Return-to-warehouse alignment device and photovoltaic cleaning robot charging system

Abstract

The utility model provides a return warehouse alignment device and photovoltaic cleaning robot charging system, including return warehouse guide device and magnetic navigation sensor, return warehouse guide device includes: first guide magnetic member, the guide path of first guide magnetic member can make the photovoltaic cleaning robot move to the target position; the second guide magnetic part is used for marking a target position; the magnetic navigation sensor is used for detecting magnetic fields generated by the first guide magnetic piece and the second guide magnetic piece so as to correct the position deviation according to the first guide magnetic piece, and the magnetic navigation sensor stops when detecting the magnetic field of the second guide magnetic piece. According to the utility model, a non-contact correction alignment mode is adopted, the problems of abrasion, looseness and the like caused by contact can be effectively avoided, and meanwhile, the magnetic piece is resistant to corrosion and has no risk of damage caused by corrosion. After the device is used for a long time, the alignment accuracy cannot be influenced by abrasion, looseness, corrosion and the like, and the defects and deficiencies of a contact type alignment mode are thoroughly overcome.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic cleaning robots, and particularly relates to a return warehouse alignment device and a charging system for a photovoltaic cleaning robot. Background Art

[0002] As a representative of renewable energy, photovoltaic power stations have become an important part of the modern energy structure with their clean, environmentally friendly and renewable advantages. Photovoltaic panels are exposed to the outside for a long time, which easily accumulates dust and dirt, affecting the power generation efficiency. To solve this problem, photovoltaic cleaning robots came into being. The working principle of photovoltaic cleaning robots is simple and efficient, and they can autonomously plan the cleaning path. They use specific cleaning devices such as brushes to easily remove dirt on the surface of photovoltaic panels, ensuring efficient power generation of photovoltaic panels.

[0003] Photovoltaic cleaning robots are usually equipped with batteries. In actual working scenarios, in order to charge the photovoltaic cleaning robots, a charging compartment needs to be set up, and the photovoltaic cleaning robots need to be moved to the charging compartment for charging. Whether direct contact charging or contactless wireless charging is used, there are strict requirements for the relative position of the photovoltaic cleaning robot and the charging component. For photovoltaic cleaning robots that operate automatically, due to the inherent lack of positioning accuracy, additional auxiliary systems need to be set up to improve the charging alignment accuracy.

[0004] In the prior art, guide plates are usually used to assist in guiding the alignment of the photovoltaic cleaning robot and the charging device. When the photovoltaic cleaning robot returns to the charging compartment, the guide plates are squeezed by the photovoltaic cleaning robot to correct the position deviation of the photovoltaic cleaning robot, forcing the photovoltaic cleaning robot to reach the predetermined charging point, thereby improving the alignment accuracy. However, this auxiliary alignment method requires the body of the photovoltaic cleaning robot to collide with the guide plate. After long-term use, the structure will be subject to force majeure factors such as wear, looseness, and corrosion, affecting the alignment accuracy.

[0005] Therefore, how to ensure that the alignment accuracy is not affected after long-term use is an urgent problem to be solved by those skilled in the art. Utility Model Content

[0006] In view of this, the purpose of the present application is to provide a return warehouse alignment device, so that the alignment accuracy will not be affected after long-term use;

[0007] Another object of the present application is to provide a photovoltaic cleaning robot charging system having the above-mentioned return-to-warehouse alignment device.

[0008] In order to achieve the above objectives, this application provides the following technical solutions:

[0009] A return-to-warehouse alignment device, used to guide a photovoltaic cleaning robot to a target position, comprises a return-to-warehouse guiding device and a magnetic navigation sensor arranged on the photovoltaic cleaning robot, wherein the return-to-warehouse guiding device comprises:

[0010] a first guiding magnetic member, wherein a guiding path of the first guiding magnetic member enables the photovoltaic cleaning robot to move to a target position;

[0011] a second guiding magnetic member, disposed on a guiding path of the first guiding magnetic member and used for marking the target position;

[0012] The magnetic navigation sensor is used to detect the magnetic fields generated by the first guiding magnetic part and the second guiding magnetic part, so that the photovoltaic cleaning robot can correct the position deviation according to the first guiding magnetic part when moving toward the target position, and stop when the magnetic navigation sensor detects the magnetic field of the second guiding magnetic part.

