, characterized in that, The second compensation component includes a plurality of second guide rails mounted on the second substrate, each second guide rail being evenly distributed in the second direction. The first compensation component includes a plurality of second sliders mounted on the first substrate, each second slider being slidably engaged with each second guide rail in a one-to-one correspondence.

8. A cleaning robot, characterized in that, Includes the roller brush module as described in any one of claims 1 to 7.

9. A method for controlling a roller brush module, characterized in that, The control method is implemented using the roller brush module as described in any one of claims 1 to 7. The roller brush module further includes a controller and a pressure sensor. The pressure sensor and the linear motor are both communicatively connected to the controller. The pressure sensor is used to collect real-time data on the pressure of the roller brush assembly on the surface of the photovoltaic panel. The method includes: The pressure signal collected by the pressure sensor is acquired in real time, and the current pressure value and the current pressure change rate are determined based on the pressure signal. When the current pressure change rate is less than the first change rate threshold, the controller controls the linear motor to extend along the first direction at a first speed until the current pressure value is restored to the target pressure value; When the current pressure change rate is greater than the second change rate threshold, the controller controls the linear motor to contract along the first direction at a second speed until the current pressure value is restored to the target pressure value; When the current pressure value is less than the first pressure threshold and the current pressure change rate is greater than the third change rate threshold and less than the fourth change rate threshold, the controller controls the linear motor to extend along the first direction at a third speed until the current pressure value is restored to the target pressure value. Wherein, the first rate of change threshold is negative, the second rate of change threshold is positive, the third rate of change threshold is greater than the first rate of change threshold and less than zero, the fourth rate of change threshold is greater than zero and less than the second rate of change threshold, the first speed is greater than the third speed, and the second speed is greater than the third speed.

10. The roller brush module control method according to claim 9, characterized in that, When the current pressure change rate is less than a first change rate threshold, the controller controls the linear motor to extend along the first direction at a first speed until the current pressure value recovers to the target pressure value, including: When the current pressure change rate is less than the first change rate threshold, the controller controls the linear motor to extend along the first direction at the first speed. During the extension process, the controller continuously acquires the real-time pressure signal collected by the pressure sensor. When the real-time pressure value recovers to the target pressure value, the controller controls the linear motor to stop extending and maintain the current position.

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