Photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot which is used for cleaning photovoltaic modules, the photovoltaic modules comprise a first photovoltaic module and a second photovoltaic module, and a gap is formed between the first photovoltaic module and the second photovoltaic module. The photovoltaic cleaning robot comprises a body, a first walking device, a controller, a visual recognition device and a second walking device. The first walking device is arranged at one end of the body in the length direction. The controller is arranged on the body and electrically connected with the first walking device. The visual recognition device is arranged at the top of the body and electrically connected with the controller. The at least one second walking device is rotationally arranged on the side, in the advancing direction of the photovoltaic cleaning robot, of the first walking device, the second walking device is provided with a first position and a second position relative to the first walking device, and the second walking device is electrically connected with the controller. In this way, the photovoltaic cleaning robot can smoothly pass through the photovoltaic module without installing a bridge.

Description

Technical Field

[0001] The utility model relates to the photovoltaic field, in particular to a photovoltaic cleaning robot. Background Art

[0002] Currently, cleaning robots walk on the component surfaces of photovoltaic brackets when working. If they want to work across brackets, they need to install bridges between adjacent photovoltaic brackets. It is very difficult to install bridges between brackets with short spacing. Not only do they need to adapt to the angle and height differences in the north-south and east-west directions, but they also require manual installation. Since photovoltaic brackets are relatively high, there are certain safety risks in installation and the installation cost is relatively high.

[0003] Therefore, it is necessary to provide a photovoltaic cleaning robot to solve the above problems. Utility Model Content

[0004] The utility model aims to provide a photovoltaic cleaning robot which can automatically cross photovoltaic components with short spacing to reduce labor and maintenance costs.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A photovoltaic cleaning robot is used for cleaning a photovoltaic assembly, wherein the photovoltaic assembly comprises a first photovoltaic assembly and a second photovoltaic assembly, wherein a gap is provided between the first photovoltaic assembly and the second photovoltaic assembly, and comprises:

[0007] ontology;

[0008] A first walking device, arranged at one end of the body in the length direction;

[0009] A controller, disposed on the top of the body, the controller being electrically connected to the first walking device;

[0010] A visual recognition device, disposed on the top of the body, the visual recognition device being electrically connected to the controller;

[0011] A second walking device, at least one of which is rotatably arranged on one side of the first walking device along the traveling direction of the photovoltaic cleaning robot, the second walking device has a first position and a second position relative to the first walking device, and the second walking device is electrically connected to the controller;

[0012] When the photovoltaic cleaning robot moves on the first photovoltaic component and approaches the gap, the visual recognition device identifies the distance of the gap. If the first walking device cannot pass through the gap, the controller controls the second walking device to rotate from the first position to the second position, and the free end of the second walking device contacts the second photovoltaic component, and the first walking device is driven to move toward the second photovoltaic component through the second walking device.

[0013] Furthermore, the second walking devices include two, the two second walking devices are respectively arranged on both sides of the first walking device along the traveling direction of the photovoltaic cleaning robot, and the two second walking devices are symmetrically arranged along the center line of the first walking device.

[0014] Furthermore, the second walking device includes a first bracket, a first motor and a first walking wheel, a fixed seat is provided on the first walking device, one end of the first bracket is pivotally set on the fixed seat, the first motor is electrically connected to the controller, the driving end of the first motor is connected to one end of the first bracket, and the first walking wheel is rotatably set at the other end of the first bracket away from the second walking device.

[0015] Furthermore, the fixing seat includes a base and fixing parts vertically arranged on both sides of the base, one end of the first bracket is arranged between the two fixing parts, one of the fixing parts has a fixing hole, and the driving end of the first motor passes through the fixing hole and is connected to one end of the first bracket.

[0016] Furthermore, the second walking device also includes a first guide wheel, which is arranged at the other end of the first bracket, and the rotation axis of the first guide wheel is perpendicular to the rotation axis of the first walking wheel.

[0017] Furthermore, the main body includes two relatively arranged long sides and two relatively arranged short sides, the two long sides extend along the length direction of the main body, the two short sides extend along the width direction of the main body, the two long sides and the two short sides are connected end to end in sequence to form a rectangular frame, the first walking device includes a first shell, the first shell is arranged on one of the short sides, and the two fixed seats are symmetrically arranged on both sides of the first shell.