[0013] Optionally, in the above-mentioned return warehouse alignment device, the first guiding magnetic member extends along a first direction, the second guiding magnetic member extends along a second direction, and the first direction is perpendicular to the second direction;

[0014] When the photovoltaic cleaning robot moves toward the target position until the magnetic navigation sensor is located above the first guiding magnetic part, the magnetic navigation sensor senses the magnetic field of the first guiding magnetic part and adjusts the position of the photovoltaic cleaning robot so that the magnetic navigation sensor is symmetrical along the first guiding magnetic part.

[0015] Optionally, in the above-mentioned return warehouse alignment device, the magnetic navigation sensor has a plurality of sampling points for detecting magnetic flux, and each of the sampling points is arranged at intervals;

[0016] When the photovoltaic cleaning robot moves toward the target position, when the sampling points in the middle area of ​​the magnetic navigation sensor can detect magnetic flux, and the sampling points at the edge cannot collect magnetic flux, the position of the photovoltaic cleaning robot is adjusted so that the magnetic flux detected by the most middle sampling point of the magnetic navigation sensor is the largest;

[0017] When all sampling points of the magnetic navigation sensor are able to detect magnetic flux, the photovoltaic cleaning robot is controlled to stop.

[0018] Optionally, in the above-mentioned return-to-warehouse alignment device, the first guiding magnetic member extends to the middle of the second guiding magnetic member.

[0019] Optionally, in the above-mentioned return-to-warehouse alignment device, the return-to-warehouse guiding device further includes a mounting base plate, and the first guiding magnetic member and the second guiding magnetic member are both mounted to the mounting base plate.

[0020] Optionally, in the above-mentioned return-to-warehouse alignment device, an anti-slip stopper is provided on the mounting base plate for resisting the walking mechanism of the photovoltaic cleaning robot.

[0021] Optionally, in the above-mentioned return warehouse alignment device, the first guiding magnetic member includes a first magnet, and the first magnet is a continuously extending magnetic strip, a plurality of spaced magnetic strips, or a plurality of spaced magnetic nails; and / or,

[0022] The second guiding magnetic member includes a second magnet, and the second magnet is a continuously extending magnetic strip, a plurality of magnetic strips arranged at intervals, or a plurality of magnetic nails arranged at intervals.

[0023] Optionally, in the above-mentioned return warehouse alignment device, the first guiding magnetic member further includes a first protective sleeve, and the first magnet is embedded in the first protective sleeve; and / or,

[0024] The second guiding magnetic member further includes a second protective sleeve, and the second magnet is embedded in the second protective sleeve.

[0025] Optionally, in the above-mentioned return-to-warehouse alignment device, the magnetic navigation sensor is arranged on the photovoltaic cleaning robot through a sliding component, and the sliding direction of the sliding component is the width direction of the photovoltaic cleaning robot.

[0026] The return-to-warehouse alignment device provided by the present application sets a magnetic navigation sensor on the photovoltaic cleaning robot, sets a return-to-warehouse guiding device on the path of the photovoltaic cleaning robot to the target position, and uses the inductive relationship between the magnetic navigation sensor and the first guiding magnetic part and the second guiding magnetic part of the return-to-warehouse guiding device to guide the movement of the photovoltaic cleaning robot to ensure that the photovoltaic cleaning robot stops at the target position. Taking the charging position as an example, when the photovoltaic cleaning robot returns to the charging warehouse, the magnetic navigation sensor moves with the photovoltaic cleaning robot to the top of the first guiding magnetic part, and the magnetic navigation sensor senses the magnetic field. As the photovoltaic cleaning robot continues to move, the magnetic navigation sensor controls the photovoltaic cleaning robot to correct the position and direction deviation, and finally stops the photovoltaic cleaning robot after the magnetic navigation sensor senses the magnetic field of the second guiding magnetic part.

