Cleaning robot, cleaning system and photovoltaic power station

Abstract

The utility model discloses a cleaning robot, a cleaning system and a photovoltaic power station, the cleaning robot comprises a robot body, a first sensor and a second sensor which are oppositely arranged are arranged on the two sides of the front end of the robot body in the movement direction respectively, and the first sensor and the second sensor are used for forming a detection signal between the first sensor and the second sensor; the detection signal can represent whether there is an unable-to-pass obstacle between the first sensor and the second sensor; and the robot body stops walking in response to the fact that the detection signal represents that the obstacle piece which cannot pass through exists. Therefore, unreliable running events of the cleaning system, such as jamming of the cleaning robot, collision of the bridge frame or falling of the robot on the ground and breaking, are avoided, and the running reliability of the cleaning system is greatly improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic cleaning technology, and more specifically, to a cleaning robot, a cleaning system, and a photovoltaic power station. Background Technology

[0002] In a cleaning system combining a photovoltaic cleaning robot and a tracking bracket system, significant deviations may occur between adjacent tracking bracket systems during operation due to communication delays, operational errors, or malfunctions. Under such conditions, the photovoltaic cleaning robot may experience unreliable operation, such as jamming (the deviation angle exceeds the robot's clearance), collisions with the cable tray, or the robot falling to the ground and being destroyed.

[0003] In conclusion, improving the reliability of cleaning system operation has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, this application provides a cleaning robot, a cleaning system, and a photovoltaic power station to improve the reliability of the cleaning system operation.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] A cleaning robot, comprising:

[0007] The robot body has a first sensor and a second sensor arranged opposite to each other on both sides of its front end in the direction of movement. The first sensor and the second sensor are used to generate a detection signal between them. The detection signal can characterize whether there is an insurmountable obstacle between the first sensor and the second sensor.

[0008] The robot body stops walking in response to the detection signal indicating that there is an obstacle that cannot be passed.

[0009] In some embodiments of this application, the first sensor and the second sensor are both transceiver integrated sensors, and each can emit a detection signal from its respective side to detect the height information of the obstacle.

[0010] If the first sensor and / or the second sensor detects that the height of the obstacle is greater than a preset height value, then the detection signal indicates that there is an obstacle that cannot be passed.

[0011] In some embodiments of this application, one of the first sensor and the second sensor is a signal transmitter and the other is a signal receiver, wherein the signal transmitter is used to send a signal to the signal receiver;

[0012] If the signal emitted by the signal transmitter is not received by the signal receiver, then the detection signal indicates the presence of an impassable obstacle.

[0013] In some embodiments of this application, a first probe bracket and a second probe bracket are also included. The first probe bracket and the second probe bracket are respectively disposed on both sides of the front end of the robot body in the direction of movement and are arranged opposite to each other. One of the first sensor and the second sensor is disposed on the first probe bracket and the other is disposed on the second probe bracket.

[0014] In some embodiments of this application, the first probe bracket is retractably disposed on the robot body; the second probe bracket is retractably disposed on the robot body.

[0015] In some embodiments of this application, the first probe bracket and the second probe bracket are respectively rotatably disposed on two opposite sides of the robot body;

[0016] Alternatively, both the first and second probe brackets are rotatably positioned at the front end of the robot body in the direction of its movement.

[0017] Alternatively, the first probe bracket may be retractably mounted on one side of the robot body; the second probe bracket may be retractably mounted on the other side of the robot body.

[0018] In some embodiments of this application, the first probe bracket is provided with a first mounting groove, the second probe bracket is provided with a second mounting groove, the first mounting groove and the second mounting groove are arranged opposite each other, and one of the first sensor and the second sensor is provided in the first mounting groove and the other is provided in the second mounting groove.

[0019] In some embodiments of this application, a first blocking portion that blocks the first sensor and a second blocking portion that blocks the second sensor are also included.

