Cleaning robot for connecting bridge and photovoltaic power station

Abstract

The utility model discloses a cleaning robot for connecting a bridge and a photovoltaic power station, and relates to the technical field of photovoltaic cleaning, and the cleaning robot comprises a robot body and a pressure detection device; the pressure detection device protrudes out of the end face of the moving direction of the robot body and is used for abutting against a blocking structure formed above the connecting part of the connecting bridge so as to detect the change of the pressure value. When the pressure detection device abuts against the blocking structure, the robot body stops moving. According to the cleaning robot for the connecting bridge, the abnormity of the connecting bridge can be judged according to the pressure change value detected by the pressure detection device protruding out of the end face of the moving direction of the robot body, so that the cleaning robot stops moving, and therefore the impact of the cleaning robot on the connecting bridge can be reduced; the continuous collision of the cleaning robot to the tilting position of the connecting bridge is avoided, the service life of the connecting bridge is effectively protected and prolonged, the stability of the photovoltaic power station is improved, and meanwhile the service life of the cleaning robot can be prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic cleaning, and more particularly to a cleaning robot for connecting a bridge and a photovoltaic power station. BACKGROUND

[0002] When the cleaning robot is cleaning a flat single-axis photovoltaic power generation system, if the bridge is abnormally raised, for example, the cleaning robot will be affected in normal passing. At this time, the cleaning robot is hindered by the bridge, so that the running current of the cleaning robot increases. The cleaning robot detects an abnormally large running current, and considers that the angle of the flat single-axis bridge is abnormal, and stops continuing to run forward. However, the cleaning robot detects the angle abnormality of the bridge needs to touch and press the bridge, and the blocking force of the bridge makes the running current of the robot increase. This way will inevitably have a large impact force on the bridge. Long-term use will cause irreversible damage to the bridge, and even cause the bridge to fall off, resulting in the risk of the cleaning robot falling.

[0003] Therefore, how to avoid the continuous collision of the cleaning robot on the raised position of the connecting bridge has become a technical problem to be solved by those skilled in the art. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the purpose of the present application is to provide a cleaning robot for connecting a bridge to avoid the continuous collision of the cleaning robot on the raised position of the connecting bridge.

[0005] Another purpose of the present application is to provide a photovoltaic power station with the above cleaning robot.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] A cleaning robot for connecting a bridge, comprising:

[0008] A robot body;

[0009] A pressure detection device is provided on the end face of the movement direction of the robot body, used to abut against the blocking structure formed above the connecting part of the connecting bridge to detect the change of pressure value;

[0010] When the pressure detection device abuts against the blocking structure, the robot body stops moving.

[0011] Optionally, in the above cleaning robot, the pressure detection device comprises a buffer and a signal acquisition part. When the buffer of the pressure detection device abuts against the blocking structure, the signal acquisition part acquires the change of pressure value.

[0012] Optionally, in the cleaning robot, the signal collecting member comprises at least one, and at least one end of the buffer member is connected with the signal collecting member; or,

[0013] The signal collecting member is arranged inside the buffer member.

[0014] Optionally, in the cleaning robot, the signal collecting member comprises a first conductor and a second conductor arranged in a spaced manner with the first conductor, the first conductor is arranged close to the end face of the robot body, when the buffer member of the pressure detecting device abuts against the blocking structure, the second conductor moves towards the direction close to the first conductor, so that the resistance value or the capacitance value at both ends of the first conductor and the second conductor changes.

[0015] Optionally, in the cleaning robot, the first conductor and the second conductor are hollow structures or insulators.

[0016] Optionally, in the cleaning robot, the end face of the robot body has a pair of long side and short side arranged in a spaced manner, and the pressure detecting device is arranged parallel to the long side of the end face of the robot body.

[0017] Optionally, in the cleaning robot, the pressure detecting device is arranged from one end of the robot body to the other end; or,

[0018] The pressure detecting device comprises at least two, and each of the pressure detecting devices is arranged in a spaced manner along the long side of the end face of the robot body.

[0019] Optionally, in the cleaning robot, the pressure detecting device comprises a first pressure detecting device and a second pressure detecting device, the first pressure detecting device and the second pressure detecting device are arranged corresponding to the connecting parts of different sides of the connecting bridge respectively.

