Robot stopping and returning device, cleaning device and photovoltaic equipment

Abstract

The utility model relates to the technical field of cleaning devices, and discloses a robot shutdown return device, a cleaning device and photovoltaic equipment. The robot stopping and returning device comprises a track frame and a stopping guide structure. The track frame is used for allowing the robot to walk, the two side edges, located in the width direction, of the track frame correspond to limiting edge wheels at the two ends of the robot, and a parking area is arranged on the track frame; the stopping guide structures are arranged on the two side edges of the track frame and located in the stopping area, and the stopping guide structures are used for enabling the moving direction of the limiting edge wheels to be parallel to the corresponding side edges of the track frame when the robot moves towards the stopping area. According to the robot stopping and returning device, it can be ensured that the robot stops in the stopping area in the correct posture, stopping and returning of the robot are ensured, and therefore it is ensured that the robot can work normally in the follow-up process.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning devices, and in particular to a robot stop and return device, a cleaning device and a photovoltaic device. Background Art

[0002] As people pursue clean energy, the proportion of photovoltaic module power generation in human energy has gradually increased. Photovoltaic panels are exposed to the outdoors for a long time. In order to ensure the energy conversion efficiency of photovoltaic panels, photovoltaic panels usually need to be cleaned regularly. In order to improve the cleaning efficiency, photovoltaic cleaning robots are usually used to clean photovoltaic panels. At the same time, parking racks for photovoltaic cleaning robots are set up in the photovoltaic installation area to facilitate charging and maintenance of photovoltaic cleaning robots.

[0003] Photovoltaic cleaning robots need to move and clean on photovoltaic panels regularly. After cleaning, they need to return to the apron of the parking rack to charge or perform self-cleaning. Currently, most photovoltaic cleaning robots rely on the wheels at both ends to walk on the photovoltaic panels, and rely on the side wheels at both ends and the wide side of the photovoltaic panel mounting rack for position limiting. Due to transmission errors, the walking speeds of the wheels at both ends of the photovoltaic cleaning robot are inconsistent, and the fuselage tilts when returning to the apron. As a result, the photovoltaic cleaning robot cannot stop and return to the apron, which makes it impossible for the photovoltaic cleaning robot to dock with the charging port on the apron, which in turn causes the photovoltaic cleaning robot to be unable to charge normally, affecting subsequent work. Utility Model Content

[0004] The purpose of the present application is to provide a robot stop and return device, a cleaning device and a photovoltaic device, so as to solve the problem in the prior art that the robot does not return correctly and affects subsequent work.

[0005] To achieve the above objectives, in a first aspect, the present application provides a robot stop and return device, comprising:

[0006] A track frame, used for the robot to walk, the two side edges of the track frame in the width direction are used to correspond to the limiting side wheels at both ends of the robot, and a parking area is provided on the track frame; and

[0007] The stop guide structure is arranged on two side edges of the track frame and located in the stop area, wherein the stop guide structure is used to constrain the moving direction of the limit edge wheel to remain parallel to the corresponding side edge of the track frame when the robot moves toward the stop area.

[0008] As a further improvement of the above technical solution:

[0009] In a possible implementation manner, the track frame is arranged obliquely, and two sides of the track frame in the width direction are respectively an upper side and an opposite lower side;

[0010] The stop and guide structure includes a first guide frame and a second guide frame. The first guide frame is arranged on the upper side and forms a stop limit space with the upper side for accommodating and limiting the limit side wheel. The second guide frame is arranged on the lower side and is in contact with the lower side. The surface of the second guide frame away from the lower side is used to contact the limit side wheel.

[0011] In a possible implementation, along the length direction of the first guiding frame, the first guiding frame includes a first guiding section and a first limiting section connected in sequence, an opening for the limiting side wheel to enter is formed between the first guiding section and the upper side, and the stop limiting space is formed between the first limiting section and the upper side;

[0012] The width of the opening is greater than the width of the stop limit space, and the width of the stop limit space is consistent with or has a clearance fit with the diameter of the limit edge wheel.

