Charging device for cleaning robot and photovoltaic cleaning robot system

Abstract

The utility model belongs to the technical field of photovoltaic cleaning robots, and discloses a charging device for a cleaning robot and a photovoltaic cleaning robot system.The charging device comprises a guiding assembly and a charging part, the guiding assembly comprises a charging bin base, a guiding part and a lifting part, and the guiding part and the lifting part are both arranged on the charging bin base; the guide piece and the lifting piece both protrude out of the upper surface of the charging bin base, the protruding height of the lifting piece is larger than or equal to the protruding height of the guide piece, and the guide piece can be inserted into the guide groove; the charging part is arranged on the charging bin base and used for charging the cleaning robot; when the robot body moves to the charging bin base in the X direction, the lifting piece is used for lifting the rolling brush to be separated from the charging bin base so as to avoid the guiding piece, and the X direction coincides with the front-back direction of the robot body. The charging device provided by the utility model can avoid collision and rubbing between the rolling brush and the raised guide piece, and ensures rapid and safe charging of the photovoltaic cleaning robot system.

Description

Technical Field

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

[0002] A photovoltaic (PV) cleaning robot is an automated device specifically designed to clean dust, dirt, and other impurities from the surface of solar photovoltaic panels. The PV cleaning robot is equipped with a charging compartment for continuous operation. During charging, the receiving end of the PV cleaning robot needs to be precisely aligned with the charging end of the charging compartment. Existing technology provides a PV cleaning robot with a guide groove, and the charging compartment has protruding guide posts. When the PV cleaning robot moves towards the charging end, the guide posts and guide groove cooperate to ensure the accurate positioning between the charging end and the receiving end. Because the PV cleaning robot has cleaning rollers on its front and / or rear sides, these rollers collide with and roll against the protruding guide posts during movement, hindering the robot's movement. Long-term friction can also damage the cleaning rollers, affecting the cleaning effect. Utility Model Content

[0003] One objective of this utility model is to address one of the aforementioned technical problems. To achieve this objective, this utility model adopts the following technical solution:

[0004] A charging device is provided for a cleaning robot, used to charge the cleaning robot, which includes a robot body and a roller brush. Along the walking direction of the robot body, the roller brush is movably disposed on the front and / or rear side of the robot body. The robot body has a guide groove. The charging device includes:

[0005] A guiding assembly includes a charging case base, a guide member, and a lifting member. The guide member and the lifting member are both disposed on the charging case base. The guide member and the lifting member both protrude from the upper surface of the charging case base, and the protrusion height of the lifting member is greater than or equal to the protrusion height of the guide member. The guide member can be inserted into the guiding groove.

[0006] A charging component is disposed on the base of the charging chamber and is used to charge the cleaning robot;

[0007] When the robot body moves along the X direction to the charging compartment base, the lifting member is used to lift the roller brush away from the charging compartment base to avoid the guide member, and the X direction coincides with the front-back direction of the robot body.

[0008] In one embodiment, the lifting member is located in front of the guide member in the opposite direction of the X direction, and in the Y direction, the lifting member is located beside the guide member, the Y direction and the X direction being perpendicular to each other.

[0009] In one embodiment, the lifting member includes a first guide portion and a lifting portion connected to each other. The first guide portion and the lifting portion are arranged sequentially along the X direction. The first guide portion has a first guide surface. The first guide surface and the charging case base are arranged at an angle. One end of the first guide surface abuts against the charging case base, and the other end is connected to the lifting portion. The protrusion height of the lifting portion is greater than or equal to the protrusion height of the guide member.

[0010] In one embodiment, the lifting member further includes a second guide portion. Along the X direction, the second guide portion and the first guide portion are respectively disposed on both sides of the lifting portion. The second guide portion has a second guide surface. The second guide surface and the charging compartment base are disposed at an angle. One end of the second guide surface abuts against the charging compartment base, and the other end is connected to the other end of the lifting portion away from the first guide portion.

[0011] In one embodiment, the first guide surface is a slope or an arc surface;

[0012] And / or,

[0013] The second guiding surface is an inclined surface or an arc surface.

