Photovoltaic module cleaning robot and cleaning system

Abstract

The utility model relates to a photovoltaic module cleaning robot and a cleaning system.The photovoltaic module cleaning robot is characterized in that a cleaning brush is arranged on a frame, two walking mechanisms are arranged on the two sides of the frame in the first direction, each walking mechanism comprises a walking wheel and a limiting wheel, and the walking wheels and the limiting wheels are rotationally connected to the frame around the axes of the walking wheels and the limiting wheels correspondingly; the axes of the walking wheels are parallel to the first direction, the axes of the limiting wheels are parallel to the second direction, the two clutches correspond to the two walking mechanisms, the driving piece is provided with two power output ends corresponding to the two clutches, and the input ends of the clutches are connected with the corresponding power output ends. The output ends of the clutches are connected with the walking wheels in the corresponding walking mechanisms, and the pose sensor is in communication connection with the two clutches. In conclusion, according to the photovoltaic module cleaning robot in the embodiment, the inclination angle of the frame is changed by cutting off the clutch, the posture of the frame is rectified, and the limiting wheels climb over steps formed by the frames of the two photovoltaic modules which are arranged in a staggered mode.

Description

Technical Field

[0001] This application relates to the field of photovoltaic module maintenance technology, and in particular to a photovoltaic module cleaning robot and cleaning system. Background Technology

[0002] Solar energy, as a renewable energy source, has become a major research direction for new energy worldwide due to its inexhaustible nature. Photovoltaic modules can absorb sunlight to generate electricity. In current technology, photovoltaic modules need to be placed outdoors for extended periods, and dirt easily accumulates on their surfaces, which reduces their power generation.

[0003] In related technologies, photovoltaic (PV) module cleaning robots are used to clean dirt from the surface of PV modules. Each limiting wheel in the robot is driven by the same motor and moves along the edge of the PV module. However, when two adjacent PV modules are staggered, the movement of the robot's limiting wheels is blocked by the steps created by the staggered arrangement. The robot struggles to move from one PV module to another and cannot change its posture to overcome these steps. Utility Model Content

[0004] Based on this, it is necessary to propose a photovoltaic module cleaning robot and cleaning system to address the problem that current photovoltaic module cleaning robots cannot change their own motion posture to climb over steps.

[0005] A photovoltaic module cleaning robot includes:

[0006] frame;

[0007] A cleaning brush is mounted on the frame;

[0008] Two walking mechanisms are arranged on opposite sides of the frame along a first direction. Each walking mechanism includes at least one walking wheel and at least one limiting wheel. The walking wheel and the limiting wheel are rotatably connected to the frame around their own axes. The axis of the walking wheel is parallel to the first direction, and the axis of the limiting wheel is parallel to a second direction. The first direction and the second direction are intersecting.

[0009] Two clutches are provided, corresponding to the two traveling mechanisms;

[0010] A drive unit is mounted on the frame and has two power output ends corresponding to the two clutches. The input end of the clutch is connected to the corresponding power output end, and the output end of the clutch is connected to the walking wheel in the corresponding walking mechanism.

[0011] A pose sensor is mounted on the frame and is communicatively connected to the two clutches.

[0012] In one embodiment, the drive member is located between the two walking mechanisms, wherein the distance between one walking mechanism and the drive member in the first direction is a first value, and the distance between the other walking mechanism and the drive member in the first direction is a second value, wherein the first value is greater than the second value.

[0013] In one embodiment, each of the clutches is disposed between the corresponding traveling mechanism and the drive member, and is arranged with the drive member along the first direction.

[0014] In one embodiment, the walking mechanism whose distance from the drive member in the first direction is a first value is defined as the first walking mechanism;

[0015] The photovoltaic module cleaning robot includes a coupling and a drive shaft. The drive shaft extends along the first direction. One end of the drive shaft is connected to the output end of the clutch corresponding to the first walking mechanism. The other end of the drive shaft is connected to the input end of the coupling. The output end of the coupling is connected to the walking wheel in the first walking mechanism.