[0013] In a possible implementation, along the length direction of the first guiding frame, from the first guiding section to the first limiting section, the distance between the first guiding section and the upper side edge gradually decreases.

[0014] In a possible implementation manner, a surface of the first guide section close to the upper side edge is an inclined surface.

[0015] In a possible implementation, along the length direction of the second guiding frame, the second guiding frame includes a second guiding section and a second limiting section connected in sequence, and a surface of the second guiding section away from the lower side is an inclined surface.

[0016] In a possible implementation manner, the distance from a side of the second limiting section away from the lower side edge to the upper side edge is consistent with or has a clearance fit with the inner span between the limiting edge wheels at both ends of the robot.

[0017] In a possible implementation manner, the track frame is further provided with a parking sensor and a charging connector located in the parking area.

[0018] To achieve the above-mentioned purpose, in a second aspect, the present application also provides a cleaning device, comprising the robot stopping and returning device according to the above-mentioned first aspect.

[0019] To achieve the above-mentioned purpose, in a third aspect, the present application also provides a photovoltaic device, including the cleaning device according to the above-mentioned second aspect.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] The present application provides a robot stop and return device, a cleaning device and a photovoltaic device, wherein in the cleaning device, when the robot is walking normally, it is limited by the limit side wheels at both ends, and a movable gap is reserved between the limit side wheels and the side of the track frame to prevent the robot from getting stuck when the body is tilted. When the robot returns to the parking area, the body tilts, and the moving direction of the limit side wheels at both ends of the robot will form a certain angle with the side of the two sides of the track frame. In the absence of intervention, the robot will maintain a tilted posture and park in the parking area. For this reason, in the robot stop and return device provided by the present application, a stop guide structure is set on the two side edges of the track frame. When the robot moves to the parking area, the stop guide structure limits and corrects the limit side wheels to constrain the moving direction of the limit side wheels to remain parallel to the corresponding side of the track frame, thereby ensuring that the robot is parked in the parking area with the correct posture, ensuring the robot's stop and return, and ensuring that the robot can work normally afterwards.

[0022] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present application. It should be understood that the following drawings only show certain embodiments of the present application and should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work. In the drawings:

[0024] Figure 1 A schematic diagram of the partial structure of a cleaning device provided in an embodiment of the present application without illustrating a robot is shown;

[0025] Figure 2 A schematic diagram of the local structure of a robot in a cleaning device provided by an embodiment of the present application when aligning and returning to a parking area is shown;

[0026] Figure 3 Shows Figure 1 A local enlarged schematic diagram of the middle A;

[0027] Figure 4 Shows Figure 1 A partial enlarged schematic diagram of point B in the middle;

[0028] Figure 5 Shows Figure 2 The C-direction diagram in FIG.

[0029] Figure 6 A schematic diagram of the three-dimensional structure of a cleaning device provided in an embodiment of the present application is shown;

[0030] Figure 7 A schematic diagram showing the upward inclined return state of a robot in a cleaning device provided by an embodiment of the present application is shown;

[0031] Figure 8 A schematic diagram of the state of a robot in a cleaning device provided in an embodiment of the present application when it returns to a downwardly inclined position is shown.

[0032] Description of reference numerals:

[0033] 100, track frame; 101, working area; 102, parking area; 110, upper side; 120, lower side;

[0034] 200, stop guiding structure; 210, first guiding frame; 210a, stop limit space; 211, first guide section; 211a, opening; 212, first limit section; 220, second guiding frame; 221, second guide section; 222, second limit section;

[0035] 300, robot; 310, limit side wheel; 320, travel wheel;

[0036] 400, side windshield; 410, ventilation hole;

[0037] 500, shutdown sensor;

[0038] 600, charging connector;

[0039] 700, Strip brush holder. DETAILED DESCRIPTION

[0040] The specific implementation of the embodiment of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present application, and is not used to limit the embodiment of the present application.