[0014] In one embodiment, the length of the lifting member extends along the X direction, the guide member includes a plurality of guide rods, the plurality of guide rods are spaced apart along the X direction, and the projections of the plurality of guide rods along the Y direction are all located within the extension range of the lifting member, the Y direction and the X direction are perpendicular to each other;

[0015] And / or,

[0016] The guide assembly includes two lifting members along the Y direction, with the two lifting members located on both sides of the guide member, and the Y direction and the X direction being perpendicular to each other;

[0017] And / or,

[0018] The charging compartment base has a bracket spaced apart from the guide member, and the bracket is used to support the charging member;

[0019] And / or,

[0020] The height of the lifting member is less than or equal to half the height of the roller brush.

[0021] Another objective of this utility model is to address one of the aforementioned technical problems.

[0022] To achieve this objective, the present invention employs the following technical solution in another aspect:

[0023] A photovoltaic cleaning robot system is provided, including a charging device as described in any of the preceding claims. The photovoltaic cleaning robot system further includes a cleaning robot, which includes a robot body and a roller brush. Along the walking direction of the robot body, the roller brush is movably disposed on the front side of the robot body. The robot body has a guide groove, and a guide member is inserted into the guide groove to constrain the robot body.

[0024] In one embodiment, the robot body includes a power receiving head, and the guide groove is formed at the bottom of the robot body. The guide groove includes a guide groove and a positioning groove that are arranged sequentially and interconnected along the walking direction of the robot body. The guide groove is a V-shaped groove and is open at both ends. The small end of the guide groove is open to the positioning groove, and the large end of the guide groove is open to guide the guide member. When the guide member abuts against the bottom of the positioning groove, the power receiving head corresponds to the charging member.

[0025] In one embodiment, the photovoltaic cleaning robot system further includes a position detection component for detecting the position of the robot body relative to the charging component, the position detection component being communicatively connected to the robot body.

[0026] In one embodiment, the position detection component includes a signal transmitter and a signal receiver, both of which are disposed at the bottom of the robot body. A protruding signal reflector is provided on the charging compartment base, which is capable of reflecting the transmitted signal of the signal transmitter.

[0027] or,

[0028] The position detection component includes a signal transmitter and a signal receiver, one of which is disposed on the robot body and the other is disposed on the charging compartment base.

[0029] The beneficial effects of this utility model are:

[0030] This utility model provides a charging device for a cleaning robot, comprising a guiding assembly and a charging component. The guiding assembly includes a charging compartment base, a guide member, and a lifting member. Both the guide member and the lifting member are disposed on the charging compartment base, protruding from the upper surface of the charging compartment base, with the lifting member's protrusion height being greater than or equal to the guide member's protrusion height. The guide member can be inserted into a guide groove to constrain the robot body. The charging component is disposed on the charging compartment base and is used to charge the cleaning robot. When the robot body moves along the X-direction on the charging compartment base, the lifting member lifts the roller brush away from the charging compartment base to avoid the guide member, ensuring that the roller brush's lifting height is greater than or equal to the guide member's height. This prevents the roller brush from colliding or scraping against the protruding guide member as the robot body moves along the X-direction. The X-direction coincides with the robot body's front-to-back direction. This ensures smooth movement of the robot body along the X-direction and prevents damage to the roller brush from collisions or scrapes with the guide member, thus guaranteeing the roller brush's cleaning effect. Moreover, with the guidance of the guide components and guide grooves, the cleaning robot and the charging component can be precisely aligned, ensuring the accuracy of the charging position and achieving rapid charging.

[0031] The photovoltaic cleaning robot system provided by this utility model includes the above-mentioned charging device for the cleaning robot. The charging device lifts the roller brush that moves with the robot body to detach it from the charging chamber base through a lifting component, so as to avoid collision and scratching between the roller brush and the protruding guide component, and ensure that the photovoltaic cleaning robot system can be charged quickly and safely. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the photovoltaic cleaning robot system provided in this embodiment of the present invention before charging;

[0033] Figure 2 This is a schematic diagram of the photovoltaic cleaning robot system provided in this embodiment of the present invention at the charging position;

[0034] Figure 3 This is a top view of the robot body provided in this embodiment of the utility model.

