Cleaning robot for connecting bridge and photovoltaic power station

Abstract

The utility model discloses a cleaning robot for connecting a bridge frame and a photovoltaic power station, and relates to the technical field of photovoltaic cleaning. The robot body is provided with two sets of sensing elements, and the two sets of sensing elements are located at the front end of the robot body in the moving direction and used for being arranged corresponding to the connecting parts on the different sides of the connecting bridge frame so as to sense obstacles. The sensing element comprises at least two sensors, and the two sensors are used for being correspondingly arranged with the two ends of the connecting part of the connecting bridge respectively; and when a blocking structure is formed above the connecting part on any side of the connecting bridge frame, the robot body stops moving. According to the cleaning robot used for connecting the bridge frame, when the sensor of the sensing element senses that a blocking structure is formed above the connecting part on any side of the connecting bridge frame, the robot body can stop moving, so that the risk that the cleaning robot collides with the bridge frame is reduced, 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 abnormal, such as being locally warped, and the cleaning robot cannot effectively detect the abnormal position of the bridge, the cleaning robot may collide with the bridge.

[0003] Therefore, how to reduce the risk of collision between the cleaning robot and the bridge has become a technical problem to be solved by those skilled in the art. CONTENT OF THE INVENTION

[0004] Therefore, the present application aims to provide a cleaning robot for connecting a bridge to reduce the risk of collision between the cleaning robot and the bridge.

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

[0006] To achieve the above object, the present application provides the following technical solution:

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

[0008] A robot body, the robot body is provided with two groups of sensing elements, both groups of the sensing elements are located at the front end of the movement direction of the robot body, and are respectively arranged corresponding to the connecting parts of different sides of the connecting bridge to sense obstacles.

[0009] The sensing elements include at least two sensors, and the two sensors are respectively arranged corresponding to the two ends of the connecting parts of the connecting bridge.

[0010] When a blocking structure is formed above the connecting part of any side of the connecting bridge, the robot body stops moving.

[0011] Optionally, in the above cleaning robot, each sensor is arranged on the end face of the front end of the robot body; or,

[0012] Each sensor has a preset distance from the end face of the front end of the robot body.

[0013] Optionally, in the above cleaning robot, the sensor is a columnar sensor, and the sensor is vertically arranged parallel to the end face of the front end of the robot body.

[0014] Optionally, in the cleaning robot, the end surface of the robot body has a pair of long side and short side, and each of the sensors is arranged along the long side of the end surface.

[0015] Optionally, in the cleaning robot, the sensing element includes two sensors, the sensors include a first sensor and a second sensor, the first sensor is arranged corresponding to the head of the connecting portion of the connecting bridge, and the second sensor is arranged corresponding to the root of the connecting portion of the connecting bridge.

[0016] When the blocking structure is located in the detection range of the first sensor and / or the second sensor, the robot body stops moving.

[0017] Optionally, in the cleaning robot, a walking wheel is included, and the walking wheel is arranged at both ends of the robot body, and the walking wheel is used to drive the robot body to walk on a preset path.

[0018] Optionally, in the cleaning robot, a limiting wheel is included, and the limiting wheel is arranged on opposite sides of the robot body, so that the robot body walks along a preset path.

[0019] Optionally, in the cleaning robot, a cleaning mechanism is arranged on the lower surface of the robot body.

[0020] Optionally, in the cleaning robot, a controller is included, the controller is electrically connected with the sensor, and the controller is used to control the walking action of the robot body.

[0021] A photovoltaic power station includes a connecting bridge and a cleaning robot for the connecting bridge as claimed in any one of the above.

[0022] Optionally, in the photovoltaic power station, the connecting bridge includes 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.

[0023] The cleaning robot for connecting the bridge provided by the application can reduce the risk of collision of the cleaning robot on the bridge, improve the stability of the cleaning robot, and prolong the service life of the cleaning robot.

[0024] 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

[0025] 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 the 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.

[0026] Figure 1 The structural schematic diagram of the cleaning robot provided by the embodiment of the present application;

[0027] Figure 2 The first working state schematic diagram of the cleaning robot provided by the embodiment of the present application;

[0028] Figure 3 The second working state schematic diagram of the cleaning robot provided by the embodiment of the present application.

[0029] Among them, 100 is the robot body, 101 is the sensing element, 102 is the sensor, 1021 is the first sensor, 1022 is the second sensor, 103 is the walking wheel, and 104 is the limiting wheel.