[0020] Optionally, in the cleaning robot, the first pressure detecting device comprises at least two, and two of the first pressure detecting devices are arranged corresponding to both ends of the connecting part of the corresponding side respectively; and / or,

[0021] The second pressure detecting device comprises at least two, and two of the second pressure detecting devices are arranged corresponding to both ends of the connecting part of the corresponding side respectively.

[0022] Optionally, in the cleaning robot, a controller is arranged, the controller is electrically connected with the pressure detecting device, and the controller is used to control the walking action of the robot body.

[0023] A photovoltaic power station, the photovoltaic power station comprises a connecting bridge and a cleaning robot for the connecting bridge according to any one of the above.

[0024] Optionally, in the above photovoltaic power station, the connecting bridge comprises two connecting portions, and at least one of the connecting portions of the connecting bridge is deformed at an angle to form the blocking structure.

[0025] The cleaning robot for the connecting bridge provided by the present application can detect the pressure change value by the pressure detection device protruding from the end surface in the movement direction of the robot body, judge the abnormality of the connecting bridge, and stop the movement of the cleaning robot, so as to reduce the impact of the cleaning robot on the connecting bridge, avoid the continuous collision of the cleaning robot on the raised position of the connecting bridge, effectively protect and prolong the service life of the connecting bridge, improve the stability of the photovoltaic power station, and at the same time, improve the stability of the cleaning robot and prolong the service life of the cleaning robot.

[0026] The technical features mentioned above, the technical features to be mentioned below, and the technical features shown in the drawings alone can be combined with each other arbitrarily, as long as the combined technical features are not contradictory to each other. All feasible combinations of features are explicitly described herein. Any one of the multiple sub-features included in the same sentence can be applied independently, and does not have to be applied together with other sub-features. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the provided drawings.

[0028] Figure 1 Structure diagram of the cleaning robot provided by the present application Figure 1 ;

[0029] Figure 2 Structure diagram of the cleaning robot provided by the present application Figure 2 ;

[0030] Figure 3 Structure diagram of the cleaning robot provided by the present application Figure 3 ;

[0031] Figure 4 Structure diagram of a cleaning robot provided by an embodiment of the present application Figure 4

[0032] Figure 5 Structure diagram of a pressure detection device provided by an embodiment of the present application

[0033] Figure 6 First working state diagram of a cleaning robot provided by an embodiment of the present application

[0034] Figure 7 Second working state diagram of a cleaning robot provided by an embodiment of the present application

[0035] Figure 8 Third working state diagram of a cleaning robot provided by an embodiment of the present application

[0036] Figure 9 Fourth working state diagram of a cleaning robot provided by an embodiment of the present application

[0037] Wherein, 100 is a robot body, 101 is a walking wheel, and 102 is a limiting wheel

[0038] 200 is a pressure detection device, 201 is a first conductor, 202 is a second conductor, 203 is a conductor lead-out wire, 204 is a first pressure detection device, 205 is a second pressure detection device, 206 is a buffer, 207 is a signal acquisition element, and 208 is a fixing frame

[0039] 300 is a connecting bridge, 301 is a connecting part, 302 is a blocking structure, 303 is a head part, and 304 is a root part

[0040] 400 is a photovoltaic module DETAILED DESCRIPTION

[0041] The core of the present application is to provide a cleaning robot for a connecting bridge, so as to avoid continuous collision of the cleaning robot on the raised position of the connecting bridge.

[0042] Another core of the present application is to provide a photovoltaic power station with the above cleaning robot.

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] ​In the photovoltaic cleaning system, especially in the photovoltaic module cleaning system adapted to the flat single-axis support, when the flat single-axis fails, that is, the rotation angles of the adjacent two flat single-axis supports are quite different, the bridge support for the auxiliary cleaning robot to run is separated, and manual recovery is needed. If the recovery is not timely, the cleaning robot may fall from the photovoltaic module string during the running.

[0045] To prevent the above situation, the connection bridge is usually kept connected. When the rotation angles of the adjacent flat single-axis supports are quite different, the connection bridge will not be disconnected, and when the angles of the flat single-axis supports are restored, the connection bridge can be automatically restored. However, when the rotation angles of the adjacent flat single-axis supports are quite different, the connection bridge will be raised, affecting the normal passage of the cleaning robot. At this time, the cleaning robot is hindered by the bridge, and the running current of the cleaning robot increases. The cleaning robot detects the abnormally large running current, and can be considered that the angle of the flat single-axis bridge is abnormal, and will stop running forward. However, the detection of the bridge angle abnormality by the cleaning robot needs to be based on the fact that the cleaning robot touches and presses the bridge, and the hindering force of the bridge makes the running current of the robot increase. This method will inevitably have a large impact force on the bridge, and long-term use will cause irreversible damage to the bridge, and even cause the bridge to fall off, resulting in the risk of the cleaning robot falling.