[0016] In one embodiment, the walking mechanism includes:

[0017] A mounting plate is provided on the frame, and the walking wheels are rotatably connected to the mounting plate around their own axis;

[0018] A mounting base and a rotating shaft, the mounting base being disposed on the mounting plate, the rotating shaft extending along the first direction, the rotating shaft passing through the mounting base and the mounting plate, and being configured to rotate about its own axis;

[0019] The cleaning brush extends along the first direction and is located between the two walking mechanisms. The two ends of the cleaning brush along the first direction are correspondingly connected to the rotating shafts in the two walking mechanisms.

[0020] In one embodiment, the walking mechanism whose distance from the drive member in the first direction is a second value is defined as the second walking mechanism;

[0021] The second traveling mechanism includes a transmission assembly, which is disposed on the mounting plate in the second traveling mechanism;

[0022] The transmission assembly includes a drive wheel, a driven wheel, and a timing belt. The drive wheel is coaxially arranged with the corresponding traveling wheel on the mounting plate and is connected to each other. The driven wheel is sleeved on the outer periphery of the corresponding rotating shaft on the mounting plate and is connected to the corresponding rotating shaft. The timing belt is wound around the drive wheel and the driven wheel.

[0023] In one embodiment, the walking mechanism includes a plurality of walking wheels arranged along a third direction, wherein both the first direction and the second direction intersect with the third direction;

[0024] The output of each clutch is connected to any of the wheels in the corresponding walking mechanism.

[0025] In one embodiment, the walking mechanism includes a plurality of limiting wheels arranged along the third direction, each of the limiting wheels being rotatably connected to the frame.

[0026] In one embodiment, the photovoltaic module cleaning robot includes an electronic control component and a photovoltaic panel. The electronic control component is disposed on the frame, and the clutch and the posture sensor are both electrically connected to the electronic control component.

[0027] The photovoltaic panel is mounted on the frame and is electrically connected to the electronic control component.

[0028] In this embodiment, the photovoltaic module cleaning robot applies driving torque to the input ends of two clutches from its two power output ends. This driving torque is transmitted to the walking wheels in the corresponding walking mechanisms via the clutch output ends, driving the walking wheels to roll along the sun-receiving surface of the photovoltaic module. This, in turn, causes the frame to move relative to the photovoltaic module, resulting in synchronous movement of the cleaning brushes on the frame. This allows the cleaning brushes to clean any area on the sun-receiving surface of the photovoltaic module, removing dirt from that surface. During this process, the limiting wheels of the two walking mechanisms roll along the opposite sides of the photovoltaic module's frame in the first direction, driven by the frame. The pose sensors on the frame detect the frame's motion posture in real time.

[0029] When the photovoltaic module cleaning robot moves between two misaligned photovoltaic modules, only one of its two walking mechanisms will encounter a step formed by the edges of the two misaligned photovoltaic modules, preventing it from rolling forward. The other walking mechanism's limit wheel, however, can roll normally along the edges of the photovoltaic modules, driven by the frame. Because one walking mechanism's limit wheel is obstructed by the step while the other's can roll normally, the frame's movement speed differs on opposite sides along the first direction, causing the frame to tilt. At this point, the posture sensor, based on the detected tilt angle, disengages the clutch corresponding to the normally rolling wheel in the walking mechanism, reducing its rotational speed. This, in turn, slows the movement speed of the side of the frame connected to the normally rolling walking mechanism, adjusting the frame's tilt angle until it reaches the target angle. The target angle refers to the frame tilt angle required for the limit wheel of the walking mechanism obstructed by the step to overcome the step.

[0030] In summary, the photovoltaic module cleaning robot in this embodiment corrects the frame's posture by disengaging the clutch to change the frame's tilt angle. This allows the limiting wheels to traverse the steps formed by the frames of two misaligned photovoltaic modules, facilitating the robot's movement between the misaligned modules and ultimately cleaning them.

[0031] This application also proposes a photovoltaic module cleaning system, including the photovoltaic module cleaning robot described above.