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0042] In the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0046] Example

[0047] See also Figure 1 and Figure 2 This embodiment provides a robot stop and return device, which can be used in a cleaning device. The cleaning device includes a robot 300 for cleaning operations, and the robot 300 has walking wheels 320 (see Figure 5 ) and limiting side wheels 310 located at both ends.

[0048] In this embodiment, the robot stop and return device includes a track frame 100 and a stop and guide structure 200. The track frame 100 is used for the robot 300 to walk, and the two sides of the track frame 100 in the width direction are used to correspond to the limit side wheels 310 at both ends of the robot 300. The track frame 100 is provided with a stop area 102 and a working area 101 located on one side of the stop area 102 along its length direction.

[0049] It should be noted that when the robot 300 is walking normally, it is driven by the walking wheels 320 and is limited by the limiting side wheels 310 at both ends. A movable gap is reserved between the limiting side wheels 310 and the side of the track frame 100 to prevent the robot 300 from getting stuck when the body of the robot 300 is tilted.

[0050] The stop guide structure 200 is arranged on two side edges of the track frame 100 (i.e., the upper side edge 110 and the lower side edge 120 described below) and is located in the stop area 102, wherein the stop guide structure 200 is used to constrain the moving direction of the limiting edge wheel 310 to remain parallel to the corresponding side edge of the track frame 100 when the robot 300 moves toward the stop area 102.

[0051] Thus, when the robot 300 moves toward the parking area 102, the parking guide structure 200 performs position correction on the limiting side wheel 310 to constrain the moving direction of the limiting side wheel 310 to remain parallel to the corresponding side of the track frame 100, thereby ensuring that the robot 300 stops in the parking area 102 in a correct posture and realizes the parking return of the robot 300. It can be understood that only after the robot 300 stops and returns to its position can the robot 300 be charged and the roller brush of the robot 300 be self-cleaned, thereby ensuring that the robot 300 can work normally afterwards.

[0052] In order to more clearly describe the technical solution of the present application, the robot stop and return device provided in this embodiment is described below, specifically as follows:

[0053] See also Figures 1 to 6 In this embodiment, the track frame 100 is arranged at an angle so that the cleaning area has a certain slope, so that water droplets can flow along the slope, and at the same time, debris or dust during the cleaning process can move along the slope, thereby improving the cleaning effect.

[0054] It is understandable that the track frame 100 is arranged in an inclined manner, and one side of the track frame 100 in the width direction is higher than the other side. Thus, for ease of description, in this embodiment, the two sides of the track frame 100 in the width direction are defined as the upper side 110 and the opposite lower side 120.

[0055] It can be understood that when the robot 300 moves on the track frame 100, the robot 300 is also in an inclined state, and the track frame 100 is located between the limiting side wheels 310 at both ends of the robot 300. Among them, the limiting side wheels 310 at the upper end of the robot 300 maintain contact with the upper side edge 110 of the track frame 100 due to its own gravity to form a rolling fit, and the limiting side wheels 310 at the lower end of the robot 300 correspond to the lower side edge 120 of the track frame 100 but do not contact. In this way, the limiting side wheels 310 at both ends of the robot 300 can be used for limiting the position of the robot 300 when it moves, and at the same time, the limiting side wheels 310 at the upper end are in contact with the upper side edge 110 of the track frame 100, providing a margin for the robot 300 to prevent the robot 300 from being stuck due to the body tilting when it moves.

[0056] See also Figure 2 , Figure 3 , Figure 4 and Figure 5The above-mentioned stop guiding structure 200 includes a first guiding frame 210 and a second guiding frame 220. The first guiding frame 210 is arranged on the upper side 110 and forms a stop limiting space 210a with the upper side 110 to accommodate and limit the limiting side wheel 310, so as to realize the deviation correction of the limiting side wheel 310 located on the upper side 110. The second guiding frame 220 is arranged on the lower side 120 and is in contact with the lower side 120. Specifically, the second guiding frame 220 is in contact with the side surface of the lower side 120. The surface of the second guiding frame 220 away from the lower side 120 is used to contact with the limiting side wheel 310, so as to realize the deviation correction of the limiting side wheel 310 located on the lower side 120.

