Robot for photovoltaic panel

Abstract

The utility model relates to the technical field of robots, and discloses a robot for a photovoltaic panel. The robot includes: a mounting bracket; the movement mechanism is arranged on the mounting bracket and is used for driving the mounting bracket to move relative to the photovoltaic panel, so that the robot moves relative to the photovoltaic panel; the cameras are arranged at the two opposite ends of the mounting support in the moving direction of the robot, main optical axes of the cameras face the outer side of the mounting support and point to the photovoltaic panel, and the cameras are used for collecting image information of the photovoltaic panel in the current moving direction of the robot and communicating with the outside to transmit the image information; wherein the movement mechanism can receive an external control signal generated according to the image information, and adjust the moving direction of the mounting bracket relative to the photovoltaic panel, so that the robot advances according to a preset path. The control precision of the moving direction of the robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, for example to a robot for photovoltaic panels. Background Art

[0002] Photovoltaic panels, also known as solar panels, are devices that use the photoelectric effect to convert solar energy into electrical energy. However, long-term outdoor exposure makes photovoltaic panels prone to various faults or accumulation of dust and dirt, reducing the power generation efficiency of photovoltaic systems. For photovoltaic panel installation areas that are difficult for technicians to reach, robotic methods are often used to clean photovoltaic panels and detect faults to ensure efficient operation of photovoltaic panels and reduce personnel input.

[0003] In order to improve the autonomy of the robot, it is necessary to plan the robot's running trajectory, such as walking along a preset "J"-shaped route to ensure that the robot's moving direction will not deviate. In the related art, a robot is proposed, which includes: a body capable of moving on a photovoltaic panel array; and cameras arranged on the left and right sides of the body; the lens of the camera faces the photovoltaic panel array to collect images on both sides of the body; the data processing device is arranged in the body and connected to the camera.

[0004] In the process of implementing the above embodiments, it was found that although the relevant technology can automatically adjust the direction of the robot back to the preset route by using the real-time image obtained by the camera after the vehicle body deviates from the preset route during travel, thereby realizing the straight-line travel control of the robot, the control accuracy is low.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0006] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0007] The disclosed embodiments provide a robot for photovoltaic panels, which can improve the control accuracy of the robot's moving direction.

[0008] In some embodiments, a robot for photovoltaic panels is provided, comprising: a mounting bracket; a motion mechanism, arranged on the mounting bracket, for driving the mounting bracket to move relative to the photovoltaic panel, so that the robot moves relative to the photovoltaic panel; a camera, arranged at opposite ends of the mounting bracket along the moving direction of the robot, with the main optical axis of the camera facing the outside of the mounting bracket and pointing to the photovoltaic panel, for collecting image information of the photovoltaic panel in the current moving direction of the robot, and communicating with the outside to transmit the image information; wherein the motion mechanism is capable of receiving a control signal generated by the outside according to the image information, adjusting the moving direction of the mounting bracket relative to the photovoltaic panel, so that the robot moves along a preset path.

[0009] Optionally, the angle between the main optical axis of the camera and the plane where the photovoltaic panel is located is an acute angle.

[0010] Optionally, the angle between the main optical axis of the camera and the plane where the photovoltaic panel is located ranges from 30° to 60°.

[0011] Optionally, mounting surfaces are respectively provided at opposite ends of the mounting bracket along the moving direction of the robot, and a first angle is formed between the plane where the mounting surface is located and the axis along the height direction of the mounting bracket; two cameras are respectively arranged on the two mounting surfaces, and a second angle is formed between the main optical axis of the camera and the plane where the mounting surface is located; the first angle and the second angle meet preset conditions, so that the angle between the main optical axis of the camera and the plane where the photovoltaic panel is located is an acute angle.

[0012] Optionally, the motion mechanism includes: an adsorption device, one end of which is connected to the mounting bracket, and the other end of which can switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; a rotation device, one end of which is movably connected to the mounting bracket, and the other end of which can switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; wherein, when the rotation device is in a fixed state, the adsorption device and the mounting bracket in a detached state can move relative to the photovoltaic panel; when the adsorption device is in a fixed state, the rotation device in a detached state can move relative to the photovoltaic panel.

[0013] Optionally, the rotating device includes: a rotating structure, one end of which can switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; and when the rotating structure is in the fixed state, it can drive the adsorption device and the mounting bracket in the detached state to rotate relative to the photovoltaic panel; a lifting structure, which is connected to the other end of the rotating structure; when the adsorption device is in the detached state, it can drive the rotating structure to move toward or away from the photovoltaic panel to achieve switching of the rotating structure between a fixed state and a detached state; a moving structure, one end of which is movably connected to the mounting bracket, and the other end is connected to the lifting structure; when the rotating structure is in the detached state, it can drive the rotating device to move relative to the photovoltaic panel.

[0014] Optionally, the rotating structure includes: a first adsorption component, one end of which can switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; a first rotating motor, the output end of the first rotating motor is connected to one of the lifting structure and the other end of the first adsorption component, and the fixed end of the first rotating motor is connected to the other of the first lifting device and the other end of the first adsorption component; the first rotating motor is used to drive the adsorption device and the mounting bracket in the detached state to rotate relative to the photovoltaic panel when the first adsorption component is in a fixed state.

[0015] Optionally, the first adsorption component includes: a first suction cup; a first air pump, arranged on the first suction cup, for driving the first suction cup to switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; wherein, the side of the first suction cup away from the photovoltaic panel is connected to the output end or fixed end of the first rotating motor.

[0016] Optionally, the lifting structure includes: a lifting bracket connected to the moving structure; a second rotating motor arranged on the lifting bracket; a first transmission assembly, the input end of the first transmission assembly is connected to the output end of the second rotating motor, and the output end of the first transmission assembly is connected to the rotating structure.

[0017] Optionally, the first transmission assembly includes: a first support rod, one end of which is connected to the rotating structure; a first rack, which is extended along the length direction of the support rod and is arranged on the support rod; and a first gear, which is arranged on the first rack and is connected to the output end of the second rotating motor.

[0018] Optionally, the mobile structure includes: a mobile bracket connected to the lifting structure; a third rotating motor arranged on the mobile bracket; a second transmission assembly movably connected to the mounting bracket, and an input end of the second transmission assembly is connected to an output end of the third rotating motor.

[0019] Optionally, the second transmission assembly includes: a second gear connected to the output end of the third rotating motor; a third gear meshing with the second gear; a connecting rod passing through the third gear and slidably connected to the movable bracket; a fourth gear connected to the end of the connecting rod; a second rack extending along the moving direction of the robot and disposed on the mounting bracket, and meshing with the fourth gear.

[0020] Optionally, there are two fourth gears, which are respectively connected to the opposite ends of the connecting rod; there are two second racks, which are respectively arranged on opposite sides of the mounting bracket, and the two second racks and the two fourth gears are arranged in a one-to-one correspondence.