[0032] In this embodiment of the photovoltaic module cleaning system, the two power output ends of the drive unit in the photovoltaic module cleaning robot apply driving torque to the input ends of two clutches. This driving torque is transmitted through the output ends of the clutches to the walking wheels in the corresponding walking mechanisms, driving the walking wheels to roll along the sun-receiving side surface of the photovoltaic module. This, in turn, causes the frame to move relative to the photovoltaic module, resulting in synchronous movement of the cleaning brushes on the frame. This allows the cleaning brushes to clean any area on the sun-receiving side surface of the photovoltaic module, removing dirt from that surface. During this process, the limit wheels of the two walking mechanisms roll along the opposite sides of the photovoltaic module's frame in the first direction, driven by the frame. The pose sensors on the frame detect the frame's motion posture in real time.

[0033] When the photovoltaic module cleaning robot moves between two misaligned photovoltaic modules, only one of its two walking mechanisms will encounter a step formed by the edges of the two misaligned photovoltaic modules, preventing it from rolling forward. The other walking mechanism's limit wheel, however, can roll normally along the edges of the photovoltaic modules, driven by the frame. Because one walking mechanism's limit wheel is obstructed by the step while the other's can roll normally, the frame's movement speed differs on opposite sides along the first direction, causing the frame to tilt. At this point, the posture sensor, based on the detected tilt angle, disengages the clutch corresponding to the normally rolling wheel in the walking mechanism, reducing its rotational speed. This, in turn, slows the movement speed of the side of the frame connected to the normally rolling walking mechanism, adjusting the frame's tilt angle until it reaches the target angle. The target angle refers to the frame tilt angle required for the limit wheel of the walking mechanism obstructed by the step to overcome the step.

[0034] In summary, the photovoltaic module cleaning system in this embodiment corrects the frame's posture by disengaging the clutch to change the frame's tilt angle. This allows the limiting wheels to traverse the steps formed by the frames of two misaligned photovoltaic modules, facilitating the movement of the photovoltaic module cleaning robot between the misaligned modules and ultimately cleaning them. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of this application, the drawings used in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a photovoltaic module cleaning robot in one embodiment of this application.

[0037] Figure 2 for Figure 1 A magnified view of point A in the photovoltaic module cleaning robot shown.

[0038] Figure 3 for Figure 1 The diagram shows the structure of the walking mechanism in the photovoltaic module cleaning robot.

[0039] Figure 4 for Figure 1 The diagram shows the structure of the walking mechanism in the photovoltaic module cleaning robot.

[0040] Figure 5 for Figure 1 The diagram shows a partial structural assembly of the photovoltaic module cleaning robot.

[0041] Figure label:

[0042] 10 photovoltaic module cleaning robots;

[0043] Frame 100;

[0044] Cleaning brush 200;

[0045] The following components are included: a traveling mechanism 300, a traveling wheel 310, a limit wheel 320, a mounting plate 330, a mounting base 340, a rotating shaft 350, a transmission assembly 360, a driving wheel 361, a driven wheel 362, and a timing belt 363.

[0046] Clutch 400;

[0047] Drive component 500, power output end 510;

[0048] Coupling 600;

[0049] Drive shaft 700;

[0050] Electronic control components 800;

[0051] Photovoltaic panel 900. Detailed Implementation

[0052] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application 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 application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0053] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not 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 application.

[0054] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this application, unless otherwise expressly 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 expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0056] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via 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. Similarly, "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.

[0057] It should be noted that if 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. If 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. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0058] Please see Figure 1 and Figure 2 , Figure 1A schematic diagram of the structure of a photovoltaic module cleaning robot according to an embodiment of this application is shown. An embodiment of this application provides a photovoltaic module cleaning robot 10, including: a frame 100, a cleaning brush 200, two walking mechanisms 300, two clutches 400, a drive unit 500, and a pose sensor (not shown). The cleaning brush 200 is disposed on the frame 100. The two walking mechanisms 300 are disposed on opposite sides of the frame 100 along a first direction. Each walking mechanism 300 includes at least one walking wheel 310 and at least one limiting wheel 320. The walking wheel 310 and the limiting wheel 320 are rotatably connected to the frame 100 around their own axes. The axle of the walking wheel 310... The line is parallel to the first direction, the axis of the limiting wheel 320 is parallel to the second direction, the first direction and the second direction are intersecting, the two clutches 400 are correspondingly arranged with the two traveling mechanisms 300, the driving component 500 is arranged on the frame 100 and has two power output ends 510 corresponding to the two clutches 400, the input end of the clutch 400 is connected to the corresponding power output end 510, the output end of the clutch 400 is connected to the traveling wheel 310 in the corresponding traveling mechanism 300, the posture sensor is arranged on the frame 100 and is communicatively connected with the two clutches 400.