[0057] Furthermore, along the length direction of the first guiding frame 210, the first guiding frame 210 includes a first guiding section 211 and a first limiting section 212 connected in sequence. The first limiting section 212 is connected to the upper side 110 of the track frame 100, for example, by bolt connection or welding connection. The first guiding section 211 is located at one end of the first limiting section 212 close to the working area 101, and an opening 211a for the limiting side wheel 310 to enter is formed between the first guiding section 211 and the upper side 110, and a stop limiting space 210a is formed between the first limiting section 212 and the upper side 110. Among them, the width dimension of the opening 211a is greater than the width dimension of the stop limiting space 210a, and the width dimension of the stop limiting space 210a is adapted to the diameter of the limiting side wheel 310, that is, the width dimension of the stop limiting space 210a is consistent with the diameter of the limiting side wheel 310 or has a clearance fit, so as to better limit the side wheel 310. Optionally, the clearance fit is a small clearance fit.

[0058] Specifically, along the length direction of the first guiding frame 210, from the first guiding section 211 to the first limiting section 212, the distance between the first guiding section 211 and the upper side 110 gradually decreases, and the width dimension of the opening portion 211a formed thereby is larger than the width dimension of the shutdown limiting space 210a, so as to provide a guiding effect for the limiting side wheel 310 to enter the shutdown limiting space 210a, so that the limiting side wheel 310 can smoothly enter the shutdown limiting space 210a.

[0059] Optionally, a surface of the first guide section 211 close to the upper side 110 is an inclined surface.

[0060] Optionally, the first guide segment 211 and the first limiting segment 212 are an integrated structure, for example, welded into one, cast into one, stamped into one, or milled into one.

[0061] Furthermore, along the length direction of the second guide frame 220, the second guide frame 220 includes a second guide section 221 and a second limiting section 222 connected in sequence, and the side of the second guide section 221 away from the lower side 120 is an inclined surface. The spacing from the side of the second limiting section 222 away from the lower side 120 to the upper side 110 is adapted to the inner span between the limiting side wheels 310 at both ends of the robot 300, that is, the spacing from the side of the second limiting section 222 away from the lower side 120 to the upper side 110 is consistent with the inner span between the limiting side wheels 310 at both ends of the robot 300 or a clearance fit, thereby forming a limit to the length direction of the robot 300. Optionally, the clearance fit is a small clearance fit.

[0062] It can be understood that the inclined surface of the second guide section 221 can guide the limiting side wheel 310 to the second limiting section 222, so as to realize the automatic deviation correction of the limiting side wheel 310. Specifically, since the distance from the side of the second limiting section 222 away from the lower side 120 to the upper side 110 is adapted to the inner span between the limiting side wheels 310 at both ends of the robot 300, when the limiting side wheel 310 moves to the second limiting section 222, the limiting side wheels 310 at both ends of the robot 300 are in contact with their respective corresponding upper side 110 and lower side 120, so that the direction in which the limiting side wheel 310 continues to move is parallel to the corresponding upper side 110 or lower side 120, so as to realize the stopping and returning of the robot 300.

[0063] Optionally, the second guide segment 221 and the second limiting segment 222 are an integrated structure, for example, welded into one, cast into one, stamped into one, or milled into one.

[0064] Optionally, the second guiding frame 220 is connected to the lower side 120 of the track frame 100 by bolts or welding.

[0065] See also Figure 1 and Figure 2 In this embodiment, the track frame 100 is further provided with a parking sensor 500 and a charging connector 600 located in the parking area 102 .

[0066] The stop sensor 500 is used to sense whether the robot 300 has accurately reached the stop position, so as to determine whether the robot 300 has returned to the normal position. When the robot 300 enters the stop area 102 to complete the stop and triggers the stop sensor 500, the stop sensor 500 sends a signal to the system, and the system determines that the robot 300 has completed the stop and return position, and then energizes the charging connector 600, so as to charge the robot 300 through the charging connector 600.