[0021] Optionally, the adsorption device further includes: an adsorption structure, one end of which is connected to the mounting bracket, and the other end of which can be switched between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel.

[0022] Optionally, the adsorption structure includes: a second adsorption component, one end of which can switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; a lifting component, the output end of the lifting component is connected to the other end of the second adsorption component, and the fixed end of the lifting component is connected to the mounting bracket.

[0023] Optionally, the adsorption structure also includes: a moving component, one end of which is movably connected to the mounting bracket, and the other end is connected to the lifting component; when the rotating structure is in a fixed state, the adsorption structure in a disengaged state can be driven to move relative to the mounting bracket.

[0024] Optionally, there are two adsorption structures, and along the moving direction of the robot, the two adsorption structures are respectively located on opposite sides of the rotating device and are spaced apart from the rotating device.

[0025] Optionally, the robot also includes: a controller, wherein the information input end of the controller is communicatively connected to the camera to receive image information output by the camera; the control output end of the controller is communicatively connected to the motion mechanism to control the motion mechanism to adjust the moving direction of the mounting bracket relative to the photovoltaic panel based on the control signal generated according to the received image information, so that the robot moves along a preset path.

[0026] The robot for photovoltaic panels provided by the embodiments of the present disclosure can achieve the following technical effects:

[0027] In the robot for photovoltaic panels provided by the embodiment of the present disclosure, the motion mechanism can drive the mounting bracket to move relative to the photovoltaic panel, thereby driving the robot to move relative to the photovoltaic panel. Among them, along the moving direction of the robot, cameras are arranged at opposite ends of the mounting bracket, and the main optical axis of the camera is directed toward the outside of the mounting bracket and toward the photovoltaic panel, so that an angle is formed between the main optical axis of the camera and the plane where the photovoltaic panel is located, so as to reduce the interference of reflected light, so that the camera can more directly and accurately collect the photovoltaic panel image information in the current moving direction of the robot, and reduce the image distortion or blind spot caused by improper camera position or angle. Then, the motion mechanism is controlled according to the control signal generated by the image information to adjust the moving direction of the mounting bracket relative to the photovoltaic panel, so as to realize the control of the robot's travel direction.

[0028] Compared with the related art, the embodiment of the present disclosure reduces the probability of image distortion or blind spots, especially the image blind spots in the robot's moving direction, by adjusting the setting position and angle of the camera, thereby improving the control accuracy of the robot's moving direction.

[0029] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] One or more embodiments are exemplarily described by corresponding drawings, which do not limit the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements, and the drawings do not constitute a scale limitation, and wherein:

[0031] Figure 1 is a schematic diagram of a structure in which a robot provided by an embodiment of the present disclosure is arranged on a photovoltaic panel;

[0032] Figure 2 is a side view of a robot provided by an embodiment of the present disclosure disposed on a photovoltaic panel;

[0033] Figure 3 yes Figure 2 A schematic diagram of the enlarged structure at X in the embodiment shown in FIG.

[0034] Figure 4 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure;

[0035] Figure 5 is a schematic structural diagram of a robot provided by another embodiment of the present disclosure;

[0036] Figure 6 is a schematic diagram of the internal structure of a robot provided by an embodiment of the present disclosure;

[0037] Figure 7 yes Figure 6The enlarged structural schematic diagram of the M in the embodiment shown in FIG.

[0038] Figure 8 yes Figure 6 A schematic diagram of the internal structure of the robot from another perspective in the embodiment shown in FIG.

[0039] Fig. 9 yes Figure 8 The enlarged structural diagram of the P in the embodiment shown in FIG.

[0040] Fig.10 yes Figure 8 A schematic diagram of the enlarged structure at Q in the embodiment shown in FIG.

[0041] Fig.11 yes Figure 8 A schematic diagram of the enlarged structure at Y in the embodiment shown in FIG.

[0042] Reference numerals:

[0043] 1 robot;

[0044] 10 mounting bracket; 100 mounting surface; 102 first end; 104 second end;

[0045] 20 sports organizations;

[0046] 200 adsorption device; 210 adsorption structure; 212 second adsorption assembly; 214 second suction cup; 216 second air pump; 218 lifting assembly; 220 moving assembly;

[0047] 300 rotating device; 310 rotating structure; 312 first adsorption assembly; 314 first suction cup; 316 first air pump; 318 first rotating motor; 320 lifting structure; 322 lifting bracket; 324 mounting sleeve; 326 mounting groove; 328 mounting member; 330 second rotating motor; 332 first transmission assembly; 334 first support rod; 336 first rack; 338 first gear; 340 moving structure; 342 moving bracket; 344 third rotating motor; 346 second transmission assembly; 348 second gear; 350 third gear; 352 connecting rod; 356 fourth gear; 358 second rack; 360 housing; 362 roller brush;

[0048] 40 cameras; 50 controllers;

[0049] 6 photovoltaic panels. DETAILED DESCRIPTION

[0050] In order to be able to understand the features and technical contents of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present disclosure. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, one or more embodiments can still be implemented without these details. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0051] The terms "first", "second", etc. in the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present disclosure described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0052] In the embodiments of the present disclosure, the terms "upper", "lower", "inside", "middle", "outside", "front", "back" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly intended to better describe the embodiments of the present disclosure and their embodiments, and are not intended to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction. Moreover, in addition to being used to indicate directions or positional relationships, some of the above terms may also be used to indicate other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in certain circumstances. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0053] In addition, the terms "disposed", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0054] Unless otherwise stated, the term "plurality" means two or more.

[0055] In the embodiment of the present disclosure, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B indicates: A or B.

[0056] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A, B, A and B.

[0057] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0058] In some embodiments, in combination Figures 1 to 5 As shown, a robot 1 for photovoltaic panels is provided, including a mounting bracket 10, a motion mechanism 20 and a camera 40. The motion mechanism 20 is arranged on the mounting bracket 10, and is used to drive the mounting bracket 10 to move relative to the photovoltaic panel 6, so that the robot 1 moves relative to the photovoltaic panel 6. The cameras 40 are respectively arranged at opposite ends of the mounting bracket 10 along the moving direction of the robot 1, and the main optical axis of the camera 40 is toward the outside of the mounting bracket 10 and points to the photovoltaic panel 6. The camera 40 is used to collect image information of the photovoltaic panel 6 in the current moving direction of the robot 1, and communicate with the outside to transmit the image information. Among them, the motion mechanism 20 is capable of receiving a control signal generated by the outside according to the image information, adjusting the moving direction of the mounting bracket 10 relative to the photovoltaic panel 6, and making the robot 1 move along a preset path.