[0018] Furthermore, the first walking device also includes a second motor, a first gear assembly, a second walking wheel and a second guide wheel. The first gear assembly is arranged in the first shell, the driving end of the second motor is connected to the first gear assembly, the second walking wheel and the second guide wheel are respectively connected to the first gear assembly, and the rotation axis of the second walking wheel is perpendicular to the rotation axis of the second guide wheel.

[0019] Furthermore, the photovoltaic cleaning robot also includes a supporting frame, which is arranged on the top of the two long sides and connected to the two long sides, and the visual recognition device is arranged on the supporting frame.

[0020] Furthermore, the support bracket is arranged close to the first walking device.

[0021] Furthermore, the photovoltaic cleaning robot also includes a third walking device and a brush member. The third walking device is arranged at the other end of the main body relative to the first walking device, the brush member is arranged at the bottom of the main body, and the opposite ends of the brush member are respectively connected to the first walking device and the third walking device.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] The utility model discloses a photovoltaic cleaning robot, which is used for cleaning photovoltaic components. The photovoltaic cleaning robot comprises a body, a first walking device, a controller, a visual recognition device and a second walking device.

[0024] 1. The first walking device is arranged at one end of the main body in the length direction to drive the main body to move on the photovoltaic assembly, thereby cleaning the top of the photovoltaic assembly.

[0025] 2. By setting the visual recognition device on the top of the main body, the visual recognition device is electrically connected to the controller, so that when the photovoltaic cleaning robot approaches the gap, the visual recognition device can identify whether the first walking mechanism can pass through the gap smoothly.

[0026] 3. By rotating at least one second walking device to one side of the width direction of the first walking device, the second walking device has a first position and a second position relative to the first walking device, and the second walking device is electrically connected to the controller. When the visual recognition device recognizes that the first walking device can pass through the gap, the controller controls the second walking device to rotate from the first position to the second position. In this way, the free end of the second walking device can contact the top surface of the second photovoltaic module, thereby driving the photovoltaic cleaning robot to move to the second photovoltaic module. Reducing the installation of the bridge frame reduces the material and labor installation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional schematic diagram of the second walking device of the photovoltaic cleaning robot of the utility model in the first position;

[0028] Figure 2 It is a three-dimensional schematic diagram of the second walking device of the photovoltaic cleaning robot of the utility model in the second position;

[0029] Figure 3 This is a three-dimensional exploded schematic diagram of the utility model photovoltaic cleaning robot;

[0030] Figure 4 It is a three-dimensional schematic diagram of the utility model photovoltaic cleaning robot;

[0031] Figure 5 yes Figure 4 A partial enlarged schematic diagram of part A;

[0032] Figure 6 It is a three-dimensional exploded schematic diagram of the second walking device in the utility model.

[0033] Description of reference numerals:

[0034] 100, photovoltaic cleaning robot; 200, photovoltaic module; 210, first photovoltaic module; 220, second photovoltaic module;

[0035] 1. Body; 11. Long side; 12. Short side;

[0036] 2. First walking device; 21. First housing; 22. Second motor; 23. First gear assembly; 24. Second walking wheel; 25. Second guide wheel;

[0037] 3. Controller;

[0038] 4. Visual recognition device;

[0039] 5. Second walking device; 51. First bracket; 52. First motor; 53. First walking wheel; 54. Fixed seat; 541. Base; 542. Fixed part; 55. First guide wheel; 56. Second bracket;

[0040] 6. The third walking device;

[0041] 7. Brush parts;

[0042] 8. Support frame; 81. Main body; 82. Support part. DETAILED DESCRIPTION

[0043] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are recorded in the claims of the present invention.