[0059] In this embodiment, the photovoltaic module cleaning robot 10 has two power output ends 510 of the drive unit 500 correspondingly applying driving torque to the input ends of two clutches 400. This driving torque is transmitted through the output ends of the clutches 400 to the walking wheels 310 in the corresponding walking mechanism 300, driving the walking wheels 310 to roll along the side surface of the photovoltaic module (not shown) that receives sunlight. This, in turn, causes the frame 100 to move relative to the photovoltaic module, so that the cleaning brushes 200 on the frame 100 move synchronously. This allows the cleaning brushes 200 to clean any area on the side surface of the photovoltaic module that receives sunlight, removing dirt from that surface. During the above process, the limiting wheels 320 of the two walking mechanisms 300 roll along the side edges of the photovoltaic module in the first direction under the drive of the frame 100. The pose sensor on the frame 100 detects the movement posture of the frame 100 in real time.

[0060] When the photovoltaic module cleaning robot 10 moves between two staggered photovoltaic modules, only one of the two walking mechanisms 300 of the photovoltaic module cleaning robot 10 will encounter the step formed by the frame of the two staggered photovoltaic modules and will be unable to roll forward due to the obstruction of the step; while the limit wheel 320 of the other walking mechanism 300 can roll forward normally along the frame of the photovoltaic module under the drive of the frame 100. Because the limiting wheel 320 of one walking mechanism 300 is obstructed by the step, while the limiting wheel 320 of the other walking mechanism 300 can roll normally, the movement speeds of the two sides of the frame 100 along the first direction are different, causing the frame 100 to tilt. At this time, the posture sensor will disengage the clutch 400 corresponding to the walking wheel 310 in the walking mechanism 300 where the limiting wheel 320 is rolling normally, based on the detected tilt angle of the frame 100, so as to reduce the rotational speed of the walking wheel 310 in the walking mechanism 300 where the limiting wheel 320 is rolling normally. This reduces the movement speed of the side of the frame 100 connected to the walking mechanism 300 where the limiting wheel 320 is rolling normally, and adjusts the tilt angle of the frame 100 until the tilt angle of the frame 100 reaches the target angle. The target angle refers to the tilt angle of the frame 100 required when the limiting wheel 320 of the walking mechanism 300 obstructed by the step climbs over the step.

[0061] In summary, the photovoltaic module cleaning robot 10 in this embodiment changes the tilt angle of the frame 100 by disengaging the clutch 400, corrects the posture of the frame 100, and enables the limiting wheel 320 to cross the step formed by the frame of two misaligned photovoltaic modules. This facilitates the movement of the photovoltaic module cleaning robot 10 between the misaligned photovoltaic modules, and ultimately achieves the cleaning of the misaligned photovoltaic modules.

[0062] Please see Figure 1 and Figure 2 In some embodiments, the drive member 500 is located between two walking mechanisms 300. Among the two walking mechanisms 300, the distance between one walking mechanism 300 and the drive member 500 in the first direction is a first value D1, and the distance between the other walking mechanism 300 and the drive member 500 in the first direction is a second value D2. The first value D1 is greater than the second value D2.