[0059] In the robot 1 for photovoltaic panels provided by the embodiment of the present disclosure, the motion mechanism 20 can drive the mounting bracket 10 to move relative to the photovoltaic panel 6, thereby driving the robot 1 to move relative to the photovoltaic panel 6. Among them, along the moving direction of the robot 1, cameras 40 are arranged at opposite ends of the mounting bracket 10, and the main optical axis of the camera 40 is directed toward the outside of the mounting bracket 10 and toward the photovoltaic panel 6, so that an angle is formed between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located, so as to reduce the interference of reflected light, so that the camera 40 can more directly and accurately collect the image information of the photovoltaic panel 6 in the current moving direction of the robot 1, and reduce the image distortion or blind area caused by the improper position or angle of the camera 40. Then, the motion mechanism 20 is controlled according to the control signal generated by the image information to adjust the moving direction of the mounting bracket 10 relative to the photovoltaic panel 6, so as to realize the control of the moving direction of the robot 1.

[0060] Compared with the related art, the embodiment of the present disclosure reduces the probability of image distortion or blind spots, especially the image blind spots in the moving direction of the robot 1, by adjusting the setting position and angle of the camera 40, thereby improving the control accuracy of the moving direction of the robot 1.

[0061] It should be noted that the moving direction of the robot 1 in the disclosed embodiment refers to the direction in which the robot 1 moves forward or backward relative to a reference object (such as the photovoltaic panel 6). In actual applications, the moving direction of the robot 1 will be consistent with a certain structural feature of the robot 1 itself. For example, when the mounting bracket 10 is in the shape of a rectangular parallelepiped, the moving direction of the robot 1 is the same as the length direction or width direction of the mounting bracket 10. The disclosed embodiment takes the example that the moving direction of the robot 1 is the same as the length direction of the mounting bracket 10. When understanding the structural features of the robot 1 described in some embodiments of the present application, the moving direction of the robot 1 can be regarded as the length direction of the mounting bracket 10.

[0062] Optionally, combined Figure 2 and Figure 3 As shown, the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located is an acute angle. In this embodiment, by limiting the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located to be an acute angle, it is ensured that the setting angle of the camera 40 can reduce the interference of reflected light, so that the camera 40 can collect the image information of the photovoltaic panel 6 more directly and accurately, thereby reducing image distortion or blind spots.

[0063] Optionally, combined Figure 2 and Figure 3 As shown, the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located ranges from 30° to 60°.

[0064] For the convenience of introducing the embodiments of the present disclosure, the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located is called the preset angle β, then 30°≤β≤60°. In this embodiment, by making the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located at a preset angle β after installation, the image quality problems caused by light reflection, shadow obstruction or viewing angle deviation are reduced, and the clarity and accuracy of image information acquisition are improved. By limiting the value range of the preset angle β to 30° to 60°, the robot 1 can more comprehensively capture the image information of the photovoltaic panel 6 in the current moving direction of the robot 1, reduce the blind spot of the viewing angle, and improve the accuracy of the control of the moving direction of the robot 1. Exemplarily, the specific value of the preset angle β is 30°, 45° or 60°.

[0065] Optionally, combined Figure 2 and Figure 3As shown, along the moving direction of the robot 1, mounting surfaces 100 are respectively provided at opposite ends of the mounting bracket 10, and a first angle is formed between the plane where the mounting surface 100 is located and the axis along the height direction of the mounting bracket 10. Two cameras 40 are respectively provided on the two mounting surfaces 100, and a second angle is formed between the main optical axis of the camera 40 and the plane where the mounting surface 100 is located. The first angle and the second angle meet the preset conditions, so that the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located is an acute angle.

[0066] In this embodiment, a first angle (eg, Figure 3 The two cameras 40 are respectively mounted on two mounting surfaces 100 with an inclined angle (first angle). A second angle (as shown in FIG. 1 ) is formed between the main optical axis of the camera 40 and the plane where the mounting surface 100 is located. Figure 3 The angle α shown in the figure is adapted to the inclination angle of the mounting surface 100, so that the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located is an acute angle, so that when the camera 40 collects image information, its viewing angle will naturally tilt toward the photovoltaic panel 6.

[0067] Optionally, the preset condition includes that the second angle is greater than the first angle, and the difference between the second angle and the first angle is in the range of 30° to 60°. In this embodiment, since α-θ=90°-β, the difference between the second angle and the first angle is limited to a range of 30° to 60° to ensure that the preset angle β is between 30° and 60°, and ensure that the angle between the main optical axis of the camera 40 and the plane where the photovoltaic panel 6 is located is an acute angle. Exemplarily, the value of the second angle α is 80°, and the value of the first angle θ is 30°, then the difference between the second angle and the first angle is 50°, and since α-θ=90°-β, the value of β is 40°.

[0068] In some embodiments, the first angle formed between the plane where the mounting surface 100 is located and the axis along the height direction of the mounting bracket 10 is an acute angle, and the angle range of the first angle is 30° to 60°. The two cameras 40 are respectively arranged on the two mounting surfaces 100, and the main optical axis of the camera 40 is perpendicular to the plane where the mounting surface 100 is located.

[0069] Optionally, combined Figures 1 to 5As shown, the motion mechanism 20 includes an adsorption device 200 and a rotating device 300. One end of the adsorption device 200 is connected to the mounting bracket 10, and the other end can switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. One end of the rotating device 300 is movably connected to the mounting bracket 10, and the other end can switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. When the rotating device 300 is in a fixed state, the adsorption device 200 and the mounting bracket 10 in a detached state can move relative to the photovoltaic panel 6. When the adsorption device 200 is in a fixed state, the rotating device 300 in a detached state can move relative to the photovoltaic panel 6.

[0070] In the disclosed embodiment, the adsorption device 200 and the rotating device 300 are spaced apart on one side of the mounting bracket 10 close to the photovoltaic panel 6, and the adsorption device 200 and the rotating device 300 at one end away from the mounting bracket 10 can switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. And the adsorption device 200 and the rotating device 300 are not in the detached state at the same time. By ensuring that the adsorption device 200 and the rotating device 300 are not in the detached state at the same time, it is ensured that the robot 1 can be stably attached to the photovoltaic panel 6 during operation, and sliding or falling off caused by factors such as wind and vibration is prevented, thereby improving the safety and stability of the operation. By cooperating with each other, the motion mechanism 20 can drive the movement of the mounting bracket 10 relative to the photovoltaic panel 6, thereby realizing the position and posture adjustment of the robot 1 relative to the photovoltaic panel 6.