[0046] Therefore, as shown in Figure 1 the embodiment of the present application discloses a cleaning robot for connecting a bridge, comprising a robot body 100 and a pressure detection device 200. The abnormality of the connecting bridge 300 is judged by the pressure change value detected by the pressure detection device 200 protruding from the end surface of the movement direction of the robot body 100, so that the cleaning robot stops moving, thereby reducing the impact of the cleaning robot on the connecting bridge 300, avoiding the continuous collision of the cleaning robot on the raised position of the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300, improving the stability of the photovoltaic power station, and at the same time improving the stability of the cleaning robot and prolonging the service life of the cleaning robot.

[0047] The cleaning robot for connecting a bridge disclosed in the embodiment of the present application will be specifically explained and described below. Figures 1 to 9

[0048] Among them, as shown in Figure 1 and Figure 2 ​As shown, the pressure detection device 200 is arranged on the end surface of the robot body 100 in the movement direction of the robot body 100 to abut against the blocking structure 302 formed above the connecting portion 301 of the connecting bridge 300 and detect the change in pressure value. When the blocking structure 302 is formed above the connecting portion 301 of the connecting bridge 300, the pressure detection device 200 abuts against the blocking structure 302 first, and at this time, the pressure detection device 200 detects the change in pressure and determines that the connecting bridge 300 is abnormal, so that the cleaning robot stops moving, thereby reducing the impact of the cleaning robot on the connecting bridge 300 and avoiding continuous impact of the cleaning robot on the raised position of the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300 and improving the stability of the photovoltaic power station. Specifically, the connecting bridge 300 includes two connecting portions 301, and the two connecting portions 301 are located on the two sides of the connecting bridge 300, respectively. For the convenience of understanding, the connecting portions 301 on the two sides of the connecting bridge 300 are defined as a first connecting portion and a second connecting portion, respectively. When at least one connecting portion 301 of the connecting bridge 300 is raised and deformed to form a blocking structure 302, i.e., the first connecting portion is raised and deformed to form a blocking structure 302 and / or the second connecting portion is raised and deformed to form a blocking structure 302, during the movement of the robot body 100, the blocking structure 302 can abut against the pressure detection device 200 first, and at this time, the pressure detection device 200 detects the change in pressure and determines that the connecting bridge 300 is abnormal, so that the cleaning robot stops moving, thereby reducing the impact of the cleaning robot on the connecting bridge 300 and avoiding continuous impact of the cleaning robot on the raised position of the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300 and improving the stability of the photovoltaic power station, and at the same time, the stability of the cleaning robot can be improved and the service life of the cleaning robot can be prolonged. It should be noted that the pressure detection device 200 can be a pressure sensor, a variable resistance sensor, etc., so that when the pressure detection device 200 abuts against the blocking structure 302, the change in pressure can be detected, so that the robot body 100 can determine that the connecting bridge 300 is abnormal and stop moving.

[0049] In some embodiments, as Figure 1 and Figure 2As shown, in order to ensure better cleaning effect of the cleaning robot on the photovoltaic module 400, the robot body 100 can adopt reciprocating motion to repeatedly clean the photovoltaic module 400. Among them, the robot body 100 has two end faces arranged oppositely in the motion direction, for the convenience of understanding, the two end faces of the robot body 100 are defined as front end face and rear end face respectively. In order to avoid the continuous collision of the cleaning robot on the raised position of the connecting bridge 300 when the robot body 100 reciprocates, the pressure detection device 200 can be arranged on the front end face and the rear end face of the robot body 100 at the same time, so as to avoid the continuous collision of the cleaning robot on the raised position of the connecting bridge 300 when the cleaning robot moves forward or backward, effectively protect and prolong the service life of the connecting bridge 300, improve the stability of the photovoltaic power station, and at the same time, improve the stability of the cleaning robot and prolong the service life of the cleaning robot.