[0063] In this embodiment, by placing the drive component 500 between the two walking mechanisms 300, the connection structure between the drive component 500 and the two walking mechanisms 300 can be simplified, reducing the structure of the photovoltaic module cleaning robot 10, lowering the manufacturing cost of the photovoltaic module cleaning robot 10, and improving the stability of the photovoltaic module cleaning robot 10's movement. With one walking mechanism 300 and the drive component 500 having a first distance D1 in the first direction, and the other walking mechanism 300 and the drive component 500 having a second distance D2 in the first direction, where the first distance D1 is greater than the second distance D2, the drive component 500 is eccentrically positioned on the frame 100 along the first direction. This ensures that the frame 100 has a balanced load on both sides along the first direction, eliminating vibration during the movement of the photovoltaic module cleaning robot 10.

[0064] In some embodiments, two walking mechanisms 300 are detachably mounted on opposite sides of the frame 100 along a first direction.

[0065] In some embodiments, the pose sensor includes a gyroscope or other type of angle sensor.

[0066] In some embodiments, the clutch 400 includes an electromagnetic clutch.

[0067] Please see Figure 1 and Figure 2 In some embodiments, each clutch 400 is disposed between the corresponding traveling mechanism 300 and the drive member 500, and is arranged with the drive member 500 along a first direction.

[0068] In this embodiment, by setting each clutch 400 between the corresponding walking mechanism 300 and the driving member 500, on the one hand, the connection structure between the input end of the clutch 400 and the corresponding power output end 510 in the driving member 500 is simplified; on the other hand, the connection structure between the output end of the clutch 400 and the walking wheel 310 in the corresponding walking mechanism 300 is simplified.

[0069] Please see Figure 2 and Figure 5 In some embodiments, a walking mechanism 300 with a distance of a first value D1 from the drive member 500 in a first direction is defined as a first walking mechanism. The photovoltaic module cleaning robot 10 includes a coupling 600 and a drive shaft 700. The drive shaft 700 extends along the first direction. One end of the drive shaft 700 is connected to the output end of the clutch 400 corresponding to the first walking mechanism, and the other end of the drive shaft 700 is connected to the input end of the coupling 600. The output end of the coupling 600 is connected to the walking wheel 310 in the first walking mechanism.

[0070] In this embodiment, one of the two power output ends 510 of the drive member 500 applies a driving torque to the input end of the clutch 400 corresponding to the first traveling mechanism. This driving torque is transmitted to the transmission shaft 700 through the output end of the clutch 400 corresponding to the first traveling mechanism, and then to the input end of the coupling 600 through the transmission shaft 700. It is then transmitted from the output end of the coupling 600 to the traveling wheel 310 in the first traveling mechanism, driving the traveling wheel 310 in the first traveling mechanism to roll along the side surface of the photovoltaic module that receives sunlight.

[0071] In summary, by setting the drive shaft 700 and the coupling 600, the drive member 500, which is eccentrically arranged on the frame 100 along the first direction, can drive the traveling wheel 310 in the traveling mechanism 300, which is a distance of a first value D1 from the drive member 500 in the first direction.

[0072] In some embodiments, the drive unit 500 includes a geared motor.

[0073] Please see Figure 1 and Figure 3 In some embodiments, the walking mechanism 300 includes a mounting plate 330, a mounting base 340, and a rotating shaft 350. The mounting plate 330 is disposed on the frame 100. The walking wheel 310 is rotatably connected to the mounting plate 330 about its own axis. The mounting base 340 is disposed on the mounting plate 330. The rotating shaft 350 extends along a first direction, passes through the mounting base 340 and the mounting plate 330, and is configured to rotate about its own axis. The cleaning brush 200 extends along the first direction and is located between the two walking mechanisms 300. The two ends of the cleaning brush 200 along the first direction are correspondingly connected to the rotating shaft 350 in the two walking mechanisms 300.