[0020] In some embodiments of this application, both the first sensor and the second sensor are photoelectric sensors; or, both the first sensor and the second sensor are ultrasonic sensors.

[0021] To improve the reliability of the cleaning system, the cleaning robot provided in this application includes a robot body. A first sensor and a second sensor are respectively arranged opposite to each other on both sides of the front end of the robot body in the direction of movement. The first sensor and the second sensor are used to generate a detection signal between them. The detection signal can characterize whether there is an insurmountable obstacle between the first sensor and the second sensor. The robot body stops walking in response to the detection signal indicating that there is an insurmountable obstacle. In practical applications, when the angular deviation between two adjacent tracking bracket systems exceeds a certain value, the corresponding rotating bracket on the flexible bridge between the two adjacent tracking bracket systems will swing and tilt relative to the plane where the photovoltaic modules of the tracking bracket system are located. When the tilting height of the rotating bracket reaches a certain height, the tilted rotating bracket becomes an obstacle that the robot body cannot pass through. Since the detection signal formed between the first and second sensors at the front of the robot body can characterize whether there is an obstacle between the first and second sensors, the robot body stops walking in response to the detection signal indicating that there is an obstacle that cannot be passed through. This avoids collisions between the robot body and the rotating bracket, thus avoiding unreliable events such as the cleaning robot getting stuck, colliding with the bridge, or falling to the ground and being destroyed, greatly improving the reliability of the cleaning system.

[0022] This application also provides a cleaning system, including a cleaning robot, wherein the cleaning robot is the cleaning robot described in any of the above-mentioned solutions. Since the aforementioned cleaning robot has the above-mentioned technical effects, the cleaning system with this cleaning robot should also have the corresponding technical effects, which will not be elaborated further here.

[0023] Furthermore, this application also provides a photovoltaic power station, including a cleaning system, which is the cleaning system described in any of the above-mentioned solutions. Since the aforementioned cleaning system has the above-mentioned technical effects, the photovoltaic power station with this cleaning system should also have the corresponding technical effects, which will not be elaborated further here.

[0024] The technical features mentioned above, those to be mentioned below, and those shown individually in the accompanying drawings can be combined arbitrarily, provided that the combined technical features are not contradictory. All feasible combinations of features are the technical content explicitly described herein. Any one of the multiple sub-features contained in the same statement can be applied independently, without necessarily being applied together with other sub-features. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0026] Figure 1 A schematic diagram of the structure in which two adjacent tracking brackets are connected by a flexible cable tray, as provided in an embodiment of this application;

[0027] Figure 2 A schematic diagram of the flexible cable tray structure provided in this application embodiment when an angular deviation occurs between two adjacent tracking brackets;

[0028] Figure 3 A schematic diagram of a signal transmitter and a signal receiver set at the front end of the cleaning robot's movement direction according to an embodiment of this application;

[0029] Figure 4 A schematic diagram of the structure of a signal transmitter sending a signal to a signal receiver according to an embodiment of this application (the arrows in the diagram point to the signal paths they represent).

[0030] Figure 5 This is a schematic diagram of the structure in which the signal transmitted from the signal transmitter to the signal receiver provided in this application embodiment is blocked by an obstacle (the arrow in the diagram points to the signal path).

[0031] in, Figures 1-5 middle:

[0032] 1- Robot body;

[0033] 2-Signal transmitter;

[0034] 3-Signal receiver;

[0035] 4-First extension support;

[0036] 5-Second probe;

[0037] 6- Tracking support system;

[0038] 61 - Rotation axis;

[0039] 7- Flexible cable trays;

[0040] 71-Telescopic bracket;

[0041] 72-Rotating bracket;

[0042] 8-Obstacles. Detailed Implementation

[0043] The core of this application is to provide a cleaning robot, a cleaning system, and a photovoltaic power station to improve the reliability of the cleaning system operation.