[0030] 200 is a connecting bridge, 201 is a connecting part, 2011 is a head, 2012 is a root, 202 is a blocking structure;

[0031] 300 is a photovoltaic module. DETAILED DESCRIPTION

[0032] The core of the present application is to provide a cleaning robot for connecting a bridge to reduce the risk of collision of the cleaning robot on the bridge.

[0033] Another core of the present application is to provide a photovoltaic power station with the above cleaning robot.

[0034] 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 a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0035] The flat single-axis photovoltaic power generation system is a system that uses single-axis tracking technology to maximize power generation efficiency by automatically adjusting the angle of the photovoltaic module.

[0036] In order to ensure the stable operation of the flat single-axis photovoltaic power generation system, a cleaning robot is needed to regularly maintain and clean the photovoltaic module. In order to efficiently walk between different photovoltaic panels and achieve cleaning, a connecting bridge is used to connect each photovoltaic panel to provide a walking path for the cleaning robot. When the angles of adjacent photovoltaic panels are different or foreign matter is stuck to the connecting bridge, the connecting bridge will be warped. At this time, if the cleaning robot cannot effectively detect the abnormal position of the bridge, the cleaning robot may collide with the bridge.

[0037] Therefore, as shown in the drawings, Figure 1 The present application discloses a cleaning robot for connecting a bridge 200, comprising a robot body 100. The sensor 102 of the sensing element 101 arranged at the front end of the motion direction of the robot body 100 senses the obstacle. When the sensor 102 of the sensing element 101 senses the blocking structure 202 formed above the connecting part 201 on any side of the connecting bridge 200, the robot body 100 can be stopped to move, so as to reduce the risk of collision of the cleaning robot on the bridge. At the same time, the stability of the cleaning robot can be improved, and the service life of the cleaning robot can be prolonged.

[0038] The cleaning robot for connecting a bridge 200 disclosed in the embodiments of the present application will be specifically explained and described below. Figures 1 to 3

[0039] ​As shown in Figures 1 to 3 The robot body 100 is provided with two groups of sensing elements 101, and the two groups of sensing elements 101 are located at the front end of the movement direction of the robot body 100, and are respectively arranged corresponding to the connecting portions 201 on different sides of the connecting bridge 200, so that when the obstacle touches the sensing elements 101, the robot body 100 can stop moving, thereby reducing the risk of collision of the robot body 100 with the bridge. Specifically, the connecting bridge 200 can include two connecting portions 201, and the two connecting portions 201 are respectively located on the two sides of the connecting bridge 200. For the convenience of understanding, the connecting portions 201 on the two sides of the connecting bridge 200 are defined as a first connecting portion and a second connecting portion, and the two groups of sensing elements 101 are defined as a first sensing element and a second sensing element, and the first sensing element is arranged corresponding to the first connecting portion, and the second sensing element is arranged corresponding to the second connecting portion. Each group of sensing elements 101 includes at least two sensors 102, and the two sensors 102 are arranged corresponding to the two ends of the connecting portion 201 of the connecting bridge 200. When at least one connecting portion 201 of the connecting bridge 200 is warped to form a blocking structure 202, that is, the first connecting portion is warped to form a blocking structure 202 and / or the second connecting portion is warped to form a blocking structure 202, during the movement of the robot body 100, the blocking structure 202 can touch the sensor 102 of the sensing element 101, so that the robot body 100 can stop moving, thereby reducing the risk of collision of the robot body 100 with the bridge, and improving the stability of the cleaning robot and prolonging the service life of the cleaning robot.

[0040] In some embodiments, as shown in Figure 1 In order to ensure better cleaning effect of the cleaning robot on the photovoltaic module 300, the robot body 100 can adopt reciprocating motion to repeatedly clean the photovoltaic module 300. Among them, the robot body 100 has two opposite sides in the movement direction, for the convenience of understanding, the two sides of the robot body 100 are defined as front side and rear side. In order to reduce the risk of collision of the robot body 100 with the bridge during the reciprocating motion of the robot body 100, the sensing elements 101 can be arranged on the front side and the rear side of the robot body 100, so that the cleaning robot can reduce the risk of collision of the robot body 100 with the bridge when advancing or retreating, and improve the stability of the cleaning robot and prolong the service life of the cleaning robot.