[0074] In this embodiment, the two power output ends 510 of the drive member 500 apply driving torque to the input ends of the two clutches 400 respectively. This driving torque is transmitted to the walking wheel 310 in the corresponding walking mechanism 300 through the output end of the clutch 400, so as to drive the walking wheel 310 in the corresponding walking mechanism 300 to rotate around its own axis relative to the mounting plate 330 in the corresponding walking mechanism 300. The walking wheel 310 rotating around its own axis rolls along the side surface of the photovoltaic module that receives sunlight, driving the frame 100 to move relative to the photovoltaic module. During this process, the rotating shaft 350 in each walking mechanism 300 rotates around its own axis relative to the corresponding mounting plate 330. The cleaning brush 200 rotates around its own axis under the drive of the rotating shaft 350 in the two walking mechanisms 300. The bristles of the cleaning brush 200 clean any area on the side surface of the photovoltaic module that receives sunlight, cleaning the dirt on the side surface of the photovoltaic module that receives sunlight.

[0075] In some embodiments, the limiting wheel 320 is detachably mounted to the mounting plate 330 and configured to rotate relative to the mounting plate 330 about its own axis.

[0076] Please see Figure 2 and Figure 4 In some embodiments, a second walking mechanism is defined as the walking mechanism 300 that is a distance of a second value D2 from the driving member 500 in a first direction. The second walking mechanism includes a transmission assembly 360, which is disposed on a mounting plate 330 in the second walking mechanism. The transmission assembly 360 includes a driving wheel 361, a driven wheel 362, and a timing belt 363. The driving wheel 361 is coaxially disposed with the corresponding walking wheel 310 on the mounting plate 330 and is connected to it. The driven wheel 362 is sleeved on the outer periphery of the rotating shaft 350 on the corresponding mounting plate 330 and is connected to the corresponding rotating shaft 350. The timing belt 363 is wound around the driving wheel 361 and the driven wheel 362.

[0077] In this embodiment, the two power output ends 510 of the drive member 500 apply driving torque to the input ends of the two clutches 400 respectively. This driving torque is transmitted to the walking wheel 310 in the corresponding walking mechanism 300 through the output ends of the clutches 400, so as to drive the walking wheel 310 in the corresponding walking mechanism 300 to rotate around its own axis relative to the mounting plate 330 in the corresponding walking mechanism 300. The walking wheel 310 rotating around its own axis rolls along the side surface of the photovoltaic module that receives sunlight, driving the frame 100 to move relative to the photovoltaic module. During this process, the walking wheel 310 in the second walking mechanism drives the drive wheel 361 to rotate synchronously. The drive wheel 361 drives the driven wheel 362 to rotate via the synchronous belt 363. The driven wheel 362 drives the rotating shaft 350 in the second walking mechanism to rotate relative to the mounting base 340. The rotating shaft 350 in the second walking mechanism drives the cleaning brush 200 to rotate. The bristles of the cleaning brush 200 clean any area on the side surface of the photovoltaic module that receives sunlight, cleaning the dirt on the side surface of the photovoltaic module that receives sunlight.

[0078] Please see Figure 1 In some embodiments, the walking mechanism 300 includes a plurality of walking wheels 310, which are arranged along a third direction. The first direction and the second direction are both intersecting with the third direction. The output end of each clutch 400 is connected to any one of the walking wheels 310 in the corresponding walking mechanism 300.

[0079] In this embodiment, the output end of each clutch 400 drives any one of the walking wheels 310 in the corresponding walking mechanism 300 to roll automatically, while the remaining walking wheels 310 in the corresponding walking mechanism 300 roll passively under the influence of the automatically rolling walking wheel 310. Since each walking mechanism 300 includes multiple walking wheels 310 arranged along a third direction, the photovoltaic module cleaning robot 10 can move smoothly along the third direction on the surface of the photovoltaic module that receives sunlight.

[0080] Please see Figure 1 In some embodiments, the walking mechanism 300 includes a plurality of limiting wheels 320 arranged along a third direction, each limiting wheel 320 being rotatably connected to the frame 100.

[0081] In this embodiment, the multiple limiting wheels 320 in the walking mechanism 300, driven by the frame 100, roll upwards along the side edges of the photovoltaic module in the first direction. By arranging multiple limiting wheels 320 along the third direction, the photovoltaic module cleaning robot 10 can be prevented from slipping off the photovoltaic module in the first direction during the process of cleaning dirt on the side of the photovoltaic module that receives sunlight.