[0071] For the convenience of introducing the present application, along the moving direction of the robot 1, the two opposite ends of the mounting bracket 10 are named as the first end 102 and the second end 104. The specific steps of realizing the movement mechanism 20 driving the mounting bracket 10 to move relative to the photovoltaic panel 6 by cooperating with the adsorption device 200 and the rotation device 300 are as follows:

[0072] Exemplary, combined Figure 1 and Figure 2 As shown, let the robot 1 follow the Figure 1The robot 1 moves along the path shown by the dotted line. At the initial moment, the robot 1 moves relative to the photovoltaic panel 6 along the direction from A to B. At this time, the direction from A to B is the same as the direction from the first end 102 to the second end 104. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 6 along the direction from the first end 102 to the second end 104 (because the mounting bracket 10 is stationary relative to the photovoltaic panel 6 at this time, the rotating device 300 also moves relative to the mounting bracket 10 during the movement relative to the photovoltaic panel 6). After the rotating device 300 moves to the desired position (such as when the mounting bracket 10 is close to the second end 104), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to move relative to the photovoltaic panel 6 along the direction from A to B (at this time, with the mounting bracket 10 as a reference, the rotating device 300 moves in the direction from the second end 104 to the first end 102). After moving to the desired position (such as the rotating device 300 is located at the mounting bracket 10 near the first end 102), the adsorption device 200 is controlled to switch to a fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to switch to a disengaged state. The rotating device 300 is controlled again to move relative to the photovoltaic panel 6 along the direction from the first end 102 to the second end 104. After moving to the desired position, the rotating device 300 is controlled to switch to a fixed state... and so on, the robot 1 is realized to perform linear motion relative to the photovoltaic panel 6 along the direction from A to B.

[0073] For example, Figure 1 and Figure 2 As shown, let the robot 1 follow the Figure 1The robot 1 moves along the path shown by the dotted line. At the initial moment, the robot 1 moves relative to the photovoltaic panel 6 along the direction from A to B, and at this time, the direction from A to B is the same as the direction from the first end 102 to the second end 104. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 6 along the direction from the first end 102 to the second end 104. After the rotating device 300 moves to the desired position (such as the mounting bracket 10 is close to the second end 104), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to rotate 180° relative to the photovoltaic panel 6. After the adsorption device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 6, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled to move relative to the photovoltaic panel 6 along the direction from the second end 104 to the first end 102. After moving to the desired position (such as the mounting bracket 10 is close to the first end 102), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to rotate 180° relative to the photovoltaic panel 6. After the adsorption device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 6, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to switch to the disengaged state again. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled again to move relative to the photovoltaic panel 6 along the direction from the first end 102 to the second end 104... and so on, the robot 1 is realized to perform linear motion relative to the photovoltaic panel 6 along the direction from A to B.

[0074] For example, Figure 1 and Figure 2As shown, when the robot 1 reaches point B, it needs to turn from the direction from A to B to the direction from B to C. Then the rotating device 300 is controlled to switch to a fixed state, and the adsorption device 200 is controlled to switch to a disengaged state. After the adsorption device 200 is in the disengaged state, the rotating device 300 is controlled to drive the adsorption device 200 to rotate 90° relative to the photovoltaic panel 6. After the adsorption device 200 rotates 90° relative to the photovoltaic panel 6, the adsorption device 200 is controlled to switch to a fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to switch to a disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled to move along the direction from B to C relative to the photovoltaic panel 6... Thereby realizing that after the robot 1 turns on the photovoltaic panel 6, it continues to move in a straight line relative to the photovoltaic panel 6.

[0075] In the disclosed embodiment, the position and posture adjustment of the robot 1 relative to the photovoltaic panel 6 is achieved by switching the adsorption device 200 and the rotating device 300 between the fixed state and the detached state, and driving the rotating device 300, thereby avoiding damages such as scratches and indentations on the surface of the photovoltaic panel 6 caused by traditional wheels or tracks.

[0076] Optionally, combined Figures 4 to 9 As shown, the rotating device 300 includes a rotating structure 310, a lifting structure 320 and a moving structure 340. One end of the rotating structure 310 can switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6, and when the rotating structure 310 is in the fixed state, it can drive the adsorption device 200 and the mounting bracket 10 in the detached state to rotate relative to the photovoltaic panel 6. The lifting structure 320 is connected to the other end of the rotating structure 310. When the adsorption device 200 is in the fixed state, the lifting structure 320 can drive the rotating structure 310 to move toward or away from the photovoltaic panel 6 to achieve the switching of the rotating structure 310 between the fixed state and the detached state. One end of the moving structure 340 is movably connected to the mounting bracket 10, and the other end is connected to the lifting structure 320. The moving structure 340 can drive the rotating device 300 to move relative to the photovoltaic panel 6 when the rotating structure 310 is in the detached state.

[0077] In this embodiment, the rotating structure 310, the lifting structure 320 and the moving structure 340 are combined to realize the multi-dimensional movement of the robot 1 on the photovoltaic panel 6, including translation, rotation, lifting, etc. The multi-dimensional movement of the robot 1 on the photovoltaic panel 6 enables the robot 1 to cope with various complex working scenes and task requirements, thereby improving the reliability and practicality of the robot 1.

[0078] Specifically, in this embodiment, when the rotating structure 310 is in a fixed state, it can drive the adsorption device 200 and the mounting bracket 10 to rotate relative to the photovoltaic panel 6 to achieve rotational motion. When the adsorption device 200 is in a fixed state, the lifting structure 320 can drive the rotating structure 310 to move toward or away from the photovoltaic panel 6, that is, to achieve lifting motion, and realize the switching of the rotating structure 310 between the fixed state and the disengaged state. For example, when it is necessary to switch the rotating structure 310 from the disengaged state to the fixed state, the lifting structure 320 is controlled to drive the rotating structure 310 to move toward the photovoltaic panel 6 so that the rotating structure 310 can be fixed to the surface of the photovoltaic panel 6. When it is necessary to switch the rotating structure 310 from the fixed state to the disengaged state, the lifting structure 320 is controlled to drive the rotating structure 310 to move away from the photovoltaic panel 6 so that the rotating structure 310 can be disengaged from the surface of the photovoltaic panel 6. The moving structure 340 can drive the rotating device 300 to move relative to the photovoltaic panel 6 when the rotating structure 310 is in the disengaged state to achieve translational motion.

[0079] Optionally, combined Figure 7 and Fig. 9 As shown, the rotating structure 310 includes a first adsorption component 312 and a first rotating motor 318. One end of the first adsorption component 312 can switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. The output end of the first rotating motor 318 is connected to one of the lifting structure 320 and the other end of the first adsorption component 312, and the fixed end of the first rotating motor 318 is connected to the other of the first lifting device and the other end of the first adsorption component 312. The first rotating motor 318 is used to drive the adsorption device 200 and the mounting bracket 10 in the detached state to rotate relative to the photovoltaic panel 6 when the first adsorption component 312 is in a fixed state.

[0080] In this embodiment, the first adsorption component 312 can switch between a fixed state and a detached state, and the first rotating motor 318 is used as a power source to drive the adsorption device 200 and the mounting bracket 10 to rotate relative to the photovoltaic panel 6. The combination of the first adsorption component 312 and the first rotating motor 318 realizes the switching between the fixed state and the detached state of the rotating device 300 itself and the turning movement of the robot 1 relative to the photovoltaic panel 6.