[0067] Optionally, the stop sensor 500 may be a travel switch, a proximity switch, a photoelectric sensor, a laser sensor, a pressure sensor, or a contact sensor. It should be understood that the above is only an example and is not intended to limit the scope of protection of the present application.

[0068] Optionally, the charging connector 600 can be selected as contact-type or wireless inductive charging.

[0069] See also Figure 7 and Figure 8 , wherein the working principle of the robot stop return device provided in this embodiment is as follows:

[0070] (1) Incline return;

[0071] See also Figure 7 , wherein the upper end of the body of the robot 300 is tilted, and when the robot 300 moves toward the parking area 102, the limiting side wheel 310 at the lower end first contacts the second guide section 221, and as the slope of the second guide section 221 increases, the limiting side wheel 310 at the upper end of the robot 300 gradually approaches the upper side edge 110, and finally when the limiting side wheel 310 at the lower end contacts the second limiting section 222, the limiting side wheel 310 at the upper end maintains contact with the upper side edge 110, so that the moving direction of the limiting side wheel 310 is parallel to the corresponding side edges (upper side edge 110, lower side edge 120), and finally the robot 300 is stopped and returned to its original position.

[0072] (2) Decline return;

[0073] See also Figure 8 , wherein the lower end of the body of the robot 300 is tilted, and when the robot 300 moves toward the parking area 102, the limiting side wheel 310 at the upper end first contacts the first guide section 211, and as the width of the opening 211a gradually decreases, the limiting side wheels 310 at the lower and upper ends of the robot 300 gradually approach the corresponding side edges (upper side edge 110, lower side edge 120), and finally when the limiting side wheel 310 at the upper end enters the parking limiting space 210a, the limiting side wheel 310 at the upper end keeps in contact with the upper side edge 110, and the limiting side wheel 310 at the lower end keeps in contact with the second limiting section 222, so that the moving direction of the limiting side wheel 310 is parallel to the corresponding side edges (upper side edge 110, lower side edge 120), and finally the robot 300 is stopped and returned.

[0074] Compared with the prior art, the robot stop and return device provided in this embodiment mainly performs mechanical correction through the stop guide structure 200, and does not need to rely on detection elements such as angle sensors and circuit systems to control the speed of the walking wheels 320 at both ends of the robot 300 for limit correction. It has a simple structure, is safe and reliable, and has low manufacturing costs.

[0075] See also Figure 2 In some embodiments, a solar panel is disposed on the top of the robot 300, and the robot 300 is powered by the solar panel. Furthermore, a brush holder 700 is disposed on the track frame 100, and the brush holder 700 is located above the parking area 102. A cleaning brush is disposed on the side of the brush holder 700 facing the parking area 102. In this way, when the robot 300 enters and exits the parking area 102, the top of the robot 300 can be cleaned by the cleaning brush on the brush holder 700, so as to ensure the cleanliness of the top of the robot 300 and prevent debris or dust from blocking the solar panel disposed on the top of the robot 300.

[0076] See also Figure 6 In some embodiments, a side windshield 400 may be provided on the track frame 100. The side windshield 400 is located on the side of the parking area 102 facing away from the working area 101, and is used to provide windshield for the robot 300 after it stops. Together with the first guide frame 210 and the second guide frame 220, the end direction of the robot 300 can be limited after it stops, so that the end surface of the robot 300 can be protected from wind.

[0077] Optionally, the side wind shield 400 may be assembled from a plurality of panels.

[0078] Optionally, the side wind shield 400 is provided with a plurality of ventilation holes 410 to reduce wind resistance, and at the same time, the material usage can be reduced, the lightweight design can be realized, and the cost can be saved. Of course, the side wind shield 400 can also adopt a fully enclosed structure.

[0079] See also Figures 1 to 8 Furthermore, this embodiment also provides a cleaning device, including a robot 300 and a robot stopping and returning device provided according to the above embodiment.

