Cleaning robot for photovoltaic module

Abstract

The utility model relates to a cleaning robot for a photovoltaic module. The cleaning robot for the photovoltaic module comprises a chassis body, a battery pack arranged on the chassis body, a controller, a roller brush unit and two walking units. The two walking units are symmetrically arranged on the two sides of the chassis body in the width direction, each walking unit comprises a first walking wheel and a second walking wheel which are sequentially arranged in a spaced mode in the first direction, the first direction is the advancing direction of the cleaning robot during linear advancing, and the width direction is perpendicular to the first direction; the cleaning robot comprises a target steering center, a battery pack, a controller and a roller brush unit are sequentially arranged in the first direction, and at least part of the structure of the controller and the roller brush unit are located on the different side of the target steering center from the battery pack in the first direction. The cleaning robot for the photovoltaic module is good in stability and high in working reliability.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic module cleaning technology, and in particular to a cleaning robot for photovoltaic modules. Background Technology

[0002] As the global energy crisis worsens, the demand for photovoltaic (PV) power generation in the new energy market is increasing dramatically. Among the factors driving PV module efficiency, the cleanliness of the module surface is a core factor. In contrast to traditional, high-cost, and inefficient manual cleaning methods, PV cleaning robots have emerged and are widely used. PV cleaning robots generally include dry-hung cleaning robots for centralized PV power plants and tracked cleaning robots for distributed power plants. Tracked cleaning robots typically consist of two sets of opposing walking units, each with front and rear wheels connected by tracks. A motor drives either the front or rear wheels to move or turn the robot. However, tracked cleaning robots suffer from poor stability during turning, resulting in lower operational reliability. Utility Model Content

[0003] Therefore, it is necessary to provide a cleaning robot for photovoltaic modules that has good stability when turning and high operational reliability.

[0004] One embodiment of this application provides a cleaning robot for photovoltaic modules, including a chassis body, a battery pack, a controller, a roller brush unit, and two walking units mounted on the chassis body;

[0005] Two walking units are symmetrically arranged on both sides of the width direction of the chassis body. The walking unit includes a first walking wheel and a second walking wheel arranged at intervals along a first direction. The first direction is the forward direction of the cleaning robot when it moves in a straight line, and the width direction is perpendicular to the first direction.

[0006] The cleaning robot includes a target turning center, which is the intersection of the lines connecting the centers of the first and second wheels in different walking units;

[0007] The battery pack, controller, and roller brush unit are arranged sequentially along a first direction, and at least a portion of the controller structure and the roller brush unit are located on different sides of the target steering center from the battery pack along the first direction.

[0008] In one embodiment, the controller and battery pack are mounted on the chassis body, with the roller brush unit and controller located on one side of the target steering center along a first direction, and the battery pack located on the other side of the target steering center along the first direction.

[0009] In one embodiment, the roller brush unit is symmetrically arranged with respect to the first axis, the battery pack is symmetrically arranged with respect to the first axis, and the positions of the two walking units are also symmetrically arranged with respect to the first axis; wherein, the first axis passes through the target turning center and extends along the first direction.

[0010] In one embodiment, the distance between the center of the battery pack and the target steering center is less than 30 mm along the width direction; and / or

[0011] Each walking unit includes a walking motor for driving the second walking wheel to rotate. Along the first direction, the center of the battery pack is flush with the rotation center axis of the walking motor.

[0012] In one embodiment, the roller brush unit includes a roller brush base, a roller brush and a roller brush motor connected to the roller brush base, the roller brush motor being used to drive the roller brush to rotate.

[0013] The roller brush base is also provided with a first connecting arm, and the chassis body is also provided with a second connecting arm at the position corresponding to the first connecting arm. The first connecting arm and the second connecting arm are rotatably connected.

[0014] In one embodiment, the roller brush base is further provided with a limiting member that abuts against the bottom side of the chassis body.

[0015] In one embodiment, the cleaning robot also includes a water inlet unit, which includes a water inlet quick connector, a first pipe, a rotary joint, a second pipe, a pipe quick connector, and a bracket.

[0016] The water inlet quick connector is connected to the first end of the first pipe and is used to connect to the external water pipe. The second end of the first pipe is connected to the first end of the second pipe through a rotary joint. The second end of the second pipe is connected to the quick connector. The bracket is connected to the chassis body.

[0017] In one embodiment, the cleaning robot also includes a water dispensing unit;

[0018] The water outlet unit includes a quick-connect water outlet, a third pipeline, a nozzle, and a nozzle holder;

[0019] The water outlet quick connector is connected to the pipeline quick connector and the third pipeline respectively. The nozzle is connected to the third pipeline and communicates with the inside of the third pipeline. The third pipeline is connected to the chassis body through the telescopic nozzle bracket.