[0081] In some embodiments, the output end of the first rotating motor 318 is connected to the lifting structure 320, and the fixed end of the first rotating motor 318 is connected to the other end of the first adsorption assembly 312. In this embodiment, when the first adsorption assembly 312 is in a fixed state, the rotation direction and rotation speed of the output end of the first rotating motor 318 can be directly controlled to realize the rotation control of the adsorption device 200 and the mounting bracket 10 relative to the photovoltaic panel 6.

[0082] In some embodiments, the output end of the first rotating motor 318 is connected to the other end of the first adsorption assembly 312, and the fixed end of the first rotating motor 318 is connected to the lifting structure 320. In this embodiment, when the first adsorption assembly 312 is in a fixed state, by controlling the rotation direction and rotation speed of the output end of the first rotating motor 318, the reaction force generated at the fixed end of the first rotating motor 318 can be used to realize the rotation control of the adsorption device 200 and the mounting bracket 10 relative to the photovoltaic panel 6.

[0083] Optionally, combined Figure 7 and Fig. 9 As shown, the first adsorption assembly 312 includes a first suction cup 314 and a first air pump 316. The first air pump 316 is disposed on the first suction cup 314, and is used to drive the first suction cup 314 to switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. The side of the first suction cup 314 away from the photovoltaic panel 6 is connected to the output end or fixed end of the first rotating motor 318.

[0084] In this embodiment, the first air pump 316 is disposed on the first suction cup 314 to form the first adsorption assembly 312. When the first suction cup 314 contacts the photovoltaic panel 6, the first air pump 316 injects air into the first suction cup 314 or extracts air from the first suction cup 314 to change the air pressure between the first suction cup 314 and the photovoltaic panel 6, so that the first suction cup 314 can be switched between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6.

[0085] Specifically, when the first suction cup 314 needs to be switched from the detached state to the fixed state, after the first suction cup 314 contacts the photovoltaic panel 6, the first air pump 316 is controlled to extract air from the first suction cup 314 to reduce the air pressure between the first suction cup 314 and the photovoltaic panel 6, so that the first suction cup 314 is firmly adsorbed on the photovoltaic panel 6, and the first suction cup 314 is fixed to the surface of the photovoltaic panel 6. When the first suction cup 314 needs to be switched from the fixed state to the detached state, the first air pump 316 is controlled to inject air into the first suction cup 314 to increase the air pressure between the first suction cup 314 and the photovoltaic panel 6, so that the first suction cup 314 is separated from the photovoltaic panel 6, and the first suction cup 314 is detached from the photovoltaic panel 6 surface.

[0086] Optionally, combined Figure 7 and Fig. 9 As shown, the lifting structure 320 includes a lifting bracket 322, a second rotating motor 330 and a first transmission assembly 332. The lifting bracket 322 is connected to the moving structure 340. The second rotating motor 330 is disposed on the lifting bracket 322. The input end of the first transmission assembly 332 is connected to the output end of the second rotating motor 330, and the output end of the first transmission assembly 332 is connected to the rotating structure 310.

[0087] In this embodiment, the lifting bracket 322 serves as a supporting frame of the lifting structure 320, and is used to connect the mobile structure 340 and other structural components of the lifting structure 320, such as the second rotating motor 330, to ensure that the lifting structure 320 can remain stable during the lifting process, thereby improving the stability of the rotating device 300 and the robot 1. The second rotating motor 330 is the source of the driving force of the lifting structure 320, and provides power for the subsequent first transmission assembly 332, thereby realizing the lifting function. The input end of the first transmission assembly 332 is connected to the output end of the second rotating motor 330, and the output end of the first transmission assembly 332 is connected to the rotating structure 310, so as to convert the rotational motion of the second rotating motor 330 into the lifting motion of the rotating structure 310, thereby realizing the switching of the rotating structure 310 between the fixed state and the disengaged state.

[0088] Optionally, combined Figure 7 and Fig. 9 As shown, the first transmission assembly 332 includes a first support rod 334, a first rack 336 and a first gear 338. One end of the first support rod 334 is connected to the rotating structure 310. The first rack 336 is extended along the length direction of the support rod and is arranged on the support rod. The first gear 338 is arranged on the first rack 336 and is connected to the output end of the second rotating motor 330.

[0089] In this embodiment, a first support rod 334 is provided to connect the rotating structure 310 to ensure that the rotating structure 310 can be lifted and lowered accordingly with the movement of the first transmission assembly 332, thereby improving the carrying capacity of the first transmission assembly 332. The first rack 336 is extended along the length direction of the support rod. The teeth of the first rack 336 and the first gear 338 are meshed with each other, thereby realizing the transmission of power. The first gear 338 is provided on one side of the first rack 336 and is directly connected to the output end of the second rotating motor 330. When the second rotating motor 330 is started, its output shaft drives the first gear 338 to rotate, and the rotational motion of the first gear 338 is converted into the linear motion of the first rack 336 through the meshing with the first rack 336, so that the rotating structure 310 connected to the first support rod 334 can be lifted and lowered.

[0090] Optionally, combined Figure 7 and Fig. 9 As shown, the lifting bracket 322 includes a mounting sleeve 324 and a mounting member 328. The mounting sleeve 324 and the mounting member 328 are connected. The mounting member 328 is connected to the moving structure 340. The second rotating motor 330 is arranged on the mounting member 328. The mounting sleeve 324 and the first support rod 334 are nested, and the first support rod 334 can slide relative to the mounting sleeve 324. The mounting sleeve 324 includes a mounting groove 326 extending along the length direction of the first support rod 334. The teeth of the first rack 336 protrude from the mounting groove 326 and are meshed and connected with the first gear 338.

[0091] In this embodiment, the lifting bracket 322 includes a mounting sleeve 324 and a mounting member 328 connected to each other. The mounting sleeve 324 is nested with the first support rod 334, and the first support rod 334 is allowed to slide relative to the mounting sleeve 324 inside the mounting sleeve 324, which realizes the lifting function and provides a guide for the first support rod 334 to ensure the stability of lifting. The mounting member 328 connects the mobile structure 340 and the mounting sleeve 324 to achieve a stable connection between the lifting structure 320 and the mobile structure 340.

[0092] Optionally, combined Figure 7 and Fig. 9 As shown, the mobile structure 340 includes a mobile bracket 342, a third rotating motor 344 and a second transmission assembly 346. The mobile bracket 342 is connected to the lifting structure 320. The third rotating motor 344 is disposed on the mobile bracket 342. The second transmission assembly 346 is movably connected to the mounting bracket 10, and the input end of the second transmission assembly 346 is connected to the output end of the third rotating motor 344.

[0093] In this embodiment, the mobile bracket 342 is used to carry other components (such as the third rotating motor 344 and the second transmission assembly 346) and is connected to the lifting structure 320 to ensure that the lifting structure 320 can move with the movement of the mobile bracket 342. The third rotating motor 344 is used as a power source for the mobile structure 340 and is used to provide power input for the second transmission assembly 346. The second transmission assembly 346 is used to convert the rotational motion of the third rotating motor 344 into the translational motion of the mobile structure 340, thereby realizing the driving of the rotating device 300 to move relative to the photovoltaic panel 6.