[0080] It should be noted that the cleaning device can be used on an awning, a roof or a matrix photovoltaic power generation device. A matrix photovoltaic power generation device is illustrated in the accompanying drawings of this embodiment. It should be understood that the above is only an example and is not intended to limit the scope of protection of this application.

[0081] See also Figures 1 to 8 This embodiment also provides a photovoltaic device, which uses the cleaning device provided above. The robot 300 in the cleaning device is used to clean the photovoltaic panels on the photovoltaic matrix in the photovoltaic device.

[0082] The above describes in detail the optional implementation methods of the embodiments of the present application in combination with the accompanying drawings. However, the embodiments of the present application are not limited to the specific details in the above implementation methods. Within the technical concept of the embodiments of the present application, various simple modifications can be made to the technical scheme of the embodiments of the present application, and these simple modifications all belong to the protection scope of the embodiments of the present application.

[0083] In addition, the various implementation methods of the embodiments of the present application may be arbitrarily combined, and as long as they do not violate the ideas of the embodiments of the present application, they should also be regarded as the contents disclosed in the embodiments of the present application.

Claims

1. A robot stop and return device, characterized in that: include: A track frame (100) for the robot (300) to travel, two side edges of the track frame (100) in the width direction being used to correspond to the limiting side wheels (310) at both ends of the robot (300), and a parking area (102) being provided on the track frame (100); and A stop guide structure (200) is arranged on two side edges of the track frame (100) and located in the stop area (102), wherein the stop guide structure (200) is used to constrain the moving direction of the limiting edge wheel (310) to remain parallel to the corresponding side edge of the track frame (100) when the robot (300) moves toward the stop area (102).

2. The robot stop and return device according to claim 1, characterized in that: The track frame (100) is arranged obliquely, and two sides of the track frame (100) in the width direction are respectively an upper side (110) and an opposite lower side (120); The stop guiding structure (200) comprises a first guiding frame (210) and a second guiding frame (220); the first guiding frame (210) is arranged on the upper side (110) and forms a stop limiting space (210a) with the upper side (110) for accommodating and limiting the limiting edge wheel (310); the second guiding frame (220) is arranged on the lower side (120) and is in contact with the lower side (120); a side of the second guiding frame (220) away from the lower side (120) is used to contact the limiting edge wheel (310).

3. The robot stop and return device according to claim 2, characterized in that: Along the length direction of the first guiding frame (210), the first guiding frame (210) comprises a first guiding section (211) and a first limiting section (212) connected in sequence, an opening (211a) for the limiting edge wheel (310) to enter is formed between the first guiding section (211) and the upper side (110), and the stop limiting space (210a) is formed between the first limiting section (212) and the upper side (110); The width of the opening (211a) is greater than the width of the stop limit space (210a), and the width of the stop limit space (210a) is consistent with or has a clearance fit with the diameter of the limit edge wheel (310).

4. The robot stop and return device according to claim 3, characterized in that: Along the length direction of the first guiding frame (210), from the first guiding section (211) to the first limiting section (212), the distance between the first guiding section (211) and the upper side edge (110) gradually decreases.

5. The robot stop and return device according to claim 4, characterized in that: A surface of the first guide section (211) close to the upper side edge (110) is an inclined surface.

6. The robot stop and return device according to claim 2, characterized in that: Along the length direction of the second guiding frame (220), the second guiding frame (220) comprises a second guiding section (221) and a second limiting section (222) which are connected in sequence, and a surface of the second guiding section (221) away from the lower side (120) is an inclined surface.

7. The robot stop and return device according to claim 6, characterized in that: The distance between a side of the second limiting section (222) away from the lower side (120) and the upper side (110) is consistent with or gap-matched with the inner span between the limiting edge wheels (310) at both ends of the robot (300).

8. The robot stop and return device according to claim 1, characterized in that: The track frame (100) is also provided with a parking sensor (500) and a charging connector (600) located in the parking area (102).

9. A cleaning device, characterized in that: It comprises a robot stopping and returning device according to any one of claims 1-8.

10. A photovoltaic device, characterized in that: Comprising a cleaning device according to claim 9.

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