[0050] In some embodiments, as shown in Figures 6 to 9 As shown, the end face of the robot body 100 can adopt a rectangular cross section, and the end face of the robot body 100 has a pair of long side and short side arranged, the long side of the end face is parallel to the connecting part 301 of the connecting bridge 300 without raising, and the short side is perpendicular to the connecting part 301 of the connecting bridge 300 without raising. The pressure detection device 200 can adopt a strip structure, and the pressure detection device 200 can be arranged parallel to the long side of the end face of the robot body 100, so as to ensure that the strip-shaped pressure detection device 200 can maximize the detection range, and can effectively avoid the continuous collision of the cleaning robot on the raised position of the connecting bridge 300. It should be noted that the robot body 100 can adopt a cuboid structure, a cylindrical structure, etc., which is not limited herein. Moreover, when the robot body 100 adopts a cylindrical structure, the end face of the robot body 100 refers to the orthographic projection face in the motion direction of the robot body 100.

[0051] In some embodiments, as shown in Figure 1 As shown, the pressure detection device 200 can be arranged from one end of the robot body 100 to the other end, that is, the pressure detection device 200 can be continuously distributed on the end face of the robot body 100. Of course, as shown in Figure 2As shown, the pressure detection device 200 can also include at least two, and each pressure detection device 200 is arranged along the long side of the end surface of the robot body 100, that is, each pressure detection device 200 can be distributed on the end surface of the robot body 100. Among them, the pressure detection device 200 can adopt two, and the two pressure detection devices 200 are respectively arranged corresponding to the two sides of the connecting bridge 300, that is, the first connecting part and the second connecting part, so that the connecting part 301 on any side of the connecting bridge 300 can be formed after the connecting part 301 is lifted to a preset angle to form a blocking structure 302, and the pressure detection device 200 can be abutted to detect the pressure change, so that the robot body 100 stops moving, and the continuous impact of the cleaning robot on the lifting position of the connecting bridge 300 is avoided. It should be noted that the pressure detection device 200 can also adopt three, four or more to improve the recognition accuracy of the cleaning robot and ensure the stability of the photovoltaic power station, which is not limited herein.

[0052] In the above embodiment, the pressure detection device 200 can include a buffer 206 and a signal acquisition part 207. When the blocking structure 302 abuts against the pressure detection device 200, the buffer 206 can first abut against the blocking structure 302, and the signal acquisition part 207 can collect the pressure value change of the buffer 206. When the signal acquisition part 207 detects the pressure change, it can be judged that the connecting bridge 300 is abnormal, so that the robot body 100 stops moving, thereby reducing the impact of the cleaning robot on the connecting bridge 300, avoiding the continuous impact of the cleaning robot on the lifting position of the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300, and improving the stability of the photovoltaic power station. At the same time, by arranging the buffer 206, a better buffering effect can be achieved, the stress concentration phenomenon can be avoided, the service life of the cleaning robot can be prolonged, the service life of the connecting bridge 300 can be effectively protected and prolonged, and the stability of the photovoltaic power station can be improved.

[0053] In some embodiments, as Figure 3As shown, the signal collecting member 207 can include at least one, and the signal collecting member 207 can be arranged at the end of the robot body 100. Meanwhile, the buffer member 206 can adopt a long linear structure member, such as a flexible rope or an elastic rod, etc., and at least one end of the buffer member 206 is connected with the signal collecting member 207. When the blocking structure 302 abuts against the buffer member 206 of the pressure detecting device 200, the buffer member 206 can be deformed, at which time the pressure change value borne by the buffer member 206 can be collected by the signal collecting member 207, so as to determine that the connecting bridge 300 is abnormal, so that the robot body 100 stops moving, and thus the impact of the cleaning robot on the connecting bridge 300 can be reduced, the continuous impact of the cleaning robot on the raised position of the connecting bridge 300 can be avoided, the service life of the connecting bridge 300 can be effectively protected and prolonged, and the stability of the photovoltaic power station can be improved. Specifically, the signal collecting member 207 can be one, and is arranged at the first end of the robot body 100 and extends out of the end surface of the robot body 100 in the moving direction, and a fixed frame 208 extending out of the end surface of the robot body 100 in the moving direction is arranged at the second end of the robot body 100, so that the buffer member 206 can be connected between the signal collecting member 207 and the fixed frame 208, so that the buffer member 206 can abut against the blocking structure 302 first. It should be noted that the signal collecting member 207 can also be two, and the two signal collecting members 207 are arranged at the two ends of the robot body 100, respectively, so that the two ends of the buffer member 206 are connected with the signal collecting members 207, respectively.