[0094] Optionally, combined Figure 7 and Fig. 9 As shown, the second transmission assembly 346 includes a second gear 348, a third gear 350, a connecting rod 352, a fourth gear 356 and a second rack 358. The second gear 348 is connected to the output end of the third rotating motor 344. The third gear 350 is meshed with the second gear 348. The connecting rod 352 is inserted through the third gear 350 and is slidably connected to the moving bracket 342. The fourth gear 356 is connected to the end of the connecting rod 352. The second rack 358 is extended to the mounting bracket 10 in the moving direction of the robot 1 and is meshed with the fourth gear 356.

[0095] In this embodiment, the second transmission assembly 346 is formed by combining the second gear 348, the third gear 350, the connecting rod 352, the fourth gear 356 and the second rack 358 to convert the rotational motion of the third rotating motor 344 into the translational motion of the mobile structure 340, thereby ensuring stable transmission of power. In this embodiment, one end of the connecting rod 352 is fixedly connected to the fourth gear 356, and the other end is rollingly connected to the mounting bracket 10.

[0096] Specifically, the second gear 348 is directly connected to the output end of the third rotating motor 344 as the starting component of the second transmission assembly 346. When the third rotating motor 344 is started, its power is transmitted to the second gear 348 through the output end. The third gear 350 is meshed with the second gear 348 to form a pair of gears that mesh with each other. When the second gear 348 rotates, the third gear 350 is driven to rotate in the opposite direction. The connecting rod 352 is inserted into the center hole of the third gear 350 and is slidably connected to the mobile bracket 342, so that the connecting rod 352 can rotate relative to the mobile bracket 342 as the third gear 350 rotates. The fourth gear 356 is connected to the end of the connecting rod 352. When the connecting rod 352 rotates, the fourth gear 356 is driven to rotate. The second rack 358 is extended along the moving direction of the robot 1 and is meshed with the fourth gear 356. When the fourth gear 356 rotates, the fourth gear 356 will roll along the tooth surface of the second rack 358, thereby converting the rotational motion into linear motion, so that the moving structure 340 can translate on the mounting bracket 10, thereby driving the rotating device 300 to move relative to the mounting bracket 10, and then relative to the photovoltaic panel 6.

[0097] Optionally, combined Figure 7 and Fig. 9 As shown, there are two fourth gears 356, which are respectively connected to the opposite ends of the connecting rod 352. There are two second racks 358, which are respectively arranged on the opposite sides of the mounting bracket 10, and the two second racks 358 and the two fourth gears 356 are arranged one by one.

[0098] In this embodiment, by increasing the number of fourth gears 356 and second racks 358, and connecting the two fourth gears 356 to the opposite ends of the connecting rod 352, the two second racks 358 are respectively arranged on the opposite sides of the mounting bracket 10, and the two second racks 358 and the two fourth gears 356 are arranged in one-to-one correspondence, so that the power transmission of the second transmission assembly 346 is more stable, and the movement stability of the rotating device 300 is improved.

[0099] In some embodiments, in combination Figure 2 and Figure 3As shown, the rotating device 300 also includes a shell 360. Openings are provided at opposite ends of the shell 360, and the shell 360 includes an installation cavity, and the opening is connected to the installation cavity. The lifting structure 320 is located in the installation cavity. The movable structure 340 partially protrudes through the opening outside the installation cavity and is movably connected to the installation bracket 10. The end of the shell 360 close to the installation bracket 10 is fixedly connected to the movable bracket 342. The rotating structure 310 partially protrudes from the installation cavity through the opening away from the movable structure 340. The robot 1 also includes a roller brush 362. The opposite ends of the roller brush 362 are rotatably connected to the shell 360. The roller brush 362 is extended along the axial direction perpendicular to the moving direction of the robot 1. The roller brush 362 partially protrudes from the opening outside the installation cavity and is rollingly connected to the photovoltaic panel 6.

[0100] In this embodiment, a roller brush 362 is provided so that its two opposite ends are rotatably connected to the shell 360, and a portion protrudes from the opening and is rollingly connected to the photovoltaic panel 6, so that when the rotating device 300 moves relative to the photovoltaic panel 6, the roller brush 362 can roll relative to the photovoltaic panel 6 to clean the photovoltaic panel 6, thereby improving the functionality of the robot 1.

[0101] Optionally, combined Figure 4 and Figure 5 As shown, the adsorption device 200 further includes an adsorption structure 210. One end of the adsorption structure 210 is connected to the mounting bracket 10, and the other end can be switched between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6.

[0102] In this embodiment, the adsorption structure 210 and the rotating device 300 are located on the same side of the mounting bracket 10, and the adsorption structure 210 and the rotating device 300 are not in a disengaged state at the same time. The adsorption structure 210 and the rotating device 300 cooperate to achieve the movement of the robot 1 relative to the photovoltaic panel 6.

[0103] Optionally, combined Fig.10 and Fig.11 As shown, the adsorption structure 210 includes a second adsorption component 212 and a lifting component 218. One end of the second adsorption component 212 can switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. The output end of the lifting component 218 is connected to the other end of the second adsorption component 212, and the fixed end of the lifting component 218 is connected to the mounting bracket 10.

[0104] In this embodiment, the second adsorption component 212 cooperates with the lifting component 218 to realize the switching of the adsorption structure 210 between the fixed state and the detached state. The lifting component 218 can drive the second adsorption component 212 to move toward or away from the photovoltaic panel 6 when the rotating device 300 is in the fixed state, so as to realize the switching of the second adsorption component 212 between the fixed state and the detached state, thereby realizing the switching of the adsorption device 200 between the fixed state and the detached state.

[0105] Specifically, when the adsorption device 200 needs to be switched from the detached state to the fixed state, the lifting component 218 is controlled to drive the second adsorption component 212 to move closer to the photovoltaic panel 6, so that the second adsorption component 212 can be adsorbed on the surface of the photovoltaic panel 6, and the second adsorption component 212 is fixed on the surface of the photovoltaic panel 6. When the adsorption device 200 needs to be switched from the fixed state to the detached state, the lifting component 218 is controlled to drive the second adsorption component 212 to move away from the photovoltaic panel 6, so that the second adsorption component 212 can be detached from the surface of the photovoltaic panel 6.

[0106] Optionally, combined Fig.10 and Fig.11 As shown, the second adsorption assembly 212 includes a second suction cup 214 and a second air pump 216. The second air pump 216 is disposed on the second suction cup 214, and is used to drive the second suction cup 214 to switch between a fixed state fixed to the surface of the photovoltaic panel 6 and a detached state detached from the surface of the photovoltaic panel 6. The side of the second suction cup 214 away from the photovoltaic panel 6 is connected to the output end of the lifting assembly 218.