[0027] The present application adopts a non-contact correction and alignment method, which can effectively avoid problems such as wear and looseness caused by contact. At the same time, the magnetic parts themselves are corrosion-resistant, and the present application has no risk of damage due to corrosion. After long-term use, the alignment accuracy will not be affected by wear, looseness, corrosion, etc., and the shortcomings and deficiencies of the contact alignment method in the prior art are completely avoided.

[0028] A photovoltaic cleaning robot charging system, comprising:

[0029] Charging compartment;

[0030] The return-to-warehouse alignment device is a return-to-warehouse alignment device as described in any of the above items, wherein the return-to-warehouse guiding device is arranged on the path between the charging warehouse and the photovoltaic panel to guide the photovoltaic cleaning robot to the target position so that the charging receiving end on the photovoltaic cleaning robot corresponds to the charging transmitting end in the charging warehouse.

[0031] The photovoltaic cleaning robot charging system provided in the present application has all the technical effects of the above-mentioned return-to-warehouse alignment device, and will not be described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0033] Figure 1 A schematic diagram of the structure of the return-to-warehouse guiding device provided in an embodiment of the utility model;

[0034] Figure 2 A schematic diagram of the structure during the return process provided by an embodiment of the utility model;

[0035] Figure 3 A schematic diagram of the structure after the return to storage is in place provided by an embodiment of the utility model;

[0036] Figure 4 A schematic structural diagram of a return-to-warehouse guiding device provided in another embodiment of the utility model;

[0037] Figure 5 A schematic structural diagram of a return-to-warehouse guiding device provided in yet another embodiment of the utility model;

[0038] Figure 6 This is a schematic structural diagram of a return-to-warehouse guiding device provided in yet another embodiment of the utility model.

[0039] The meanings of the reference numerals in the figures are as follows:

[0040] 100 - return guide device; 110 - installation base plate; 111 - anti-slip stopper; 120 - first guide magnetic member; 130 - second guide magnetic member;

[0041] 200- Photovoltaic cleaning robot; 210- Magnetic navigation sensor. DETAILED DESCRIPTION

[0042] The core of the utility model is to provide a return warehouse alignment device, so that the alignment accuracy will not be affected after long-term use;

[0043] Another core of the utility model is to provide a photovoltaic cleaning robot charging system with the above-mentioned return-to-warehouse alignment device.

[0044] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0045] When the photovoltaic cleaning robot returns to the warehouse to charge, in order to guide the photovoltaic cleaning robot after returning to the charging warehouse, the charging receiving end on the photovoltaic cleaning robot can correspond to the charging transmitting end in the charging warehouse, so as to realize the charging function, an auxiliary guiding device needs to be provided. The auxiliary guiding devices in the prior art are all contact structures. Taking the guide plate as an example, the guide plate is used to squeeze the photovoltaic cleaning robot to correct the position and direction of the photovoltaic cleaning robot, so that the charging receiving end on the photovoltaic cleaning robot can correspond to the charging transmitting end in the charging warehouse. However, this method is bound to be worn and loose, and the metal guide plate also has the problem of corrosion. After long-term use, it will affect the alignment accuracy between the charging receiving end and the charging transmitting end.

[0046] Based on this, in order to overcome the above technical problems, the embodiment of the utility model discloses a return warehouse alignment device to guide the photovoltaic cleaning robot 200 to the target position, such as Figure 1-Figure 3 As shown, the return-to-warehouse alignment device disclosed in the embodiment of the utility model includes a return-to-warehouse guiding device 100 and a magnetic navigation sensor 210 arranged on the photovoltaic cleaning robot 200. The magnetic navigation sensor 210 can be installed on the chassis of the photovoltaic cleaning robot 200.

[0047] The return-to-warehouse guiding device 100 includes a first guiding magnetic member 120 and a second guiding magnetic member 130. The guiding path of the first guiding magnetic member 120 enables the photovoltaic cleaning robot 200 to move to the target position. The function of the first guiding magnetic member 120 is that the photovoltaic cleaning robot 200 can move along the first guiding magnetic member 120 during the process of moving to the target position, maintain a corresponding positional relationship with the first guiding magnetic member 120, and prevent the photovoltaic cleaning robot 200 from deviating from the first guiding magnetic member 120 during the movement.