[0054] Of course, in the above embodiment, when the pressure detecting device 200 adopts two, three or more, the signal collecting member 207 can correspond to two, three or more, so as to ensure that when the blocking structure 302 abuts against the buffer member 206 of any one pressure detecting device 200, the signal collecting member 207 can collect the pressure change value of the corresponding buffer member 206, so as to determine that the connecting bridge 300 is abnormal, so that the robot body 100 stops moving.

[0055] In some embodiments, as Figure 4As shown, the fixed frame 208 protruding from the end face of the robot body 100 can be arranged at both ends of the robot body 100 to fix the buffer 206. Meanwhile, the signal collecting member 207 can be built in the buffer 206. The buffer 206 can be an anti-collision strip, and the signal collecting member 207 can be built in the anti-collision strip. When the blocking structure 302 abuts against the anti-collision strip of the pressure detection device 200, the signal collecting member 207 in the anti-collision strip can collect the pressure change value of the anti-collision strip, so as to determine that the connecting bridge 300 is abnormal, and stop the movement of the robot body 100, thereby reducing the impact of the cleaning robot on the connecting bridge 300, avoiding the continuous impact of the cleaning robot on the raised position of the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300, and improving the stability of the photovoltaic power station. It should be noted that when the pressure detection device 200 is two, three or more, the anti-collision strip can also be two, three or more, which will not be described here.

[0056] In some embodiments, as shown in Figure 5 The signal collecting member 207 can adopt a variable resistance pressure sensor, and the signal collecting member 207 can include a first conductor 201 and a second conductor 202 arranged in a spaced manner with the first conductor 201. The first conductor 201 is arranged close to the end face of the robot body 100, and the buffer 206 is arranged on the end face abutting against the blocking structure 302. When the buffer 206 of the pressure detection device 200 abuts against the blocking structure 302, the second conductor 202 moves towards the first conductor 201, so that the resistance or capacitance value at both ends of the first conductor 201 and the second conductor 202 changes. The change value of the resistance or capacitance value can be collected by the controller of the cleaning robot, so as to determine that the connecting bridge 300 is abnormal, and control the cleaning robot to stop advancing, thereby reducing the impact of the cleaning robot on the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300, and improving the stability of the photovoltaic power station.

[0057] As shown in Figure 5 In the above embodiment, the buffer 206 can adopt a parabolic structure, so as to better buffer when the pressure detection device 200 abuts against the blocking structure 302, avoid stress concentration, and prolong the service life of the pressure detection device 200. The buffer 206 can be made of rubber material, foamed plastic, polyurethane foamed plastic or EVA foamed cotton, which will not be limited here.

[0058] In some embodiments, as shown in Figure 5As shown, the first conductor 201 and the second conductor 202 can adopt a hollow structure to detect the resistance value change between the first conductor 201 and the second conductor 202. When the pressure detection device 200 abuts against the blocking structure 302, the buffer 206 first abuts against the blocking structure 302, and at the same time, the second conductor 202 moves towards the first conductor 201, so that the resistance value between the first conductor 201 and the second conductor 202 changes. The resistance change value can be collected by the controller of the cleaning robot, and it is determined that the connecting bridge 300 is abnormal, so that the cleaning robot is controlled to stop advancing, so as to reduce the impact of the cleaning robot on the connecting bridge 300, effectively protect and prolong the service life of the connecting bridge 300, and improve the stability of the photovoltaic power station.

[0059] In some embodiments, as shown in Figure 5 As shown, the first conductor 201 and the second conductor 202 can also adopt an insulator to detect the capacitance value change between the first conductor 201 and the second conductor 202. When the pressure detection device 200 abuts against the blocking structure 302, the buffer 206 first abuts against the blocking structure 302, and at the same time, the second conductor 202 moves towards the first conductor 201, so that the capacitance value between the first conductor 201 and the second conductor 202 changes. The capacitance change value can be collected by the controller of the cleaning robot, and it is determined that the connecting bridge 300 is abnormal, so that the cleaning robot is controlled to stop advancing, so as to reduce the impact of the cleaning robot on the connecting bridge 300, effectively protect and prolong the service life of the connecting bridge 300, and improve the stability of the photovoltaic power station.