[0044] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0045] Please refer to Figures 1 to 6 The utility model discloses a photovoltaic cleaning robot 100 for cleaning a photovoltaic module 200. The photovoltaic cleaning robot 100 can move on the photovoltaic module 200, so as to clean the top surface of the photovoltaic module 200. The photovoltaic module 200 includes a first photovoltaic module 210 and a second photovoltaic module 220. The photovoltaic cleaning robot 100 moves from the first photovoltaic module 210 to the second photovoltaic module 220, and there is a gap between the first photovoltaic module 210 and the second photovoltaic module 220. The photovoltaic cleaning robot 100 includes a body 1, a first walking device 2, a controller 3, a visual recognition device 4 and a second walking device 5. The first walking device 2 is arranged at one end of the length direction of the body 1, the controller 3 is arranged at the top of the body 1, the controller 3 is electrically connected to the first walking device 2, the visual recognition device 4 is arranged at the top of the body 1, the visual recognition device 4 is electrically connected to the controller 3, at least one second walking device 5 is rotatably arranged on one side of the first walking device 2 along the traveling direction of the photovoltaic cleaning robot 100, the second walking device 5 has a first position and a second position relative to the first walking device 2, and the second walking device 5 is electrically connected to the controller 3. When the photovoltaic cleaning robot 200 moves close to the gap on the first photovoltaic component 210, the visual recognition device 4 identifies the distance of the gap. If the first walking device 2 cannot pass through the gap, the controller 3 controls the second walking device 5 to rotate from the first position to the second position, and the free end of the second walking device 5 contacts the second photovoltaic component 220, and the first walking device 2 is driven to move toward the second photovoltaic component 220 through the second walking device 5. In this way, the photovoltaic cleaning robot 100 can pass between the first photovoltaic component 210 and the second photovoltaic component 220 without setting a bridge frame, thereby saving costs and labor.

[0046] Please refer to Figure 1 to Figure 2 In this embodiment, the second walking device 5 includes two second walking devices 5, which are respectively arranged on both sides of the first walking device 2 along the traveling direction of the photovoltaic cleaning robot 100, and the two second walking devices 5 are symmetrically arranged along the center line of the first walking device 2. When a plurality of first photovoltaic modules 210 and a plurality of second photovoltaic modules 220 are arranged at intervals, by respectively arranging the second walking devices 5 on both sides of the first walking device 2, the photovoltaic cleaning robot 100 can move back and forth in the photovoltaic modules 200. Thereby improving the cleaning efficiency.

[0047] Please refer to Figure 6 The second walking device 5 includes a first bracket 51, a first motor 52 and a first walking wheel 53. A fixing seat 54 is provided on the first walking device 2. One end of the first bracket 51 is pivotally arranged on the fixing seat 54. The first motor 52 is electrically connected to the controller 3. The driving end of the first motor 52 is connected to one end of the first bracket 51. The first walking wheel 53 is rotatably arranged at the other end of the first bracket 51 away from the second walking device 2. The fixing seat 54 includes a base 541 and fixing portions 542 vertically arranged on both sides of the base 541. One end of the first bracket 51 is arranged between the two fixing portions 542. One of the fixing portions 542 has a fixing hole. The driving end of the first motor 52 passes through the fixing hole and is connected to one end of the first bracket 51. When the photovoltaic cleaning robot 100 recognizes through the visual recognition device 4 that the first walking device 2 can cross the gap between the first photovoltaic component 210 and the second photovoltaic component 220, the controller 3 controls the first motor 52 to drive the first bracket 51 to rotate, and the other end of the first bracket 51 rotates toward the side away from the first walking device 2, so that the first walking wheel 53 crosses the gap and contacts the top surface of the second photovoltaic component 220, and then drives the first walking wheel 53 through the first motor 52 to drive the first walking device 2 to move to the second photovoltaic component 220.

[0048] Please refer to Figure 6 The second walking device 5 further includes a first guide wheel 55, which is disposed at the other end of the first bracket 51, and the rotation axis of the first guide wheel 55 is perpendicular to the rotation axis of the first walking wheel 53, and the first guide wheel 55 contacts the side of the second photovoltaic assembly 220. Specifically, a second bracket 56 is disposed at the other end of the first bracket 51, and the second bracket 56 is vertically disposed at the other end of the first bracket 51, and the second bracket 56 is located outside the first bracket 51, so as to avoid interference between the first guide wheel 55 and the first walking wheel 53 during rotation, so that the photovoltaic cleaning robot 100 can smoothly pass through the gap.

[0049] Please refer to Figures 1 to 3The main body 1 includes two relatively long sides 11 and two relatively short sides 12, the two long sides 11 are extended along the length direction of the main body 1, and the two short sides 12 are extended along the width direction of the main body 1, and the two long sides 11 and the two short sides 12 are connected end to end to form a rectangular frame. The first walking device 2 includes a first shell 21, the first shell 21 is arranged on one of the short sides 12, and two fixing seats 54 are symmetrically arranged on both sides of the first shell 21. In this embodiment, the second walking device 5 is respectively provided on both sides of the width direction of the first shell 21. Therefore, the two fixing seats 54 are respectively arranged on both sides of the width direction of the first shell 21, and the two fixing seats 54 are symmetrically arranged along the center line of the first shell 21. When the two second walking devices 5 are installed on the first shell 21, the height is kept consistent, so as to ensure that the photovoltaic cleaning robot 100 can smoothly cross the gap when moving on the photovoltaic module 200.