[0020] In one embodiment, the cleaning robot further includes an edge detection unit, which includes four position information sensors connected to the chassis body and located at the four corners of the chassis body respectively.

[0021] The position information sensor is used to detect the relative position of the cleaning robot and the edge of the photovoltaic module, and is electrically connected to the controller. The controller is used to control the operation of the walking unit based on the detection signal of the position information sensor.

[0022] In one embodiment, the walking unit further includes a walking motor for driving the second walking wheels to rotate; the cleaning robot also includes a remote controller for controlling the rotational speed of the two second walking wheels in the two walking units to control the traveling speed of the cleaning robot; and / or

[0023] The cleaning robot also includes a scraper, which is attached to the side of the chassis body away from the roller brush unit and is used to press against the photovoltaic modules.

[0024] The beneficial effects of the aforementioned photovoltaic module cleaning robot:

[0025] The battery pack, controller, and roller brush unit are arranged sequentially along the first direction, and two walking units are symmetrically arranged on both sides of the width direction of the chassis body. Since the roller brush unit and battery pack are both relatively heavy components of the cleaning robot, and since the battery pack, at least part of the controller structure, and roller brush unit are located on different sides of the target turning center along the first direction, that is, the relatively heavy battery pack and roller brush unit are distributed on different sides of the target turning center in the first direction, the mass distribution of each component of the cleaning robot in the first direction is relatively balanced. Compared with the prior art where the roller brush unit and battery pack are located on the same side of the target turning center along the first direction, and the superposition of their weights will cause poor stability when the cleaning robot rotates, the more balanced mass layout of this embodiment improves the stability of the cleaning robot when turning and also improves the working reliability of the cleaning robot. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of the cleaning robot for photovoltaic modules provided in the embodiments of this application;

[0027] Figure 2 A schematic diagram of a cleaning robot for photovoltaic modules provided in this application, with the casing omitted;

[0028] Figure 3 A schematic diagram of the roller brush assembly in the cleaning robot for photovoltaic modules provided in the embodiments of this application;

[0029] Figure 4 This is a schematic diagram of the water inlet component in the cleaning robot for photovoltaic modules provided in the embodiments of this application;

[0030] Figure 5 This is a schematic diagram of the water outlet unit in the cleaning robot for photovoltaic modules provided in the embodiments of this application;

[0031] Figure 6 This is a schematic diagram of the remote control in the photovoltaic module cleaning robot provided in the embodiments of this application.

[0032] Explanation of icon numbers:

[0033] 100. Cleaning robot;

[0034] 10. Chassis main body;

[0035] 20. Battery pack;

[0036] 30. Controller;

[0037] 40. Cover; 41. Remote control; 42. Scraper;

[0038] 50. Roller brush unit; 51. Roller brush base; 510. Limiting component; 52. Roller brush; 53. Roller brush motor; 54. First connecting arm; 55. Second connecting arm;

[0039] 60. Walking unit; 61. First walking wheel; 62. Second walking wheel; 63. Walking motor; 64. Track;

[0040] 70. Water inlet unit; 71. Water inlet quick connector; 72. First pipeline; 721. First end of the first pipeline; 73. Rotary joint; 74. Second pipeline; 75. Pipe quick connector; 76. Bracket;

[0041] 80. Water outlet unit; 81. Quick-connect water outlet; 82. Third pipeline; 83. Nozzle; 84. Nozzle bracket;

[0042] 90. Edge detection unit; 91. Position information sensor;

[0043] F, first direction; K, width direction; O, target turning center. Detailed Implementation

[0044] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0045] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0048] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0050] The following description, in conjunction with the accompanying drawings, describes a photovoltaic module cleaning robot 100 according to an embodiment of this application.

[0051] Figure 1 This is a schematic diagram of the structure of a cleaning robot for photovoltaic modules provided in an embodiment of this application.

[0052] Reference Figure 1 and Figure 2 The photovoltaic module cleaning robot 100 (hereinafter referred to as the cleaning robot 100) of this application embodiment includes a chassis body 10, a battery pack 20, a controller 30, a roller brush unit 50, and two walking units 60 disposed on the chassis body 10.