[0041] In some embodiments, as shown in Figure 2 and Figure 3As shown, each sensor 102 can be arranged on the end face of the front end of the robot body 100, or each sensor 102 has a preset distance from the end face of the front end of the robot body 100, so as to ensure that the blocking structure 202 can first contact the sensor 102. The sensor 102 can be a columnar sensor, and the sensor 102 is vertically arranged parallel to the end face of the front end of the robot body 100, so as to ensure that the sensor 102 can have a larger detection range, thereby reducing the risk of the robot body 100 colliding with the bridge. Specifically, the end face of the front end of the robot body 100 can have a rectangular cross section, and the end face of the front end of the robot body 100 has a pair of long sides and short sides arranged. The long side of the end face is parallel to the connecting part 201 of the non-uplifted connecting bridge 200, and the short side is perpendicular to the connecting part 201 of the non-uplifted connecting bridge 200. Moreover, each sensor 102 is parallel to the short side of the end face and is spaced apart along the long side of the end face, so that the columnar sensor can maximize the detection range and effectively reduce the risk of the robot body 100 colliding with the bridge. It should be noted that the robot body 100 can have a cuboid structure, a cylindrical structure, etc., which is not limited herein. Moreover, when the robot body 100 has a cylindrical structure, the end face of the robot body 100 refers to the orthographic projection face in the movement direction of the robot body 100.

[0042] In some embodiments, as shown in Figure 2 and Figure 3 Each group of sensing elements 101 includes two sensors 102, for the convenience of understanding, the sensor 102 includes a first sensor 1021 and a second sensor 1022. The first sensor 1021 can be arranged corresponding to the head 2011 of the connecting part 201 of the connecting bridge 200, and the second sensor 1022 can be arranged corresponding to the root 2012 of the connecting part 201 of the connecting bridge 200. When the blocking structure 202 is located in the detection range of the first sensor 1021 and / or the second sensor 1022, the robot body 100 stops moving.

[0043] In some embodiments, as shown in Figure 2As shown, when the deformation angle of the first connecting portion and / or the second connecting portion of the connecting bridge 200 is small, for example, greater than 5° and not greater than 20°, the second sensor 1022 corresponding to the root 2012 of the connecting portion 201 cannot be effectively touched, at this time, due to the long arm length of the connecting portion 201, the blocking structure 202 can be detected by the first sensor 1021 corresponding to the head 2011 of the connecting portion 201, so that the robot body 100 stops moving, reducing the risk of collision of the robot body 100 on the bridge. It should be noted that when the deformation angle of the first connecting portion and / or the second connecting portion of the connecting bridge 200 is not greater than 5°, at this time, the blocking structure 202 cannot be detected by the first sensor 1021 and the second sensor 1022, but the height of the walking wheel 103 of the cleaning robot is much greater than the lifting height of the blocking structure 202, so that the walking wheel 103 can climb over the blocking structure 202 of this height to reach the connecting bridge 200, which belongs to the normal working condition.

[0044] In some embodiments, as Figure 3 As shown, when the deformation angle of the first connecting portion and / or the second connecting portion of the connecting bridge 200 is large, for example, greater than 20° and not greater than 90°, the first sensor 1021 corresponding to the head 2011 of the connecting portion 201 cannot be effectively touched, but due to the second sensor 1022 corresponding to the root 2012 of the connecting portion 201, it can still be detected by the second sensor 1022 at this time, so that the robot body 100 stops moving, reducing the risk of collision of the robot body 100 on the bridge.

[0045] It should be noted that the deformation angle value in the above embodiment is only exemplary, and the specific deformation angle value is related to the actual structure of the cleaning robot, the detection range of the sensor 102, etc.

[0046] In the above embodiment, the sensor 102 can adopt a touch sensor to enable the cleaning robot to continue cleaning the photovoltaic module 300 before collision, thereby maximizing the cleaning efficiency of the cleaning robot. The number of sensors 102 of each group of sensing elements 101 can be two, but not limited to two, and can also be three, four, five or more, and each sensor 102 can be spaced apart on the end surface of the front end of the robot body 100 in the direction from the root 2012 to the head 2011 of the connecting portion 201 to improve detection accuracy.

[0047] In order to realize that the cleaning robot can stop moving automatically when encountering the abnormal position of the connecting bridge 200, in some embodiments, the cleaning robot comprises a controller. Wherein, the controller is electrically connected with the sensor 102, so that when the sensor 102 detects the blocking structure 202, the information can be transmitted to the controller, and the robot body 100 is controlled to stop moving by the controller, and when the sensor 102 does not detect the blocking structure 202, the robot body 100 can be controlled to walk by the controller. It should be noted that when the sensor 102 detects the blocking structure 202, an alarm sound can also be emitted to remind the operator to operate the robot body 100 to stop moving in time.