[0035] In the picture:

[0036] 1. Guide assembly; 11. Charging case base; 111. Bracket; 112. Emergency stop button; 12. Guide component; 121. Guide rod; 13. Lifting component; 131. First guide part; 1311. First guide surface; 132. Lifting part; 133. Second guide part; 1331. Second guide surface; 2. Charging component;

[0037] 100. Cleaning robot; 101. Robot body; 1011. Guide groove; 1012. Guide slot; 1013. Positioning slot; 102. Roller brush; 103. Power receiving head; 200. Position detection component; 201. Signal transmitter; 202. Signal reflector. Detailed Implementation

[0038] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0039] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for 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. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions. Moreover, "above," "on top of," and "over" the first feature in relation to the second feature includes the first feature directly above and diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature includes the first feature directly below and diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0041] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0042] like Figures 1 to 3 As shown, this embodiment first provides a charging device for a cleaning robot 100, which is used to charge the cleaning robot 100. The cleaning robot 100 includes a robot body 101 and a roller brush 102. Along the walking direction of the robot body 101, the roller brush 102 is movably disposed on the front and / or rear side of the robot body 101. When the robot body 101 walks, the bottom of the roller brush 102 and the bottom of the robot body 101 are in the same plane to ensure walking stability and cleaning effectiveness. The robot body 101 has a guide groove 1011.

[0043] The charging device includes a guide assembly 1 and a charging component 2. The guide assembly 1 includes a charging compartment base 11, a guide member 12, and a lifting member 13. Both the guide member 12 and the lifting member 13 are disposed on the charging compartment base 11, and both protrude from the upper surface of the charging compartment base 11. The protrusion height of the lifting member 13 is greater than or equal to the protrusion height of the guide member 12. The guide member 12 can be inserted into a guide groove 1011 to constrain the robot body 101. The charging component 2 is disposed on the charging compartment base 11 and is used to charge the cleaning robot 100. When the robot body 101 moves along the X-direction to the charging compartment base 11, the lifting member 13 lifts the roller brush 102 away from the charging compartment base 11 to avoid the guide member 12. This ensures that the lifting height of the roller brush 102 is greater than or equal to the height of the guide member 12, preventing the roller brush 102 from colliding or scraping against the protruding guide member 12 as the robot body 101 moves along the X-direction. The X-direction coincides with the front-back direction of the robot body 101. This ensures smooth movement of the robot body 101 along the X-direction and prevents damage to the roller brush 102 from collisions or scrapes with the guide member 12, thus ensuring the cleaning effect of the roller brush 102. Moreover, with the guidance and cooperation of the guide member 12 and the guide groove 1011, the cleaning robot 100 and the charging member 2 can be precisely aligned, ensuring the accuracy of the charging position and achieving rapid charging.

[0044] It should be noted that the robot body 101 is capable of moving forward or backward. Therefore, the X direction can point in front of or behind the robot body 101. This embodiment does not impose any specific restrictions.

[0045] Since the roller brush 102 is located on the front or rear side of the robot body 101, and the lifting member 13 is located on the front side of the guide member 12 in the opposite direction of the X direction, it ensures that the roller brush 102 will not contact the guide member 12. Moreover, in the Y direction, the lifting member 13 is located beside the guide member 12. Thus, during the movement of the cleaning robot 100, since the roller brush 102 is movably mounted on the robot body 101, the lifting member 13 only lifts one end of the roller brush 102, and will not affect the movement of the robot body 101.

[0046] The lifting member 13 includes a first guide portion 131 and a lifting portion 132 connected to each other, arranged sequentially along the X direction. The first guide portion 131 has a first guide surface 1311, which is angled to the charging compartment base 11. One end of the first guide surface 1311 abuts against the charging compartment base 11, and the other end is connected to the lifting portion 132. The protrusion height of the lifting portion 132 is greater than or equal to the protrusion height of the guide member 12. The inclined first guide surface 1311 is used to guide the roller brush 102, gradually lifting the roller brush 102. During the movement of the robot body 101 along the X direction, the roller brush 102 is slowly lifted along the first guide surface 1311 until it moves to the lifting portion 132. This slow lifting process avoids affecting the walking speed and direction of the robot body 101.

[0047] The lifting member 13 also includes a second guide portion 133. Along the X direction, the second guide portion 133 and the first guide portion 131 are respectively disposed on both sides of the lifting member 132. The second guide portion 133 has a second guide surface 1331, which is set at an angle to the charging case base 11. One end of the second guide surface 1331 abuts against the charging case base 11, and the other end is connected to the other end of the lifting member 132 away from the first guide portion 131. Along the X direction, when the roller brush 102 moves on the lifting member 132 to the rear of the guide member 12, it can slowly descend along the inclined second guide surface 1331 until it abuts against the charging case base 11.