[0048] The second guide magnetic member 130 is disposed on the guide path of the first guide magnetic member 120 and is used to mark the target position. When the photovoltaic cleaning robot 200 moves toward the target position along the first guide magnetic member 120, the stop position of the photovoltaic cleaning robot 200 is marked. When the photovoltaic cleaning robot 200 moves to the point where the magnetic navigation sensor 210 can sense the second guide magnetic member 130, the photovoltaic cleaning robot 200 stops. At this time, the photovoltaic cleaning robot 200 is at the target position.

[0049] The magnetic navigation sensor 210 is used to detect the magnetic field generated by the first guide magnetic part 120 and the second guide magnetic part 130, so that the photovoltaic cleaning robot 200 can correct the position deviation according to the first guide magnetic part 120 when moving to the target position, that is, when the magnetic navigation sensor 210 deviates from the first guide magnetic part 120, the magnetic field detected by it will change, so based on this, the position and walking direction of the photovoltaic cleaning robot 200 can be adjusted to ensure that the photovoltaic cleaning robot 200 always moves along the extension direction of the first guide magnetic part 120. The photovoltaic cleaning robot 200 stops when the magnetic navigation sensor 210 detects the magnetic field of the second guide magnetic part 130, and is at the target position.

[0050] The return-to-warehouse alignment device provided by the utility model sets the magnetic navigation sensor 210 on the photovoltaic cleaning robot 200, and sets the return-to-warehouse guiding device 100 on the path of the photovoltaic cleaning robot 200 to the target position, and uses the induction relationship between the magnetic navigation sensor 210 and the first guiding magnetic part 120 and the second guiding magnetic part 130 of the return-to-warehouse guiding device 100 to guide the movement of the photovoltaic cleaning robot 200 and ensure that the photovoltaic cleaning robot 200 stops at the target position.

[0051] Taking the target position as the charging position as an example, when the photovoltaic cleaning robot 200 returns to the charging warehouse, the magnetic navigation sensor 210 moves with the photovoltaic cleaning robot 200 to above the first guiding magnetic part 120, and the magnetic navigation sensor 210 senses the magnetic field. As the photovoltaic cleaning robot 200 continues to move, the magnetic navigation sensor 210 controls the photovoltaic cleaning robot 200 to correct the position and direction deviation, and finally stops the photovoltaic cleaning robot 200 after the magnetic navigation sensor 210 senses the magnetic field of the second guiding magnetic part 130.

[0052] The utility model adopts a non-contact correction and alignment method, which can effectively avoid problems such as wear and looseness caused by contact. At the same time, the magnetic parts themselves are corrosion-resistant, and the utility model has no risk of damage due to corrosion. After long-term use, the alignment accuracy will not be affected by wear, looseness, corrosion and other reasons, and the shortcomings and deficiencies of the contact alignment method in the prior art are completely avoided.

[0053] In a specific embodiment of the utility model, the first guide magnetic member 120 extends along the first direction, and the second guide magnetic member 130 extends along the second direction, and the first direction is perpendicular to the second direction. In practical application, the direction of entering and exiting the charging bin can be designed as the first direction, and the width direction at the entrance of the charging bin can be designed as the second direction.

[0054] When the photovoltaic cleaning robot 200 moves to the target position, before it moves to the position where the return-to-warehouse guide device 100 is located, it relies on its own traditional navigation method to move to the target position. During the movement of the photovoltaic cleaning robot 200 to the target position, when it moves to the position where the return-to-warehouse guide device 100 is located, the magnetic navigation sensor 210 is located above the first guide magnetic part 120. At this time, the magnetic navigation sensor 210 can sense the magnetic field of the first guide magnetic part 120, and the photovoltaic cleaning robot 200 relies on the magnetic navigation sensor 210 to correct the position, and uses the magnetic field detected by the magnetic navigation sensor 210 to adjust the position of the photovoltaic cleaning robot 200 so that the magnetic navigation sensor 210 is symmetrical along the first guide magnetic part 120.