[0053] Two walking units 60 are symmetrically arranged on both sides of the chassis body 10 in the width direction K. Each walking unit 60 includes a first walking wheel 61 and a second walking wheel 62 arranged sequentially at intervals along a first direction F, which is the forward direction of the cleaning robot 100 when moving in a straight line. The width direction K is perpendicular to the first direction F. Specifically, the first walking wheel 61 is closer to the roller brush unit 50 than the second walking wheel 62. The first walking wheel 61 can be a driven wheel, and the second walking wheel 62 can be a driving wheel.

[0054] The cleaning robot 100 includes a target turning center O, which is the intersection of the lines connecting the centers of the first walking wheel 61 and the second walking wheel 62 in different walking units 60.

[0055] The battery pack 20, controller 30 and roller brush unit 50 are arranged sequentially along the first direction F, and at least part of the structure of controller 30 and roller brush unit 50 are located on different sides of the target turning center O along the first direction F from the battery pack 20.

[0056] The battery pack 20, controller 30, and roller brush unit 50 are arranged sequentially along the first direction F. Two walking units 60 are symmetrically arranged on both sides of the width direction K of the chassis body 10. Since the roller brush unit 50 and battery pack 20 are both relatively heavy components of the cleaning robot 100, and since at least part of the structure of the controller 30 and the roller brush unit 50 and battery pack 20 are located on different sides of the target turning center O along the first direction F, that is, the relatively heavy battery pack 20 and roller brush unit 50 are distributed on different sides of the target turning center O in the first direction, the mass distribution of each component of the cleaning robot 100 in the first direction F is relatively balanced. Compared with the prior art where the roller brush unit 50 and battery pack 20 are located on the same side of the target turning center O along the first direction F, and the superposition of their weights will cause poor stability when the cleaning robot rotates, the more balanced mass layout of this embodiment improves the stability of the cleaning robot 100 when turning and also improves the working reliability of the cleaning robot 100.

[0057] Specifically, the target steering center O is the intersection of the lines connecting the centers of the first traveling wheel 61 and the second traveling wheel 62 in different traveling units 60. More specifically, the target steering center O is located at the intersection of the first and second connecting lines. The first connecting line is the line connecting the center of the first traveling wheel 61 of one traveling unit 60 and the center of the second traveling wheel 62 of another traveling unit 60. The second connecting line is the line connecting the center of the second traveling wheel 62 of one traveling unit 60 and the center of the first traveling wheel 61 of another traveling unit 60. For example, Figure 2 The first line connecting the center of the first traveling wheel 61 in the left traveling unit 60 and the center of the second traveling wheel 62 in the right traveling unit 60 is the first connecting line, and the second line connecting the center of the second traveling wheel 62 in the left traveling unit 60 and the center of the first traveling wheel 61 in the right traveling unit 60 is the second connecting line.

[0058] In addition, combined Figure 1 The cleaning robot 100 also includes a housing 40, which, together with the chassis body 10, defines an accommodating space. The controller 30 and the battery pack 20 can both be located within the accommodating space. The controller 30 can be, for example, an electrical box.

[0059] Continue to refer to Figure 2 The controller 30 and the battery pack 20 are mounted on the chassis body 10. The roller brush unit 50 and the controller 30 are located on one side of the target steering center O along the first direction F, and the battery pack 20 is located on the other side of the target steering center O along the first direction F.

[0060] With this configuration, when the weight of the battery pack 20 is significantly greater than that of the roller brush unit 50, the controller 30, in conjunction with the roller brush unit 50, can balance the weight of the battery pack 20 without excessively increasing the distance between the battery pack 20 and the roller brush unit 50. This makes the internal structure of the entire cleaning robot 100 more compact.

[0061] Furthermore, the roller brush unit 50 and the battery pack 20 are symmetrically arranged relative to the first axis, and the positions of the two walking units 60 are also symmetrically arranged relative to the first axis, wherein the first axis passes through the target turning center O and extends along the first direction F. Alternatively, the roller brush unit 50 and the battery pack 20 are symmetrically arranged laterally in the width direction K. The two walking units 60 are also symmetrically arranged laterally in the width direction K.

[0062] This allows the center of gravity of the cleaning robot 100 to be as close as possible to the target turning center O in the width direction K, that is, as close as possible to the center of the cleaning robot 100 in the width direction K. This ensures that the cleaning robot 100 is symmetrically arranged in the width direction K, improving the mass balance between the roller brush unit 50 and the battery pack 20, and enhancing the stability of the cleaning robot 100.

[0063] In this embodiment, along the width direction K, the distance between the center of the battery pack 20 and the target turning center O is less than 30mm. Furthermore, each walking unit 60 includes a walking motor 63 for driving the second walking wheel 62 to rotate, and along the first direction F, the center of the battery pack 20 is flush with the rotation center axis of the walking motor. This arrangement allows the center of mass of the cleaning robot 100 to be as close as possible to the target turning center O along the first direction F.