[0107] In this embodiment, the second air pump 216 is disposed on the second suction cup 214 to form the second adsorption assembly 212. When the second suction cup 214 is in contact with the photovoltaic panel 6, the second air pump 216 injects air into the second suction cup 214 or extracts air from the second suction cup 214, thereby changing the air pressure between the second suction cup 214 and the photovoltaic panel 6, and realizing the switching of the second suction cup 214 between the fixed state and the detached state.

[0108] Specifically, when the second suction cup 214 needs to be switched from the detached state to the fixed state, after the second suction cup 214 contacts the photovoltaic panel 6, the second air pump 216 is controlled to extract air from the second suction cup 214 to reduce the air pressure between the second suction cup 214 and the photovoltaic panel 6, so that the second suction cup 214 is firmly adsorbed on the photovoltaic panel 6, and the second suction cup 214 is fixed on the surface of the photovoltaic panel 6. When the second suction cup 214 needs to be switched from the fixed state to the detached state, the second air pump 216 is controlled to inject air into the second suction cup 214 to increase the air pressure between the second suction cup 214 and the photovoltaic panel 6, so that the second suction cup 214 is separated from the photovoltaic panel 6, and the second suction cup 214 is detached from the photovoltaic panel 6 surface.

[0109] In some embodiments, in combination Figure 4 As shown, the diameter of the second suction cup 214 is smaller than the diameter of the first suction cup 314. In this embodiment, by limiting the diameter of the second suction cup 214 to be smaller than the diameter of the first suction cup 314, the adsorption force generated when the second suction cup 214 is adsorbed on the photovoltaic panel 6 is smaller than the adsorption force generated when the first suction cup 314 is adsorbed on the photovoltaic panel 6, so as to maintain sufficient adsorption force while optimizing the adsorption force distribution and reducing the local pressure concentration on the surface of the photovoltaic panel 6.

[0110] In some embodiments, the structure and layout of the lifting assembly 218 are the same as those of the lifting structure 320 in the above embodiment, and will not be described in detail here. For the technical effects of the lifting assembly 218, refer to the above embodiment. In this embodiment, the lifting bracket 322 of the lifting assembly 218 is connected to the mounting bracket 10, and the output end of the first transmission assembly 332 of the lifting assembly 218 is connected to the second adsorption assembly 212.

[0111] Optionally, combined Fig.11 As shown, the adsorption structure 210 further includes a moving assembly 220. One end of the moving assembly 220 is movably connected to the mounting bracket 10, and the other end is connected to the lifting assembly 218. The moving assembly 220 can drive the adsorption structure 210 in the disengaged state to move relative to the mounting bracket 10 when the rotating structure 310 is in the fixed state.

[0112] In this embodiment, by adding a moving component 220, the adsorption structure 210 in the disengaged state is driven to move relative to the mounting bracket 10 along the moving direction of the robot 1, so as to flexibly adjust the position of the adsorption structure 210 on the mounting bracket 10 as needed, thereby improving work efficiency and work flexibility. In the process of the robot 1 moving relative to the photovoltaic panel 6 (the mounting bracket 10 moving relative to the photovoltaic panel 6), the adsorption structure 210 is stationary relative to the mounting bracket 10 to ensure the stability of the robot's movement. In the process of the adsorption structure 210 moving relative to the mounting bracket 10, the mounting bracket 10 is stationary relative to the photovoltaic panel 6 to ensure the stability of the position adjustment of the adsorption structure 210.

[0113] In some embodiments, the structural composition and layout of the mobile component 220 are the same as the structural composition and layout of the mobile structure 340 in the above embodiment, which will not be repeated here. For the technical effects of the mobile component 220, refer to the above embodiment.

[0114] Optionally, combined Figure 4 and Figure 5 As shown, there are two adsorption structures 210 . Along the moving direction of the robot 1 , the two adsorption structures 210 are respectively located on two opposite sides of the rotating device 300 and are spaced apart from the rotating device 300 .

[0115] In this embodiment, the two adsorption structures 210 are respectively located on opposite sides of the rotating device 300, and the two adsorption structures 210 act synchronously to provide stable support for the mounting bracket 10, thereby improving the stability and reliability of the movement and operation of the robot 1. In this embodiment, the specific structures of the two adsorption structures 210 can be the same or different.

[0116] In some embodiments, along the moving direction of the robot 1 , the two adsorption structures 210 are respectively located at opposite ends of the mounting bracket 10 .

[0117] Optionally, combined Figure 5 As shown, the robot 1 further includes a controller 50. The information input terminal of the controller 50 is connected in communication with the camera 40 to receive the image information output by the camera 40. The control output terminal of the controller 50 is connected in communication with the motion mechanism 20 to control the motion mechanism 20 to adjust the moving direction of the mounting bracket 10 relative to the photovoltaic panel 6 according to the control signal generated by the received image information, so that the robot 1 moves along the preset path.

[0118] In this embodiment, the controller 50 is used to process the data (image information) input from the camera 40, and generate corresponding control signals according to a preset algorithm to control the various components of the motion mechanism 20 to perform corresponding actions, adjust the moving direction of the mounting bracket 10 relative to the photovoltaic panel 6, and enable the robot 1 to move along a preset path.

[0119] It should be noted that, depending on the type of controller, the controller can be installed on the robot body, such as on a mounting bracket; or it can be independently set up separately from the robot, with a signal transmission connection between the two.

[0120] Exemplarily, when the controller is a control cabinet, the control cabinet can be independently provided separately from the robot, and the control cabinet is connected to the robot for signal transmission.

[0121] Exemplarily, when the controller is a microcontroller, the microcontroller can be installed in the robot body. The installation relationship described here is not limited to placement inside the robot body, but also includes installation connections with other components of the robot, including but not limited to physical connection, electrical connection or signal transmission connection, etc. It can be understood by those skilled in the art that the controller can be adapted to a feasible robot to realize other feasible embodiments.

[0122] Specifically, the specific process of controlling the motion mechanism to adjust the moving direction of the mounting bracket relative to the photovoltaic panel according to the control signal generated by the received image information can adopt the existing robot movement control method based on the collected photovoltaic panel image. For example, after obtaining the photovoltaic panel image, a coordinate transformation step is performed: a world coordinate system is established with the center point of the robot body (in the embodiment disclosed herein, the center point of the mounting bracket 10) as the origin, and coordinate transformation processing is performed on each frame of the real-time image (photovoltaic panel image); reference line identification: a reference line is identified from each frame of the real-time image; reference line coordinate calculation: a coordinate set of the straight line where the reference line is located in the world coordinate system is calculated; distance and angle comparison: a real-time distance between the reference line and the origin is calculated, and it is determined whether the real-time distance is within a preset distance threshold range; at the same time, the real-time angle of the angle between the actual moving direction of the vehicle body and the preset direction is obtained, and it is determined whether the real-time angle is within a preset angle threshold range; and direction adjustment: when the real-time distance is outside the preset distance threshold range and the real-time angle is within the preset angle threshold range, the vehicle body is controlled to adjust the moving direction to the left or right until the distance difference is within the preset distance difference threshold range, and the direction setting step is returned.