[0050] Please refer to Figures 1 to 5 The photovoltaic cleaning robot 100 further includes a third walking device 6 and a brush member 7. The third walking device 6 is arranged at the other end of the body 1 relative to the first walking device 2. The brush member 7 is arranged at the bottom of the body 1, and the opposite ends of the brush member 7 are respectively connected to the first walking device 2 and the third walking device 6. Through the first walking device 2 and the third walking device 6, the brush member 7 can clean the top surface of the photovoltaic module 200. Preferably, the third walking device 6 is electrically connected to the controller 3, and the controller 3 controls the moving speed of the third walking device 6 to be consistent with the moving speed of the first walking device 2, so that the photovoltaic cleaning robot 100 can maintain synchronization when moving on the top surface of the photovoltaic module 200.

[0051] Please refer to Figure 5 The first walking device 2 also includes a second motor 22, a first gear assembly 23, a second walking wheel 24 and a second guide wheel 25. The first gear assembly 23 is arranged in the first housing 21. The driving end of the second motor 22 is connected to the first gear assembly 23. The second walking wheel 24 and the second guide wheel 25 are respectively connected to the first gear assembly 23. The rotation axis of the second walking wheel 24 is perpendicular to the rotation axis of the second guide wheel 25. The second motor 22 drives the second walking wheel 24 and the second guide wheel 25 to rotate through the first gear assembly 23. The brush member 7 includes a first end and a second end that are arranged opposite to each other and a gear 71 arranged on the first end or the second end. The gear 71 is meshed with the first gear assembly 23. The first gear assembly 23 drives the brush member 7 along its axial rotation surface through the gear 71 to clean the top surface of the photovoltaic module 200.

[0052] Please refer to Figure 3The photovoltaic cleaning robot 100 further includes a support frame 8, which is disposed on the top of the two long sides 11 and connected to the two long sides 11, and the visual recognition device 4 is disposed on the support frame 8. Specifically, the support frame 8 includes a main body 81 and support portions 82 vertically disposed on two opposite sides of the main body 81, and the two support portions 82 are respectively fixedly connected to the two long sides 11. Preferably, the support frame 8 is disposed close to the first walking device 2, and the distance between the visual recognition device 4 and the gap is the shortest, so that the spacing of the gap can be quickly identified, thereby improving the recognition accuracy of the visual recognition device 4.

[0053] In summary, the utility model discloses a photovoltaic cleaning robot 100 for cleaning a photovoltaic module 200. The photovoltaic cleaning robot 100 includes a body 1, a first walking device 2, a controller 3, a visual recognition device 4 and a second walking device 5.

[0054] 1. The first walking device 2 is arranged at one end of the main body 1 in the length direction to drive the main body 1 to move on the photovoltaic assembly 200, so as to clean the top of the photovoltaic assembly 200.

[0055] 2. By setting the visual recognition device 4 on the top of the main body 1, the visual recognition device 4 is electrically connected to the controller 3, so that when the photovoltaic cleaning robot 100 approaches the gap, the visual recognition device 4 can identify whether the first walking mechanism can pass through the gap smoothly.

[0056] 3. By rotating at least one second walking device 5 to one side of the width direction of the first walking device 2, the second walking device 5 has a first position and a second position relative to the first walking device 2, and the second walking device 5 is electrically connected to the controller 3. When the visual recognition device 4 recognizes that the first walking device 2 can pass through the gap, the controller 3 controls the second walking device 5 to rotate from the first position to the second position. In this way, the free end of the second walking device 5 can contact the top surface of the second photovoltaic component 220, thereby driving the photovoltaic cleaning robot 100 to move to the second photovoltaic component 220. Reducing the installation of the bridge frame reduces the material and labor installation costs.