[0055] It can be understood by those skilled in the art that the magnetic navigation sensor 210 has a plurality of sampling points for detecting magnetic flux, and each sampling point is arranged at intervals. When the magnetic navigation sensor 210 moves to the top of the first guide magnetic member 120, since each sampling point of the magnetic navigation sensor 210 is at a different position, the distance from the first guide magnetic member 120 is also different, so the magnitude of the magnetic flux detected by each sampling point is also different. Therefore, the positional relationship between the magnetic navigation sensor 210 and the first guide magnetic member 120 can be determined based on the magnitude of the magnetic flux detected by different sampling points, and then the positional relationship between the photovoltaic cleaning robot 200 and the first guide magnetic member 120 can be obtained.

[0056] The first guide magnetic member 120 extends along the first direction, and the second guide magnetic member 130 extends along the second direction. When the photovoltaic cleaning robot 200 moves to the target position, and moves to the point where the magnetic navigation sensor 210 is located above the first guide magnetic member 120, the arrangement direction of each sampling point of the magnetic navigation sensor 210 is in a state of intersecting with the first direction, and preferably, should be perpendicular to the first direction. That is, the optimal way is that the photovoltaic cleaning robot 200 enters the return warehouse guiding device 100 in a state where the arrangement direction of each sampling point of the magnetic navigation sensor 210 is perpendicular to the first direction.

[0057] It is understood by those skilled in the art that when the magnetic navigation sensor 210 is located above the first guide magnetic member 120, the arrangement direction of each sampling point of the magnetic navigation sensor 210 is in an intersecting relationship with the first direction. The photovoltaic cleaning robot 200 can move to the target position according to its own traditional navigation method. Although it is difficult to achieve that when the magnetic navigation sensor 210 is located above the first guide magnetic member 120, the arrangement direction of each sampling point of the magnetic navigation sensor 210 is perpendicular to the first direction and is evenly divided by the first guide magnetic member 120, it is still relatively easy for the photovoltaic cleaning robot 200 to use its own traditional navigation method to move to a state where the arrangement direction of each sampling point of the magnetic navigation sensor 210 intersects with the first direction.

[0058] When the photovoltaic cleaning robot 200 moves to the target position, if the sampling points in the middle area of ​​the magnetic navigation sensor 210 can detect the magnetic flux, while the sampling points at the edge cannot collect the magnetic flux, it means that the magnetic navigation sensor 210 has moved to the top of the first guide magnetic part 120. This is because the extension direction of the first guide magnetic part 120 is parallel to the direction of entering the charging warehouse, and when the photovoltaic cleaning robot 200 returns to the charging warehouse, it must enter the charging warehouse along this direction. The sampling points of the magnetic navigation sensor 210 are arranged along the width direction of the photovoltaic cleaning robot 200, which makes the distance between each sampling point and the first guide magnetic part 120 different. If the path of the photovoltaic cleaning robot 200 returning to the charging warehouse is correct, the sampling points in the middle area of ​​the magnetic navigation sensor 210 can detect the magnetic flux of the first guide magnetic part 120, while the sampling points at the edge cannot collect the magnetic flux because they are too far away from the first guide magnetic part 120.

[0059] The position of the photovoltaic cleaning robot 200 is adjusted so that the magnetic flux detected by the most central sampling point of the magnetic navigation sensor 210 is the largest, so that the photovoltaic cleaning robot 200 can enter the target position in an aligned posture, ensuring that the charging receiving end on the photovoltaic cleaning robot 200 is aligned with the charging transmitting end in the charging bin. It should be noted that even if there are some deviations that make it impossible to adjust the magnetic flux detected by the most central sampling point of the magnetic navigation sensor 210 to be the largest, as long as the magnetic flux detected by the magnetic navigation sensor 210 closer to the central sampling point is larger, the position of the magnetic navigation sensor 210 and the first guiding magnetic member 120 can be basically aligned, and finally, even if the charging receiving end on the photovoltaic cleaning robot 200 and the charging transmitting end in the charging bin cannot be aligned, as long as the basic corresponding relationship can be ensured, the charging function can be realized.