[0123] The specific process of adjusting the moving direction of the motion mechanism relative to the photovoltaic panel according to the control signal generated by the received image information can also be other robot movement control methods based on the collected photovoltaic panel images obtained based on the improvement of the existing technology.

[0124] The above description and the accompanying drawings sufficiently illustrate the embodiments of the present disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The embodiments represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The embodiments of the present disclosure are not limited to the structures described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A robot for photovoltaic panels, characterized in that: include: Mounting bracket; A motion mechanism is disposed on the mounting bracket and is used to drive the mounting bracket to move relative to the photovoltaic panel so that the robot moves relative to the photovoltaic panel; Cameras are respectively arranged at opposite ends of the mounting bracket along the moving direction of the robot, with the main optical axis of the camera facing the outside of the mounting bracket and pointing to the photovoltaic panel, and are used to collect image information of the photovoltaic panel in the current moving direction of the robot and communicate with the outside to transmit the image information; Among them, the motion mechanism is able to receive external control signals generated based on image information, adjust the moving direction of the mounting bracket relative to the photovoltaic panel, and make the robot move along a preset path.

2. The robot according to claim 1, characterized in that: The angle between the main optical axis of the camera and the plane where the photovoltaic panel is located is an acute angle.

3. The robot according to claim 2, characterized in that: The angle between the main optical axis of the camera and the plane where the photovoltaic panel is located ranges from 30° to 60°.

4. The robot according to claim 2, characterized in that: Along the moving direction of the robot, two opposite ends of the mounting bracket are respectively provided with mounting surfaces, and a first angle is formed between the plane where the mounting surface is located and the axis along the height direction of the mounting bracket; The two cameras are respectively arranged on two mounting surfaces, and a second angle is formed between the main optical axis of the camera and the plane where the mounting surface is located; the first angle and the second angle meet preset conditions, so that the angle between the main optical axis of the camera and the plane where the photovoltaic panel is located is an acute angle.

5. The robot according to any one of claims 1 to 4, characterized in that: Sports organizations include: An adsorption device, one end of which is connected to the mounting bracket, and the other end of which is capable of switching between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; A rotating device, one end of which is movably connected to the mounting bracket, and the other end of which is capable of switching between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; Among them, when the rotating device is in a fixed state, the adsorption device and the mounting bracket in a detached state can move relative to the photovoltaic panel; when the adsorption device is in a fixed state, the rotating device in a detached state can move relative to the photovoltaic panel.

6. The robot according to claim 5, characterized in that: The rotating device includes: A rotating structure, one end of which can be switched between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; and when the rotating structure is in the fixed state, the adsorption device and the mounting bracket in the detached state can be driven to rotate relative to the photovoltaic panel; The lifting structure is connected to the other end of the rotating structure; when the adsorption device is in a disengaged state, the rotating structure can be driven to move toward or away from the photovoltaic panel to achieve switching of the rotating structure between a fixed state and a disengaged state; The mobile structure is movably connected to the mounting bracket at one end and connected to the lifting structure at the other end; when the rotating structure is in a disengaged state, the rotating device can be driven to move relative to the photovoltaic panel.

7. The robot according to claim 6, characterized in that: The rotating structure includes: A first adsorption component, one end of which can be switched between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; A first rotating motor, wherein the output end of the first rotating motor is connected to one of the lifting structure and the other end of the first adsorption component, and the fixed end of the first rotating motor is connected to the other of the first lifting device and the other end of the first adsorption component; the first rotating motor is used to drive the adsorption device and the mounting bracket in a disengaged state to rotate relative to the photovoltaic panel when the first adsorption component is in a fixed state.

8. The robot according to claim 7, characterized in that: The first adsorption assembly includes: First sucker; a first air pump, disposed on the first suction cup, for driving the first suction cup to switch between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; Wherein, a side of the first suction cup away from the photovoltaic panel is connected to the output end or the fixed end of the first rotating motor.

9. The robot according to claim 6, characterized in that: The lifting structure includes: A lifting bracket is connected to the mobile structure; A second rotating motor is arranged on the lifting bracket; The first transmission component has an input end connected to the output end of the second rotating motor, and an output end of the first transmission component is connected to the rotating structure.

10. The robot according to claim 9, characterized in that: The first transmission assembly comprises: A first support rod, one end of which is connected to the rotating structure; A first rack extending along the length direction of the support rod and arranged on the support rod; The first gear is arranged on the first rack and is connected to the output end of the second rotating motor.

11. The robot according to claim 6, characterized in that: The mobile structure includes: A mobile bracket is connected to the lifting structure; A third rotating motor is arranged on the moving bracket; The second transmission assembly is movably connected to the mounting bracket, and the input end of the second transmission assembly is connected to the output end of the third rotating motor.

12. The robot according to claim 11, characterized in that: The second transmission assembly comprises: A second gear is connected to an output end of a third rotating motor; A third gear meshingly connected with the second gear; A connecting rod is inserted into the third gear and is slidably connected to the movable bracket; a fourth gear connected to the end of the connecting rod; The second rack is extended along the moving direction of the robot and is arranged on the mounting bracket, and is meshed and connected with the fourth gear.

13. The robot according to claim 12, characterized in that: There are two fourth gears, which are respectively connected to two opposite ends of the connecting rod; The number of the second racks is two, and the two second racks are respectively arranged on opposite sides of the mounting bracket, and the two second racks and the two fourth gears are arranged in one-to-one correspondence.

14. The robot according to claim 5, characterized in that: The adsorption device also includes: The adsorption structure has one end connected to the mounting bracket and the other end capable of switching between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel.

15. The robot according to claim 14, characterized in that: The adsorption structure includes: A second adsorption component, one end of which can be switched between a fixed state fixed to the surface of the photovoltaic panel and a detached state detached from the surface of the photovoltaic panel; A lifting component, wherein the output end of the lifting component is connected to the other end of the second adsorption component, and the fixed end of the lifting component is connected to the mounting bracket.

16. The robot according to claim 15, characterized in that: The adsorption structure also includes: The moving component has one end movably connected to the mounting bracket and the other end connected to the lifting component; it can drive the adsorption structure in a disengaged state to move relative to the mounting bracket when the rotating structure is in a fixed state.

17. The robot according to claim 14, characterized in that: There are two adsorption structures. Along the moving direction of the robot, the two adsorption structures are respectively located on two opposite sides of the rotating device and are spaced apart from the rotating device.

18. The robot according to any one of claims 1 to 4, characterized in that: Also includes: The controller has an information input terminal connected to the camera for receiving image information output by the camera; the controller has a control output terminal connected to the motion mechanism for controlling the motion mechanism to adjust the moving direction of the mounting bracket relative to the photovoltaic panel according to a control signal generated based on the received image information, so that the robot moves along a preset path.

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