[0048] In order to realize that the cleaning robot walks on the preset path, in some embodiments, as shown in Figures 1 to 3 The cleaning robot comprises a walking wheel 103, and the two ends of the robot body 100 are provided with the walking wheel 103, so that the robot body 100 can be driven to walk on the track of the preset path by the walking wheel 103. At the same time, in order to ensure that the cleaning robot can walk along the preset path, the cleaning robot comprises a limiting wheel 104, and the opposite sides of the robot body 100 are provided with the limiting wheel 104, so that the robot body 100 is limited in 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.

[0049] 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 300 can be cleaned by the cleaning mechanism. Specifically, the cleaning mechanism can comprise a rotating shaft and a cleaning brush arranged along the axial direction of the rotating shaft, and the rotating shaft is rotatably connected to the two ends of the robot body 100, so as to ensure a larger 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 300 by the nozzles to wet the dirt on the photovoltaic module 300, thereby improving the cleaning efficiency of the cleaning brush.

[0050] The embodiment of the application also discloses 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. Wherein, the photovoltaic power station comprises a connecting bridge 200 and a cleaning robot, and the cleaning robot is the cleaning robot for the connecting bridge disclosed in the above embodiments, and therefore has all the technical effects of the above cleaning robot, which are not repeated herein.

[0051] The terms "first" and "second", and the like, in the description and in the claims of the present application and in the above figures, are used for distinguishing between similar objects, not necessarily for describing a specific sequential or chronological order. The terms "comprises", "comprising", "includes", "including" and the like, are synonymous with the term "containing" and are used in the sense of "including, but not limited to". For example, a process, method, object, or apparatus that comprises a list of steps or elements is not necessarily limited to the listed steps or elements, but can include additional steps or elements not expressly listed or inherent to such process, method, object, or apparatus. Other embodiments are possible and contemplated.

[0052] The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded 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: A robot body (100), wherein the robot body (100) is provided with two groups of sensing elements (101), and the two groups of sensing elements (101) are both located at the front end of the movement direction of the robot body (100), and are used to be respectively provided corresponding to the connection parts (201) on different sides of the connecting bridge (200) to sense obstacles; The sensing element (101) includes at least two sensors (102), and the two sensors (102) are respectively used to be arranged corresponding to the two ends of the connecting portion (201) of the connecting bridge (200); When a blocking structure (202) is formed above the connecting portion (201) on either side of the connecting bridge (200), the robot body (100) stops moving.

2. The cleaning robot according to claim 1, characterized in that: Each of the sensors (102) is arranged on the end surface of the front end of the robot body (100); or, There is a preset distance between each of the sensors (102) and the end surface of the front end of the robot body (100).

3. The cleaning robot according to claim 2, characterized in that: The sensor (102) is a columnar sensor, and the sensor (102) is vertically arranged parallel to the end surface of the front end of the robot body (100).

4. 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 sensors (102) are arranged at intervals along the long side of the end face.

5. The cleaning robot according to claim 1, characterized in that: The sensing element (101) includes two sensors (102), the sensors (102) including a first sensor (1021) and a second sensor (1022), the first sensor (1021) being configured to correspond to the head (2011) of the connecting portion (201) of the connecting bridge (200), and the second sensor (1022) being configured to correspond to the root (2012) of the connecting portion (201) of the connecting bridge (200); When the blocking structure (202) is located within the detection range of the first sensor (1021) and / or the second sensor (1022), the robot body (100) stops moving.

6. The cleaning robot according to claim 1, characterized in that: It comprises walking wheels (103), both ends of the robot body (100) are provided with the walking wheels (103), and the walking wheels (103) are used to drive the robot body (100) to walk on a preset path.

7. The cleaning robot according to claim 1, characterized in that: It comprises limiting wheels (104), and the limiting wheels (104) are provided on opposite sides of the robot body (100) to enable the robot body (100) to walk along a preset path.

8. The cleaning robot according to claim 1, characterized in that: The lower surface of the robot body (100) is provided with a cleaning mechanism.

9. A photovoltaic power station, characterized in that: The photovoltaic power station comprises a connecting bridge (200) and a cleaning robot for the connecting bridge according to any one of claims 1 to 8.

10. The photovoltaic power station according to claim 9, characterized in that: The connecting bridge (200) comprises two connecting portions (201), and at least one of the connecting portions (201) of the connecting bridge (200) is tilted at a deformation angle to form the blocking structure (202).

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