[0048] The first guide surface 1311 can be a sloped surface or a curved surface, and the second guide surface 1331 can be a sloped surface or a curved surface. For example... Figure 1 As shown in the figure, the first guide surface 1311 is set as an inclined surface, and the second guide surface 1331 is set as an inclined surface. In other embodiments, the first guide surface 1311 and the second guide surface 1331 can also be set as curved surfaces.

[0049] The lifting member 13 extends along the walking direction, and the guide member 12 includes multiple guide rods 121, which are spaced apart along the X direction. Along the Y direction, the projections of the multiple guide rods 121 are all within the extension range of the lifting member 13. That is, in the X direction, the length of the lifting member 13 is greater than the coverage length of the multiple guide rods 121. Therefore, the roller brush 102 will not collide with the guide rods 121 at any position on the lifting part 132, and the lifting and avoidance of the roller brush 102 by the lifting part 132 is safe and reliable.

[0050] In one embodiment, the guide assembly 1 includes two lifting members 13. The two lifting members 13 are located on both sides of the guide member 12 along the direction perpendicular to the walking direction. The two lifting members 13 lift the two ends of the roller brush 102 in the axial direction, so that the lifting of the roller brush 102 is relatively balanced and the roller brush 102 is always in a horizontal state.

[0051] In one embodiment, the power receiving head 103 of the cleaning robot 100 is located on the top of the robot body 101. The charging compartment base 11 has a bracket 111 spaced apart from the guide member 12, which supports the charging component 2. The bracket 111 has a 7-shaped structure, with its bottom connected to the charging compartment base 11, and the charging component 2 disposed on the top of the bracket 111. When the cleaning robot 100 moves to the guide member 12 inserted into the guide groove 1011, the charging component 2 aligns with the power receiving head 103 of the cleaning robot 100. The charging component 2 wirelessly charges the power receiving head 103, requiring only that the cleaning robot 100 and the charging component 2 are accurately positioned, making the charging process convenient. The specific structure of the charging component 2 and the power receiving head 103 can be set with reference to existing technology, and this embodiment is not limited thereto.

[0052] An emergency stop button 112 is provided on the bracket 111, and the emergency stop button 112 is communicatively connected to the charging component 2. When equipment maintenance or other situations are required, pressing the emergency stop button 112 can control the charging component 2 to stop charging and disconnect the electrical connection between the cleaning robot 100 and the charging component 2.

[0053] To ensure the safe movement of the robot body 101, the height of the lifting component 13 is less than or equal to half the height of the roller brush 102, so as to avoid the robot body 101 tilting or even overturning due to excessive lifting of the roller brush 102.

[0054] This utility model embodiment further provides a photovoltaic cleaning robot system, which includes a charging device as described in any of the above embodiments. The photovoltaic cleaning robot system also includes a cleaning robot 100, which includes a robot body 101 and a roller brush 102. Along the walking direction of the robot body 101, the roller brush 102 is movably disposed on the front and / or rear side of the robot body 101. The robot body 101 has a guide groove 1011, and a guide member 12 is inserted into the guide groove 1011 to constrain the robot body 101. When the robot body 101 moves along the X-direction to the charging compartment base 11, the lifting component 13 of the charging device lifts the roller brush 102 away from the charging compartment base 11 to avoid the guide component 12. This ensures that the lifting height of the roller brush 102 is greater than or equal to the height of the guide component 12, preventing the roller brush 102 from colliding or scraping against the protruding guide component 12 as the robot body 101 moves along the X-direction. This ensures smooth movement of the robot body 101 along the X-direction and prevents damage to the roller brush 102 from collisions or scrapes with the guide component 12, thus guaranteeing the cleaning effect of the roller brush 102. Moreover, with the guidance and cooperation of the guide component 12 and the guide groove 1011, the cleaning robot 100 and the charging component 2 can be precisely aligned, ensuring rapid and safe charging of the photovoltaic cleaning robot system.

[0055] In one embodiment, the roller brush 102 is rotatably connected to the robot body 101. The roller brush 102 is hinged to the robot body 101, with the hinge axis extending along the Y direction. When the lifting member 13 lifts the roller brush 102, the roller brush 102 rotates relative to the hinge axis, avoiding any impact on the movement of the robot body 101 along the X direction.