[0060] In some embodiments, as shown in Figure 2 , Figures 6 to 9 As shown, the pressure detection device 200 includes a first pressure detection device 204 and a second pressure detection device 205, and the first pressure detection device 204 and the second pressure detection device 205 are respectively arranged corresponding to the connecting portions 301 of different sides of the connecting bridge 300, that is, the first pressure detection device 204 is arranged corresponding to the first connecting portion of the connecting bridge 300, and the second pressure detection device 205 is arranged corresponding to the second connecting portion of the connecting bridge 300.

[0061] In the above embodiments, the first pressure detection device 204 can adopt one, and the first pressure detection device 204 extends from the head 303 to the root 304 of the first connecting portion, so that when the first connecting portion of the connecting bridge 300 is lifted to form the blocking structure 302 at a preset angle, the first pressure detection device 204 can abut against the first pressure detection device 204 to detect the change in pressure, so that the robot body 100 stops moving, thereby avoiding the continuous collision of the cleaning robot on the lifted position of the connecting bridge 300. Of course, the first pressure detection device 204 can also adopt two, three or more. When the first pressure detection device 204 adopts two, the two first pressure detection devices 204 can be correspondingly arranged at the head 303 and the root 304 of the first connecting portion, so as to ensure a larger detection range of the first pressure detection device 204. When the first pressure detection device 204 adopts three or more, the first pressure detection devices 204 can be distributed along the direction from the head 303 to the root 304 of the first connecting portion, so as to improve the recognition accuracy of the cleaning robot.

[0062] Similarly, the second pressure detection device 205 can also adopt one, and the second pressure detection device 205 extends from the head 303 to the root 304 of the second connecting portion, so that when the second connecting portion of the connecting bridge 300 is lifted to form the blocking structure 302 at a preset angle, the second pressure detection device 205 can abut against the second pressure detection device 205 to detect the change in pressure, so that the robot body 100 stops moving, thereby avoiding the continuous collision of the cleaning robot on the lifted position of the connecting bridge 300. Of course, the second pressure detection device 205 can also adopt two, three or more. When the second pressure detection device 205 adopts two, the two second pressure detection devices 205 can be correspondingly arranged at the head 303 and the root 304 of the second connecting portion, so as to ensure a larger detection range of the second pressure detection device 205. When the second pressure detection device 205 adopts three or more, the second pressure detection devices 205 can be distributed along the direction from the head 303 to the root 304 of the second connecting portion, so as to improve the recognition accuracy of the cleaning robot.

[0063] In order to realize that the cleaning robot can automatically stop moving when encountering the abnormal position of the connecting bridge 300, in some embodiments, the cleaning robot comprises a controller. The controller is electrically connected with the pressure detection device 200, so that when the pressure detection device 200 abuts against the blocking structure 302, the change in pressure can be transmitted to the controller, and the robot body 100 can be controlled to stop moving by the controller. When the pressure detection device 200 does not abut against the blocking structure 202, the robot body 100 can be controlled to walk by the controller. It should be noted that when the pressure detection device 200 abuts against the blocking structure 302, an alarm sound can also be emitted to remind the operator to operate the robot body 100 to stop moving in time.

[0064] In order to realize the walking of the cleaning robot on the preset path, in some embodiments, as shown in Figures 1 to 9 The cleaning robot includes walking wheels 101, and the robot body 100 is provided with the walking wheels 101 at both ends, so that the robot body 100 can be driven by the walking wheels 101 to walk on the track of the preset path. At the same time, in order to ensure that the cleaning robot can walk along the preset path, the cleaning robot includes limit wheels 102, and the robot body 100 is provided with the limit wheels 102 on opposite sides, so that the robot body 100 is limited within the track of the preset path, avoiding the robot body 100 from leaving the track, so that the robot body 100 can walk stably along the preset path.

[0065] In order to realize the cleaning function of the cleaning robot, in some embodiments, the lower surface of the robot body 100 is provided with a cleaning mechanism, so that the photovoltaic module 400 can be cleaned by the cleaning mechanism. Specifically, the cleaning mechanism can include a rotating shaft and a cleaning brush arranged along the axial direction of the rotating shaft, and the rotating shaft is rotatably connected to both ends of the robot body 100 to ensure a large coverage area of the cleaning brush and improve the cleaning efficiency of the cleaning robot. Of course, nozzles can also be arranged on the rotating shaft at intervals, so that water can be sprayed towards the photovoltaic module 400 by the nozzles to wet the dirt on the photovoltaic module 400, improving the cleaning efficiency of the cleaning brush.