[0060] When all the sampling points of the magnetic navigation sensor 210 can detect magnetic flux, it means that the magnetic navigation sensor 210 has moved to the position of the second guiding magnetic member 130, and the photovoltaic cleaning robot 200 is controlled to stop. Since the extension direction of the second guiding magnetic member 130 is perpendicular to the first guiding magnetic member 120, when the photovoltaic cleaning robot 200 is guided to the target position by the first guiding magnetic member 120, the positional relationship between each sampling point of the magnetic navigation sensor 210 and the first guiding magnetic member 120 is corrected, so that the arrangement direction of each sampling point is perpendicular to the first guiding magnetic member 120, that is, parallel to the extension direction of the second guiding magnetic member 130.

[0061] When each sampling point of the magnetic navigation sensor 210 moves to the top of the second guiding magnetic part 130 in a posture parallel to the second guiding magnetic part 130, each sampling point of the magnetic navigation sensor 210 can detect the magnetic field. At this time, the photovoltaic cleaning robot 200 has moved to the target position, and the photovoltaic cleaning robot 200 can be controlled to stop moving. Then, the charging receiving end on the photovoltaic cleaning robot 200 and the charging transmitting end in the charging bin are in a corresponding state.

[0062] like Figure 1 As shown, the first guide magnetic member 120 can extend to the middle of the second guide magnetic member 130, so that the first guide magnetic member 120 and the second guide magnetic member 130 are in a T-shaped structure. It should be noted that the length of the second guide magnetic member 130 can be less than the length of the first guide magnetic member 120, and the length of the second guide magnetic member 130 only needs to be able to meet the requirement that when each sampling point of the magnetic navigation sensor 210 moves to the top of the second guide magnetic member 130 in a posture parallel to the second guide magnetic member 130, each sampling point of the magnetic navigation sensor 210 can detect the magnetic field. The length of the first guide magnetic member 120 can be designed according to demand, and its length design can be satisfied as long as the photovoltaic cleaning robot 200 can use the first guide magnetic member 120 to correct the position before moving to the target position.

[0063] Furthermore, the return-to-warehouse guiding device 100 further includes a mounting base plate 110, and the first guiding magnetic member 120 and the second guiding magnetic member 130 are both mounted on the mounting base plate 110. In this embodiment, the first guiding magnetic member 120 and the second guiding magnetic member 130 are mounted on the mounting base plate 110, and the first guiding magnetic member 120 and the second guiding magnetic member 130 can be installed together to corresponding positions through the mounting base plate 110, thereby improving the on-site installation efficiency.

[0064] like Figure 6As shown, in a specific embodiment of the utility model, an anti-skid block 111 is provided on the mounting base plate 110 for resisting the walking mechanism of the photovoltaic cleaning robot 200. When the photovoltaic cleaning robot 200 moves to the target position, the walking mechanism of the photovoltaic cleaning robot 200 is blocked by the anti-skid block 111 at the rear side of the forward direction, which can prevent the photovoltaic cleaning robot 200 from retreating during the charging process and affecting effective charging. The photovoltaic cleaning robot 200 can move forward and can be limited by the structure of the charging bin, so that when the photovoltaic cleaning robot 200 moves to the target position, the front and rear can limit the movement of the photovoltaic cleaning robot 200 without power, ensuring that the charging receiving end on the photovoltaic cleaning robot 200 and the charging transmitting end in the charging bin are always in a corresponding state.

[0065] Furthermore, the first guiding magnetic member 120 includes a first magnet, which can be Figure 1 A continuously extending magnetic strip is shown, which may also be Figure 4 The magnetic strips shown are arranged at intervals, and can also be Figure 5 Several magnetic nails are shown arranged at intervals, and the utility model does not limit the structural form of the first magnet.

[0066] Similarly, the second guiding magnetic member 130 includes a second magnet, which can be Figure 1 A continuously extending magnetic strip is shown, which may also be Figure 4 The magnetic strips shown are arranged at intervals, and can also be Figure 5 Several magnetic pins are shown that are arranged at intervals, and the utility model does not limit the structural form of the second magnet.

[0067] It should be noted that the structures of the first magnet and the second magnet may be the same or different. For example, the first magnet and the second magnet may both adopt a continuously extending magnetic strip or a plurality of magnetic strips arranged at intervals, or may both adopt a plurality of magnetic nails arranged at intervals. Of course, when the first magnet adopts a continuously extending magnetic strip, the second magnet may adopt a plurality of magnetic strips arranged at intervals or a plurality of magnetic nails arranged at intervals, and other different structural forms are not given examples.