[0082] Please see Figure 1 In some embodiments, the photovoltaic module cleaning robot 10 includes an electronic control component 800 and a photovoltaic panel 900. The electronic control component 800 is disposed on the frame 100, and the clutch 400 and the posture sensor are electrically connected to the electronic control component 800. The photovoltaic panel 900 is disposed on the frame 100 and is electrically connected to the electronic control component 800.

[0083] In this embodiment, the photovoltaic panel 900 converts sunlight into electrical energy and stores the converted electrical energy in the electronic control component 800. The electronic control component 800 provides the electrical energy required for the operation of the clutch 400, the posture sensor, and the drive component 500. The posture sensor transmits the detected data to the electronic control component 800. Based on the data transmitted by the posture sensor, the electronic control component 800 selects the clutch 400 to be disengaged to adjust the tilt angle of the frame 100 until the tilt angle of the frame 100 reaches the target angle. Disengaging the clutch 400 means that the electronic control component 800 stops supplying power to the clutch 400.

[0084] In some embodiments, the photovoltaic panel 900, the electronic control component 800, and the drive component 500 are arranged on the frame 100 along a first direction.

[0085] This application also proposes a photovoltaic module cleaning system (not shown), including the aforementioned photovoltaic module cleaning robot 10.

[0086] In this embodiment of the photovoltaic module cleaning system, the two power output ends 510 of the drive unit 500 apply driving torque to the input ends of the two clutches 400 respectively. This driving torque is transmitted through the output ends of the clutches 400 to the walking wheels 310 in the corresponding walking mechanisms 300, driving the walking wheels 310 to roll along the side surface of the photovoltaic module (not shown) that receives sunlight. This, in turn, causes the frame 100 to move relative to the photovoltaic module, so that the cleaning brushes 200 on the frame 100 move synchronously. This allows the cleaning brushes 200 to clean any area on the side surface of the photovoltaic module that receives sunlight, removing dirt from that surface. During the above process, the limiting wheels 320 of the two walking mechanisms 300 roll along the side edges of the photovoltaic module on opposite sides in the first direction under the drive of the frame 100. The pose sensor on the frame 100 detects the movement posture of the frame 100 in real time.

[0087] When the photovoltaic module cleaning robot 10 moves between two staggered photovoltaic modules, only one of the two walking mechanisms 300 of the photovoltaic module cleaning robot 10 will encounter the step formed by the frame of the two staggered photovoltaic modules and will be unable to roll forward due to the obstruction of the step; while the limit wheel 320 of the other walking mechanism 300 can roll forward normally along the frame of the photovoltaic module under the drive of the frame 100. Because the limiting wheel 320 of one walking mechanism 300 is obstructed by the step, while the limiting wheel 320 of the other walking mechanism 300 can roll normally, the movement speeds of the two sides of the frame 100 along the first direction are different, causing the frame 100 to tilt. At this time, the posture sensor will disengage the clutch 400 corresponding to the walking wheel 310 in the walking mechanism 300 where the limiting wheel 320 is rolling normally, based on the detected tilt angle of the frame 100, so as to reduce the rotational speed of the walking wheel 310 in the walking mechanism 300 where the limiting wheel 320 is rolling normally. This reduces the movement speed of the side of the frame 100 connected to the walking mechanism 300 where the limiting wheel 320 is rolling normally, and adjusts the tilt angle of the frame 100 until the tilt angle of the frame 100 reaches the target angle. The target angle refers to the tilt angle of the frame 100 required when the limiting wheel 320 of the walking mechanism 300 obstructed by the step climbs over the step.

[0088] In summary, the photovoltaic module cleaning system in this embodiment changes the tilt angle of the frame 100 by disengaging the clutch 400, corrects the posture of the frame 100, and enables the limiting wheel 320 to cross the step formed by the frame of two misaligned photovoltaic modules. This facilitates the movement of the photovoltaic module cleaning robot 10 between the misaligned photovoltaic modules, and ultimately achieves the cleaning of the misaligned photovoltaic modules.

[0089] 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.