[0064] Furthermore, combined Figure 2 and Figure 3 The roller brush unit 50 includes a roller brush base 51, a roller brush 52 and a roller brush motor 53 connected to the roller brush base 51, and the roller brush motor 53 is used to drive the roller brush 52 to rotate. The roller brush base 51 is also provided with a first connecting arm 54, and the chassis body 10 is also provided with a second connecting arm 55 at the position corresponding to the first connecting arm 54. The first connecting arm 54 and the second connecting arm 55 are rotatably connected.

[0065] This configuration allows for flexible adjustment of the angle between the roller brush unit 50 and the chassis body 10 as needed. Specifically, there can be two first connecting arms 54 and two second connecting arms 55, with the two first connecting arms 54 spaced apart along the width direction K, and the two second connecting arms 55 spaced apart along the width direction K. Corresponding first connecting arms 54 and second connecting arms 55 can be hinged together with bolts.

[0066] Furthermore, a limiting member 510 is provided on the roller brush base 51, and the limiting member 510 abuts against the bottom side of the chassis body 10.

[0067] With this configuration, the limiting member 510 can limit the rotation of the roller brush unit 50 relative to the chassis body 10. Figure 2 When using an example for explanation, the roller brush unit 50 can rotate clockwise or counterclockwise relative to the chassis body 10. When the roller brush unit 50 rotates counterclockwise relative to the chassis body 10 until the limiting member 510 abuts against the bottom side of the chassis body 10, it can no longer rotate counterclockwise, thus preventing the roller brush 52 from getting too close to the photovoltaic module.

[0068] Furthermore, combined Figure 1 and Figure 4 The cleaning robot 100 also includes a water inlet unit 70, which includes a water inlet quick connector 71, a first pipe 72, a rotary joint 73, a second pipe 74, a pipe quick connector 75, and a bracket 76. The water inlet quick connector 71 is connected to the first end 721 of the first pipe and is used to connect to an external water pipe. The second end of the first pipe 72 is connected to the first end of the second pipe 74 via the rotary joint 73. The second end of the second pipe 74 is connected to the pipe quick connector 75. The bracket 76 is connected to the chassis body 10.

[0069] With this configuration, water from an external water pipe enters the first pipe 72 through the inlet quick connector 71, then enters the second pipe 74 through the rotary joint 73, and finally flows out of the second pipe 74 through the pipe quick connector 75.

[0070] In this embodiment of the application, combined with Figure 1 and Figure 5 The cleaning robot 100 also includes a water dispensing unit 80.

[0071] The water outlet unit 80 includes a quick-connect water outlet 81, a third pipeline 82, a nozzle 83, and a nozzle support 84.

[0072] The quick-connector 81 is connected to the quick-connector 75 and the third pipe 82 respectively. The nozzle 83 is connected to the third pipe 82 and communicates with the interior of the third pipe 82. The third pipe 82 is connected to the chassis body 10 through the telescopic nozzle bracket 84.

[0073] With this configuration, water in the second pipe 74 flows into the third pipe 82 after passing through the pipe quick-connect 75 and the outlet quick-connect 81, and is then sprayed out through each nozzle 83. Of course, the outlet position of each nozzle 83 can be located above the roller brush 52 so that the sprayed water can flow onto the roller brush 52.

[0074] Further, refer to Figure 2The cleaning robot 100 also includes an edge detection unit 90, which includes four position information sensors 91. The four position information sensors 91 are connected to the chassis body 10 and are located at the four corners of the chassis body 10.

[0075] The position information sensor 91 is used to detect the relative position of the cleaning robot 100 and the edge of the photovoltaic module, and is electrically connected to the controller 30. The controller 30 is used to control the running state of the walking unit 60 according to the detection signal of the position information sensor 91.

[0076] Further, refer to Figure 6 The cleaning robot 100 also includes a remote controller 41, which controls the rotation speed of the two second wheels 62 in the two walking units 60 to control the traveling speed of the cleaning robot 100.

[0077] Reference Figure 1 The cleaning robot 100 also includes a scraper 42, which is connected to the side of the chassis body 10 away from the roller brush unit 50 and is used to press against the photovoltaic module.

[0078] In practice, the first and second wheels 61 within the same walking unit 60 can be linked together via the track 64. Additionally, the rotational speeds of the two walking motors 63 can be controlled by adjusting the joystick on the remote control 41, and the difference in rotational speeds controls the movement and steering of the cleaning robot 100. Of course, the remote control 41 can also be equipped with a screen, allowing operators to monitor the real-time operating status of the cleaning robot 100.