[0056] A guide groove 1011 is formed at the bottom of the robot body 101. The guide groove 1011 includes a guide groove 1012 and a positioning groove 1013 that are arranged sequentially and interconnected along the walking direction. The guide groove 1012 is a V-shaped groove with both ends open. The small end of the guide groove 1012 is connected to the positioning groove 1013, and the large end of the guide groove 1012 is used to guide the guide member 12. Even if the walking direction of the robot body 101 deviates, the large end opening still ensures that the guide member 12 can be guided into the guide groove 1011. When the guide member 12 abuts against the bottom of the positioning groove 1013, the power receiving head 103 corresponds to the charging member 2.

[0057] The guide member 12 includes a plurality of guide rods 121 spaced apart along the X direction. Correspondingly, the positioning groove 1013 is elongated to accommodate the plurality of guide rods 121. When the last guide rod 121 of the plurality of guide rods 121 abuts against the bottom of the positioning groove 1013, the robot body 101 is constrained in both the X and Y directions, ensuring the accuracy of the power receiving head 103 corresponding to the charging component 2.

[0058] To further enhance the reliability of the position constraint of the robot body 101, the photovoltaic cleaning robot system also includes a position detection component 200. The position detection component 200 is used to detect the position of the robot body 101 relative to the charging component 2, and is communicatively connected to the robot body 101. When the position detection component 200 detects that the robot body 101 has moved to the charging component 2 corresponding to the power receiving head 103, it controls the robot body 101 to stop moving via a controller (not shown in the figure). The position detection by the position detection component 200, together with the insertion and cooperation of the guide groove 1011 and the guide member 12, can constrain the position of the robot body 101.

[0059] The position detection component 200 includes a signal transmitter 201 and a signal receiver. The signal transmitter 201 is used to emit signals such as lasers and ultrasonic waves. In one embodiment, such as... Figure 1 As shown, both the signal transmitter 201 and the signal receiver are located at the bottom of the robot body 101. The position detection component 200 also includes a signal reflector 202 protruding from the charging compartment base 11. The signal reflector 202 reflects the signal emitted by the signal transmitter 201, and the signal receiver receives the reflected signal. When the signal transmitter 201 is aligned with the signal reflector 202, it indicates that the robot body 101 has moved to the charging position. The signal transmitter 201 is a lidar. During the robot body 101's movement, the signal transmitter 201 emits a laser signal. Due to the different heights of the signal reflector 202 and the surface of the charging compartment base 11, different reflection information is generated for the laser signal emitted by the lidar. The signal receiver analyzes the received reflected signal to determine whether the robot body 101 has moved to the charging position.

[0060] In another embodiment, one of the signal transmitter 201 and the signal receiver is disposed on the robot body 101, and the other is disposed on the charging compartment base 11. The reflection of the signal by the signal receiver determines whether the robot body 101 has moved to the charging position. For example, in one embodiment, the signal transmitter 201 is disposed on the bottom of the robot body 101 and is a photoelectric sensor. The signal receiver is disposed on the charging compartment base 11. When the signal transmitter 201 is aligned with the signal receiver, the signal receiver can receive the beam signal emitted by the signal transmitter 201 and convert it into an electrical signal, indicating that the robot body 101 has moved to the charging position.

[0061] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A charging device for a cleaning robot, used to charge a cleaning robot (100), the cleaning robot (100) comprising a robot body (101) and a roller brush (102), wherein the roller brush (102) is movably disposed on the front and / or rear side of the robot body (101) along the walking direction of the robot body (101), and the robot body (101) is provided with a guide groove (1011), characterized in that, The charging device includes: The guide assembly (1) includes a charging compartment base (11), a guide member (12), and a lifting member (13). The guide member (12) and the lifting member (13) are both disposed on the charging compartment base (11). The guide member (12) and the lifting member (13) both protrude from the upper surface of the charging compartment base (11), and the protrusion height of the lifting member (13) is greater than or equal to the protrusion height of the guide member (12). The guide member (12) can be inserted into the guide groove (1011). A charging component (2) is disposed on the charging chamber base (11) and is used to charge the cleaning robot (100); When the robot body (101) moves along the X direction to the charging compartment base (11), the lifting member (13) is used to lift the roller brush (102) away from the charging compartment base (11) to avoid the guide member (12), and the X direction coincides with the front-back direction of the robot body (101).