[0068] In order to protect the first magnet and the second magnet, in this embodiment, the first guide magnetic member 120 further includes a first protective sleeve, the first magnet is embedded in the first protective sleeve, and the first protective sleeve is fixed to the mounting base plate 110 by a fastener. Specifically, a fixing ear plate for inserting the fastener can be provided at a corresponding position of the first protective sleeve, and the fixing ear plate is pressed against the mounting base plate 110 by the fastener to fix the first protective sleeve.

[0069] Similarly, the second guide magnetic member 130 also includes a second protective sleeve, and the second magnet is embedded in the second protective sleeve. The second protective sleeve is fixed to the mounting base plate 110 by a fastener. Specifically, a fixing ear plate for inserting the fastener can be provided at a corresponding position of the second protective sleeve, and the fixing ear plate is pressed against the mounting base plate 110 by the fastener to fix the second protective sleeve.

[0070] Since the return-to-warehouse alignment device disclosed in the embodiment of the utility model utilizes the magnetic induction relationship between the magnetic navigation sensor 210 and the first guide magnetic part 120 and the second guide magnetic part 130 to perform position correction, the position of the magnetic navigation sensor 210 on the photovoltaic cleaning robot 200 will affect the position of the photovoltaic cleaning robot 200.

[0071] Once the installation position of the magnetic navigation sensor 210 on the photovoltaic cleaning robot 200 deviates, or the installation position of the return-to-warehouse guide device 100 deviates, it will affect the position of the photovoltaic cleaning robot 200. Adjusting the installation position of the return-to-warehouse guide device 100 is troublesome, and the installation workers need to re-drill holes for installation, which is time-consuming and labor-intensive.

[0072] In this embodiment, the magnetic navigation sensor 210 is arranged on the photovoltaic cleaning robot 200 through a sliding assembly, and the sliding direction of the sliding assembly is the width direction of the photovoltaic cleaning robot 200. The utility model can adjust the magnetic navigation sensor 210 on the photovoltaic cleaning robot 200 along the width direction of the photovoltaic cleaning robot 200 through the sliding assembly, and after adjusting to a suitable position, it can be locked by a locking member. The sliding assembly may include a slide rail and a slider, the slide rail extends along the width direction of the photovoltaic cleaning robot 200, the slider slides with the slide rail, and the slider is fixed on the magnetic navigation sensor 210. A locking member (such as a locking top screw) is provided on the slider, and the locking top screw is threadedly matched with the threaded hole on the slider. By rotating the locking top screw, the end of the locking top screw can be pressed against the slide rail, thereby limiting the sliding of the slider and achieving the purpose of locking. It should be noted that the magnetic navigation sensor 210 can also be directly fixed on the photovoltaic cleaning robot 200.

[0073] The embodiment of the utility model also discloses a photovoltaic cleaning robot charging system, including a charging bin and a return bin alignment device. The return bin alignment device is the return bin alignment device disclosed in the above embodiment, and the return bin guide device 100 is arranged on the path between the charging bin and the photovoltaic panel to guide the photovoltaic cleaning robot 200 to the target position, so that the charging receiving end on the photovoltaic cleaning robot 200 corresponds to the charging transmitting end in the charging bin.

[0074] The photovoltaic cleaning robot charging system provided by the utility model has all the technical effects of the above-mentioned return-to-warehouse alignment device, which will not be described in detail herein.

[0075] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements. The elements defined by the sentence "includes a..." do not exclude the existence of other identical elements in the process, method, commodity or device that includes the elements.

[0076] In the description of this application, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in this application based on the specific content of the technical solution.