[0079] During the actual operation, water sprayed from nozzle 83 wets and rinses the surface of the photovoltaic module, roller brush 52 cleans the surface of the photovoltaic module with its own brush, and scraper 42 at the tail of the cleaning robot 100 continuously cleans the sewage on the surface of the photovoltaic module to ensure the cleaning effect of the photovoltaic module surface.

[0080] In addition, the various parts of the cleaning robot can be disassembled for easy transportation and installation.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A cleaning robot for photovoltaic modules, characterized in that, It includes a chassis body, a battery pack mounted on the chassis body, a controller, a roller brush unit, and two walking units; Two walking units are symmetrically arranged on both sides of the width direction of the chassis body. Each walking unit includes a first walking wheel and a second walking wheel arranged at intervals along a first direction. The first direction is the forward direction of the cleaning robot when it moves in a straight line, and the width direction is perpendicular to the first direction. The cleaning robot includes a target turning center, which is the intersection of the lines connecting the centers of the first walking wheel and the second walking wheel in different walking units; The battery pack, the controller, and the roller brush unit are arranged sequentially along the first direction, and at least a portion of the structure of the controller and the roller brush unit are located on different sides of the target steering center along the first direction from the battery pack.

2. The cleaning robot according to claim 1, characterized in that, The controller and the battery pack are mounted on the chassis body. The roller brush unit and the controller are located on one side of the target steering center along the first direction, and the battery pack is located on the other side of the target steering center along the first direction.

3. The cleaning robot according to claim 2, characterized in that, The roller brush unit is symmetrically arranged with respect to the first axis, the battery pack is symmetrically arranged with respect to the first axis, and the positions of the two walking units are also symmetrically arranged with respect to the first axis; wherein, the first axis passes through the target turning center and extends along the first direction.

4. The cleaning robot according to claim 3, characterized in that, Along the width direction, the distance between the center of the battery pack and the target steering center is less than 30 mm; and / or Each of the walking units includes a walking motor for driving the second walking wheel to rotate, and along the first direction, the center of the battery pack is flush with the rotation center axis of the walking motor.

5. The cleaning robot according to any one of claims 1-4, characterized in that, The roller brush unit includes a roller brush base, a roller brush and a roller brush motor connected to the roller brush base, and the roller brush motor is used to drive the roller brush to rotate. The roller brush base is also provided with a first connecting arm, and the chassis body is also provided with a second connecting arm at the position corresponding to the first connecting arm. The first connecting arm and the second connecting arm are rotatably connected.

6. The cleaning robot according to claim 5, characterized in that, The roller brush base is also provided with a limiting member, which abuts against the bottom side of the chassis body.

7. The cleaning robot according to any one of claims 1-4, characterized in that, The cleaning robot also includes a water inlet unit, which includes a water inlet quick connector, a first pipe, a rotary joint, a second pipe, a pipe quick connector, and a bracket. The quick-connect water inlet is connected to the first end of the first pipe and is used to connect to an external water pipe. The second end of the first pipe is connected to the first end of the second pipe through a rotary joint. The second end of the second pipe is connected to the quick-connect pipe. The bracket is connected to the chassis body.

8. The cleaning robot according to claim 7, characterized in that, The cleaning robot also includes a water dispensing unit; The water outlet unit includes a quick-connect water outlet, a third pipeline, a nozzle, and a nozzle support; The quick-connect water outlet is connected to the quick-connect pipe and the third pipe respectively. The nozzle is connected to the third pipe and communicates with the interior of the third pipe. The third pipe is connected to the chassis body through a telescopic nozzle bracket.

9. The cleaning robot according to any one of claims 1-4, characterized in that, The cleaning robot also includes an edge detection unit, which includes four position information sensors. The four position information sensors are connected to the chassis body and are located at the four corners of the chassis body, respectively. The position information sensor is used to detect the relative position of the cleaning robot and the edge of the photovoltaic module, and is electrically connected to the controller. The controller is used to control the operating state of the walking unit according to the detection signal of the position information sensor.

10. The cleaning robot according to any one of claims 1-4, characterized in that, The walking unit further includes a walking motor for driving the second walking wheel to rotate; the cleaning robot also includes a remote controller for controlling the rotational speed of the two second walking wheels in the two walking units, thereby controlling the traveling speed of the cleaning robot; and / or The cleaning robot also includes a scraper connected to the side of the chassis body away from the roller brush unit and used to press against the photovoltaic module.

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