[0066] In some embodiments, as shown in Figures 6 to 9 The number of the first pressure detection device 204 and the second pressure detection device 205 is two, and the two first pressure detection devices 204 are respectively arranged corresponding to the head 303 and the root 304 of the first connecting part of the connecting bridge 300 to ensure a large detection range of the first pressure detection device 204. At the same time, the two second pressure detection devices 205 are respectively arranged corresponding to the head 303 and the root 304 of the second connecting part of the connecting bridge 300 to ensure a large detection range of the second pressure detection device 205.

[0067] As shown in Figure 6 When the deformation angle of the first connecting part and / or the second connecting part of the connecting bridge 300 is small, such as not greater than 5°, the blocking structure 302 cannot abut against the first pressure detection device 204 and / or the second pressure detection device 205 at this time, but the height of the walking wheel 101 is much greater than the lifting height of the blocking structure 302, so that the walking wheel 101 can climb over the blocking structure 302 of this height to reach the connecting bridge 300, which belongs to normal working condition.

[0068] As shown in Figure 7As shown, when the first connecting part and / or the second connecting part of the connecting bridge 300 is slightly deformed, such as the deformation angle is greater than 5° and not greater than 20°, at this time the walking wheel 101 cannot climb over the block structure 302 of this height to reach the abnormal connecting bridge 300, and the block structure 302 cannot abut against the first pressure detection device 204 corresponding to the root 304 of the first connecting part and / or the second pressure detection device 205 corresponding to the root 304 of the second connecting part, but due to the long arm length of the connecting part 301, the block structure 302 can abut against the first pressure detection device 204 corresponding to the head 303 of the first connecting part and / or the second pressure detection device 205 corresponding to the head 303 of the second connecting part, so that the first pressure detection device 204 of the head 303 of the first connecting part and / or the second pressure detection device 205 of the head 303 of the second connecting part detects the pressure change, and then the abnormality of the connecting bridge 300 can be judged, so that the cleaning robot stops moving.

[0069] As shown, Figure 8 As shown, when the first connecting part and / or the second connecting part of the connecting bridge 300 is slightly deformed, such as the deformation angle is greater than 5° and not greater than 20°, at this time the walking wheel 101 cannot climb over the block structure 302 of this height to reach the abnormal connecting bridge 300, and the block structure 302 cannot abut against the first pressure detection device 204 corresponding to the root 304 of the first connecting part and / or the second pressure detection device 205 corresponding to the root 304 of the second connecting part, but due to the long arm length of the connecting part 301, the block structure 302 can abut against the first pressure detection device 204 corresponding to the head 303 of the first connecting part and / or the second pressure detection device 205 corresponding to the head 303 of the second connecting part, so that the first pressure detection device 204 of the head 303 of the first connecting part and / or the second pressure detection device 205 of the head 303 of the second connecting part detects the pressure change, and then the abnormality of the connecting bridge 300 can be judged, so that the cleaning robot stops moving.

[0070] As shown, Figure 9 As shown, when the first connecting part and / or the second connecting part of the connecting bridge 300 is slightly deformed, such as the deformation angle is greater than 5° and not greater than 20°, at this time the walking wheel 101 cannot climb over the block structure 302 of this height to reach the abnormal connecting bridge 300, and the block structure 302 cannot abut against the first pressure detection device 204 corresponding to the root 304 of the first connecting part and / or the second pressure detection device 205 corresponding to the root 304 of the second connecting part, but due to the long arm length of the connecting part 301, the block structure 302 can abut against the first pressure detection device 204 corresponding to the head 303 of the first connecting part and / or the second pressure detection device 205 corresponding to the head 303 of the second connecting part, so that the first pressure detection device 204 of the head 303 of the first connecting part and / or the second pressure detection device 205 of the head 303 of the second connecting part detects the pressure change, and then the abnormality of the connecting bridge 300 can be judged, so that the cleaning robot stops moving.