[0077] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0078] This article uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core ideas of the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. A return warehouse alignment device, characterized in that: Used to guide a photovoltaic cleaning robot (200) to a target position, comprising a return-to-warehouse guiding device (100) and a magnetic navigation sensor (210) arranged on the photovoltaic cleaning robot (200), wherein the return-to-warehouse guiding device (100) comprises: A first guiding magnetic member (120), wherein a guiding path of the first guiding magnetic member (120) enables the photovoltaic cleaning robot (200) to move to a target position; A second guiding magnetic member (130) is arranged on a guiding path of the first guiding magnetic member (120) and is used to mark the target position; The magnetic navigation sensor (210) is used to detect the magnetic fields generated by the first guiding magnetic component (120) and the second guiding magnetic component (130), so that the photovoltaic cleaning robot (200) can correct the position deviation according to the first guiding magnetic component (120) when moving towards the target position, and stop when the magnetic navigation sensor (210) detects the magnetic field of the second guiding magnetic component (130).

2. The return-to-warehouse alignment device according to claim 1, characterized in that: The first guiding magnetic member (120) extends along a first direction, the second guiding magnetic member (130) extends along a second direction, and the first direction is perpendicular to the second direction; When the photovoltaic cleaning robot (200) moves toward the target position until the magnetic navigation sensor (210) is located above the first guiding magnetic part (120), the magnetic navigation sensor (210) senses the magnetic field of the first guiding magnetic part (120) and adjusts the position of the photovoltaic cleaning robot (200) so that the magnetic navigation sensor (210) is symmetrical along the first guiding magnetic part (120).

3. The return-to-warehouse alignment device according to claim 2, characterized in that: The magnetic navigation sensor (210) has a plurality of sampling points for detecting magnetic flux, and each of the sampling points is arranged at intervals; When the photovoltaic cleaning robot (200) moves toward the target position, the sampling point in the middle area of ​​the magnetic navigation sensor (210) can detect magnetic flux, and the sampling point at the outermost edge cannot collect magnetic flux, adjusting the position of the photovoltaic cleaning robot (200) so that the magnetic flux detected by the most middle sampling point of the magnetic navigation sensor (210) is the largest; When all sampling points of the magnetic navigation sensor (210) are able to detect magnetic flux, the photovoltaic cleaning robot (200) is controlled to stop.

4. The return-to-warehouse alignment device according to claim 2, characterized in that: The first guiding magnetic member (120) extends to the middle of the second guiding magnetic member (130).

5. The return-to-warehouse alignment device according to claim 1, characterized in that: The return-to-warehouse guiding device (100) further comprises a mounting base plate (110), and the first guiding magnetic component (120) and the second guiding magnetic component (130) are both mounted on the mounting base plate (110).

6. The return-to-warehouse alignment device according to claim 5, characterized in that: An anti-slip stopper (111) for resisting the walking mechanism of the photovoltaic cleaning robot (200) is provided on the installation base plate (110).

7. The return-to-warehouse alignment device according to any one of claims 1 to 6, characterized in that: The first guiding magnetic member (120) comprises a first magnet, which is a continuously extending magnetic strip, a plurality of magnetic strips arranged at intervals, or a plurality of magnetic pins arranged at intervals; and / or, The second guiding magnetic member (130) comprises a second magnet, which is a continuously extending magnetic strip, a plurality of magnetic strips arranged at intervals, or a plurality of magnetic nails arranged at intervals.

8. The return-to-warehouse alignment device according to claim 7, characterized in that: The first guiding magnetic member (120) further comprises a first protective sleeve, in which the first magnet is embedded; and / or, The second guiding magnetic member (130) further comprises a second protective sleeve, in which the second magnet is embedded.

9. The return-to-warehouse alignment device according to any one of claims 1 to 6, characterized in that: The magnetic navigation sensor (210) is arranged on the photovoltaic cleaning robot (200) via a sliding component, and the sliding direction of the sliding component is the width direction of the photovoltaic cleaning robot (200).

10. A photovoltaic cleaning robot charging system, characterized in that: include: Charging compartment; The return-to-warehouse alignment device is a return-to-warehouse alignment device as described in any one of claims 1 to 9, wherein the return-to-warehouse guiding device (100) is arranged on a path between the charging warehouse and the photovoltaic panel to guide the photovoltaic cleaning robot (200) to a target position, so that a charging receiving end on the photovoltaic cleaning robot (200) corresponds to a charging transmitting end in the charging warehouse.

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