[0090] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A photovoltaic module cleaning robot, characterized in that, The photovoltaic module cleaning robot includes: frame; A cleaning brush is mounted on the frame; Two walking mechanisms are arranged on opposite sides of the frame along a first direction. Each walking mechanism includes at least one walking wheel and at least one limiting wheel. The walking wheel and the limiting wheel are rotatably connected to the frame around their own axes. The axis of the walking wheel is parallel to the first direction, and the axis of the limiting wheel is parallel to a second direction. The first direction and the second direction are intersecting. Two clutches are provided, corresponding to the two traveling mechanisms; A drive unit is mounted on the frame and has two power output ends corresponding to the two clutches. The input end of the clutch is connected to the corresponding power output end, and the output end of the clutch is connected to the walking wheel in the corresponding walking mechanism. A pose sensor is mounted on the frame and is communicatively connected to the two clutches.

2. The photovoltaic module cleaning robot according to claim 1, characterized in that, The drive unit is located between the two walking mechanisms. In the two walking mechanisms, the distance between one walking mechanism and the drive unit in the first direction is a first value, and the distance between the other walking mechanism and the drive unit in the first direction is a second value. The first value is greater than the second value.

3. The photovoltaic module cleaning robot according to claim 2, characterized in that, Each of the clutches is disposed between the corresponding traveling mechanism and the driving member, and is arranged with the driving member along the first direction.

4. The photovoltaic module cleaning robot according to claim 3, characterized in that, The walking mechanism whose distance from the driving member in the first direction is a first value is defined as the first walking mechanism; The photovoltaic module cleaning robot includes a coupling and a drive shaft. The drive shaft extends along the first direction. One end of the drive shaft is connected to the output end of the clutch corresponding to the first walking mechanism. The other end of the drive shaft is connected to the input end of the coupling. The output end of the coupling is connected to the walking wheel in the first walking mechanism.

5. The photovoltaic module cleaning robot according to claim 2, characterized in that, The walking mechanism includes: A mounting plate is provided on the frame, and the walking wheels are rotatably connected to the mounting plate around their own axis; A mounting base and a rotating shaft, the mounting base being disposed on the mounting plate, the rotating shaft extending along the first direction, the rotating shaft passing through the mounting base and the mounting plate, and being configured to rotate about its own axis; The cleaning brush extends along the first direction and is located between the two walking mechanisms. The two ends of the cleaning brush along the first direction are correspondingly connected to the rotating shafts in the two walking mechanisms.

6. The photovoltaic module cleaning robot according to claim 5, characterized in that, The walking mechanism whose distance from the driving member in the first direction is a second value is defined as the second walking mechanism; The second traveling mechanism includes a transmission assembly, which is disposed on the mounting plate in the second traveling mechanism; The transmission assembly includes a drive wheel, a driven wheel, and a timing belt. The drive wheel is coaxially arranged with the corresponding traveling wheel on the mounting plate and is connected to each other. The driven wheel is sleeved on the outer periphery of the corresponding rotating shaft on the mounting plate and is connected to the corresponding rotating shaft. The timing belt is wound around the drive wheel and the driven wheel.

7. The photovoltaic module cleaning robot according to claim 1, characterized in that, The walking mechanism includes a plurality of walking wheels, which are arranged along a third direction, and the first direction and the second direction are both intersecting with the third direction; The output of each clutch is connected to any of the wheels in the corresponding walking mechanism.

8. The photovoltaic module cleaning robot according to claim 7, characterized in that, The walking mechanism includes a plurality of limiting wheels arranged along the third direction, each of the limiting wheels being rotatably connected to the frame.

9. The photovoltaic module cleaning robot according to claim 1, characterized in that, The photovoltaic module cleaning robot includes an electronic control component and a photovoltaic panel. The electronic control component is disposed on the frame, and the clutch and the posture sensor are both electrically connected to the electronic control component. The photovoltaic panel is mounted on the frame and is electrically connected to the electronic control component.

10. A photovoltaic module cleaning system, characterized in that, The photovoltaic module cleaning robot includes any one of claims 1-9 above.

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