[0057] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0058] The above embodiments are only used to illustrate the present invention but not to limit the technical solutions described in the present invention. The understanding of this specification should be based on the technical personnel in the relevant technical field. For example, for the directional description of "front", "back", "left", "right", "up", "down", etc., although this specification has been described in detail with reference to the above embodiments, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or replace the present invention with equivalents, and all technical solutions and improvements that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A photovoltaic cleaning robot, used for cleaning a photovoltaic assembly (200), wherein the photovoltaic assembly (200) comprises a first photovoltaic assembly (210) and a second photovoltaic assembly (220), wherein a gap exists between the first photovoltaic assembly (210) and the second photovoltaic assembly (220), and wherein: include: Ontology(1); A first walking device (2) is arranged at one end of the main body (1) in the length direction; A controller (3) is arranged on the top of the body (1), and the controller (3) is electrically connected to the first walking device (2); A visual recognition device (4) is arranged on the top of the body (1), and the visual recognition device (4) is electrically connected to the controller (3); a second walking device (5), at least one of the second walking devices (5) being rotatably arranged on one side of the first walking device (2) along the traveling direction of the photovoltaic cleaning robot, the second walking device (5) having a first position and a second position relative to the first walking device (2), and the second walking device (5) being electrically connected to the controller (3); When the photovoltaic cleaning robot moves on the first photovoltaic component and approaches the gap, the visual recognition device (4) identifies the distance of the gap. If the first walking device (2) cannot pass through the gap, the controller (3) controls the second walking device (5) to rotate from the first position to the second position, and the free end of the second walking device (5) contacts the second photovoltaic component (220). The second walking device (5) drives the first walking device (2) to move toward the second photovoltaic component (220).

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The second walking devices (5) include two second walking devices (5), which are respectively arranged on both sides of the first walking device (2) along the moving direction of the photovoltaic cleaning robot, and the two second walking devices (5) are symmetrically arranged along the center line of the first walking device (2).

3. The photovoltaic cleaning robot according to claim 1, characterized in that: The second walking device (5) comprises a first bracket (51), a first motor (52) and a first walking wheel (53); a fixing seat (54) is provided on the first walking device (2); one end of the first bracket (51) is pivotally arranged on the fixing seat (54); the first motor (52) is electrically connected to the controller (3); a driving end of the first motor (52) is connected to one end of the first bracket (51); and the first walking wheel (53) is rotatably arranged on the other end of the first bracket (51) away from the second walking device (5).

4. The photovoltaic cleaning robot according to claim 3, characterized in that: The fixing seat (54) comprises a base (541) and fixing parts (542) vertically arranged on both sides of the base (541); one end of the first bracket (51) is arranged between the two fixing parts (542); one of the fixing parts (542) has a fixing hole; the driving end of the first motor (52) passes through the fixing hole and is connected to one end of the first bracket (51).

5. The photovoltaic cleaning robot according to claim 3, characterized in that: The second walking device (5) further comprises a first guide wheel (55), wherein the first guide wheel (55) is arranged at the other end of the first bracket (51), and the rotation axis of the first guide wheel (55) is perpendicular to the rotation axis of the first walking wheel (53).

6. The photovoltaic cleaning robot according to claim 3, characterized in that: The body (1) comprises two oppositely arranged long sides (11) and two oppositely arranged short sides (12), the two long sides (11) extending along the length direction of the body (1), the two short sides (12) extending along the width direction of the body (1), the two long sides (11) and the two short sides (12) being connected end to end in sequence to form a rectangular frame, the first walking device (2) comprising a first shell (21), the first shell (21) being arranged on one of the short sides (12), and the two fixing seats (54) being symmetrically arranged on both sides of the first shell (21).

7. The photovoltaic cleaning robot according to claim 6, characterized in that: The first walking device (2) further comprises a second motor (22), a first gear assembly (23), a second walking wheel (24) and a second guide wheel (25); the first gear assembly (23) is arranged in the first housing (21); the driving end of the second motor (22) is connected to the first gear assembly (23); the second walking wheel (24) and the second guide wheel (25) are respectively connected to the first gear assembly (23); and the rotation axis of the second walking wheel (24) is perpendicular to the rotation axis of the second guide wheel (25).

8. The photovoltaic cleaning robot according to claim 6, characterized in that: The photovoltaic cleaning robot further comprises a support frame (8), wherein the support frame (8) is arranged on the top of the two long sides (11) and is connected to the two long sides (11), and the visual recognition device (4) is arranged on the support frame (8).

9. The photovoltaic cleaning robot according to claim 8, characterized in that: The support frame (8) is arranged close to the first walking device (2).

10. The photovoltaic cleaning robot according to claim 1, characterized in that: The photovoltaic cleaning robot also includes a third walking device (6) and a brush member (7); the third walking device (6) is arranged at the other end of the main body (1) relative to the first walking device (2); the brush member (7) is arranged at the bottom of the main body (1), and the opposite ends of the brush member (7) are respectively connected to the first walking device (2) and the third walking device (6).

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