2. The charging device for a cleaning robot according to claim 1, characterized in that, Along the opposite direction of the X direction, the lifting member (13) is located in front of the guide member (12), and along the Y direction, the lifting member (13) is located beside the guide member (12), the Y direction and the X direction are perpendicular to each other.

3. The charging device for a cleaning robot according to claim 1, characterized in that, The lifting member (13) includes a first guide portion (131) and a lifting portion (132) connected to each other. Along the X direction, the first guide portion (131) and the lifting portion (132) are arranged sequentially. The first guide portion (131) has a first guide surface (1311). The first guide surface (1311) and the charging compartment base (11) are arranged at an angle. One end of the first guide surface (1311) abuts against the charging compartment base (11), and the other end is connected to the lifting portion (132). The protrusion height of the lifting portion (132) is greater than or equal to the protrusion height of the guide member (12).

4. The charging device for a cleaning robot according to claim 3, characterized in that, The lifting member (13) further includes a second guide portion (133). Along the X direction, the second guide portion (133) and the first guide portion (131) are respectively disposed on both sides of the lifting member (132). The second guide portion (133) has a second guide surface (1331). The second guide surface (1331) and the charging compartment base (11) are arranged at an angle. One end of the second guide surface (1331) abuts against the charging compartment base (11), and the other end is connected to the other end of the lifting member (132) away from the first guide portion (131).

5. The charging device for a cleaning robot according to claim 4, characterized in that, The first guide surface (1311) is an inclined surface or an arc surface; And / or, The second guide surface (1331) is an inclined surface or an arc surface.

6. The charging device for a cleaning robot according to claim 1, characterized in that, The length of the lifting member (13) extends along the X direction, and the guide member (12) includes a plurality of guide rods (121). The plurality of guide rods (121) are spaced apart along the X direction. Along the Y direction, the projections of the plurality of guide rods (121) are all located within the extension range of the lifting member (13). The Y direction and the X direction are perpendicular to each other. And / or, the guide assembly (1) includes two lifting members (13) along the Y direction, the two lifting members (13) being located on both sides of the guide member (12), the Y direction and the X direction being perpendicular to each other; And / or, the charging case base (11) has a bracket (111) spaced apart from the guide (12), the bracket (111) being used to support the charging component (2); And / or, the height of the protrusion of the lifting member (13) is less than or equal to half the height of the roller brush (102).

7. A photovoltaic cleaning robot system, characterized in that, Including the charging device as described in any one of claims 1-6, the photovoltaic cleaning robot system further includes a cleaning robot (100), the cleaning robot (100) including a robot body (101) and a roller brush (102), the roller brush (102) being movably disposed on the front and / or rear side of the robot body (101) along the walking direction of the robot body (101), the robot body (101) having a guide groove (1011), and the guide member (12) being inserted into the guide groove (1011) to constrain the robot body (101).

8. The photovoltaic cleaning robot system according to claim 7, characterized in that, The robot body (101) includes a power receiving head (103). The guide groove (1011) is located at the bottom of the robot body (101). The guide groove (1011) includes a guide groove (1012) and a positioning groove (1013) that are arranged sequentially and interconnected along the walking direction of the robot body (101). The guide groove (1012) is a V-shaped groove with both ends connected. The small end of the guide groove (1012) is connected to the positioning groove (1013). The large end of the guide groove (1012) is used to guide the guide member (12). When the guide member (12) abuts against the bottom of the positioning groove (1013), the power receiving head (103) corresponds to the charging member (2).

9. The photovoltaic cleaning robot system according to claim 7, characterized in that, The photovoltaic cleaning robot system also includes a position detection component (200), which is used to detect the position of the robot body (101) relative to the charging component (2), and the position detection component (200) is communicatively connected to the robot body (101).

10. The photovoltaic cleaning robot system according to claim 9, characterized in that, The position detection component (200) includes a signal transmitter (201) and a signal receiver. Both the signal transmitter (201) and the signal receiver are located at the bottom of the robot body (101). A protruding signal reflector (202) is provided on the charging compartment base (11). The signal reflector (202) can reflect the transmitted signal of the signal transmitter (201). Alternatively, the position detection component (200) may include a signal transmitter (201) and a signal receiver, one of which is disposed on the robot body (101) and the other is disposed on the charging compartment base (11).

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