[0071] It should be noted that the deformation angle values in the above embodiments are only exemplary, and the specific deformation angle values are related to the actual structure of the cleaning robot, the detection range of the pressure detection device 200, etc.

[0072] In the above embodiments, an ultrasonic sensor, a photoelectric sensor, an inductive or capacitive sensor, etc. can also be arranged on the end surface of the robot body 100, so that the cleaning robot can recognize the blocking structure 302 formed above the connecting portion 301 of the connecting bridge 300, thereby stopping movement, reducing the impact of the cleaning robot on the connecting bridge 300, avoiding continuous impact of the cleaning robot on the raised position of the connecting bridge 300, effectively protecting and prolonging the service life of the connecting bridge 300, and improving the stability of the photovoltaic power station.

[0073] The embodiments of the present application also disclose a photovoltaic power station, and the photovoltaic power station can adopt a flat single-axis power station or other photovoltaic power stations with tracking supports, which are not limited herein. The photovoltaic power station comprises the connecting bridge 300 and the cleaning robot, and the cleaning robot is the cleaning robot for the connecting bridge disclosed in the above embodiments, and thus has all the technical effects of the cleaning robot, which are not repeated herein.

[0074] The terms "first" and "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish different objects, and are not used to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can include steps or units not listed.

[0075] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cleaning robot for connecting a bridge, characterized in that: include: Robot body (100); a pressure detection device (200), the pressure detection device (200) being arranged on an end surface protruding from the movement direction of the robot body (100) and being used to abut against a blocking structure (302) formed above the connecting portion (301) of the connecting bridge (300) to detect changes in pressure values; When the pressure detection device (200) abuts against the blocking structure (302), the robot body (100) stops moving.

2. The cleaning robot according to claim 1, characterized in that: The pressure detection device (200) comprises a buffer component (206) and a signal collection component (207); when the buffer component (206) of the pressure detection device (200) abuts against the blocking structure (302), the signal collection component (207) collects changes in pressure values.

3. The cleaning robot according to claim 2, characterized in that: The signal acquisition component (207) includes at least one, and at least one end of the buffer component (206) is connected to the signal acquisition component (207); or, The signal collecting component (207) is arranged inside the buffer component (206).

4. The cleaning robot according to claim 2, characterized in that: The signal acquisition component (207) comprises a first conductor (201) and a second conductor (202) spaced apart from the first conductor (201); the first conductor (201) is arranged close to the end face of the robot body (100); when the buffer component (206) of the pressure detection device (200) abuts against the blocking structure (302), the second conductor (202) moves in a direction close to the first conductor (201), so that the resistance value or capacitance value at both ends of the first conductor (201) and the second conductor (202) changes.

5. The cleaning robot according to claim 4, characterized in that: The first conductor (201) and the second conductor (202) are hollow structures or insulators.

6. The cleaning robot according to claim 1, characterized in that: The end face of the robot body (100) has a long side and a short side arranged in pairs, and the pressure detection device (200) is arranged parallel to the long side of the end face of the robot body (100).

7. The cleaning robot according to claim 6, characterized in that: The pressure detection device (200) is provided extending from one end to the other end of the robot body (100); or, The pressure detection devices (200) include at least two, and each of the pressure detection devices (200) is arranged at intervals along the long side of the end face of the robot body (100).

8. The cleaning robot according to claim 7, characterized in that: The pressure detection device (200) comprises a first pressure detection device (204) and a second pressure detection device (205), wherein the first pressure detection device (204) and the second pressure detection device (205) are respectively arranged corresponding to the connection parts (301) on different sides of the connection bridge (300).

9. The cleaning robot according to claim 8, characterized in that: The first pressure detection devices (204) include at least two, and the two first pressure detection devices (204) are respectively used to be arranged corresponding to the two ends of the connecting portion (301) on the corresponding side; and / or, The second pressure detection devices (205) include at least two, and the two second pressure detection devices (205) are respectively used to be arranged corresponding to the two ends of the connecting portion (301) on the corresponding side.

10. A photovoltaic power station, characterized in that: The photovoltaic power station comprises a connecting bridge (300) and a cleaning robot for the connecting bridge according to any one of claims 1 to 9.

11. The photovoltaic power station according to claim 10, characterized in that: The connecting bridge (300) comprises two connecting portions (301), and at least one of the connecting portions (301) of the connecting bridge (300) is tilted at a deformation angle to form the blocking structure (302).

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