[0044] To enable those skilled in the art to better understand the technical solutions provided by this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. 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.

[0045] In the description of this utility model, it should be understood that the terms "upper," "lower," "front," "rear," "left," and "right," 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 simplifying the description, and do not indicate or imply that the indicated position or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the prior art, referring to Figure 1 and Figure 2 As shown, in a photovoltaic cleaning system, especially in a photovoltaic module cleaning system adapted to a single-axis tracking bracket system, when the rotating shaft 61 fails, i.e., the rotation angle difference between two adjacent tracking bracket systems 6 is large, the flexible bridge 7 that assists the cleaning robot in passing between the two adjacent tracking bracket systems 6 adaptively deforms. That is, when the rotation angle difference between the two adjacent tracking bracket systems 6 is large, the flexible bridge 7 will not break, and when the angle between the two adjacent tracking bracket systems 6 returns to normal, the flexible bridge 7 can automatically recover. The flexible bridge 7 includes a telescopic bracket 71 and a rotating bracket 72. When the rotation angle difference between the two adjacent tracking bracket systems 6 is large, the telescopic bracket 71 and the rotating bracket 72 adaptively deform, thereby ensuring the connection function of the flexible bridge 7. It should be understood by those skilled in the art that the tracking bracket system 6 specifically includes a rotating shaft 61, purlins set on the rotating shaft 61, and photovoltaic modules installed on the purlins. The flexible bridge 7 is used to connect the opposite sides of two adjacent tracking bracket systems 6.

[0047] However, when the rotation angles of two adjacent tracking bracket systems 6 differ significantly, the corresponding rotating bracket 72 on the flexible cable tray 7 will tilt, affecting the normal passage of the cleaning robot. At this time, the cleaning robot is obstructed by the cable tray, increasing its operating current. The cleaning robot detects this abnormally high operating current and assumes the rotation angle difference between the two adjacent tracking bracket systems 6 is abnormal, thus stopping its forward movement. However, the cleaning robot's detection of this abnormal angle requires it to touch and squeeze the flexible cable tray 7. The obstructive force of the flexible cable tray increases the robot's operating current, inevitably causing a significant impact on the flexible cable tray 7. Prolonged exposure to this will cause irreversible damage to the flexible cable tray, potentially even causing it to detach. Furthermore, the photovoltaic cleaning robot may experience unreliable operation events such as jamming (the deviation angle exceeds the robot's passage capacity), collisions with the cable tray, or the robot falling to the ground and being destroyed.

[0048] Currently, the industry standard for cleaning robots is to acquire backend data from the tracking bracket systems, read the angle data of each tracking bracket system 6, and then guide the robot's operation based on the angle deviation data between adjacent tracking bracket systems 6. However, the data from the tracking bracket systems 6 suffers from communication delays, data loss, and information blockage. There is a certain discrepancy between the backend data and the actual data on-site, which may provide the cleaning robot with incorrect guidance. Under incorrect guidance, the operating strategy executed by the cleaning robot may lead to safety issues.

[0049] Based on this, this application provides a cleaning robot, referring to... Figures 3-5 As shown, the cleaning robot may specifically include a robot body 1. A first sensor and a second sensor are respectively arranged opposite to each other on both sides of the front end of the robot body 1 in the direction of movement. The first sensor and the second sensor are used to generate a detection signal between them. The detection signal can characterize whether there is an obstacle 8 between the first sensor and the second sensor that the robot body 1 cannot pass through. The robot body 1 stops walking in response to the detection signal indicating that there is an obstacle 8 that cannot be passed through.

[0050] It should be noted that the robot body 1 can move in either forward or backward. Therefore, a first sensor and a second sensor are respectively arranged oppositely on both sides of the front end of the robot body 1 in the direction of movement. Specifically, the first and second sensors can be arranged oppositely on both sides of the front end of the robot body 1, or oppositely on both sides of the rear end of the robot body 1, or oppositely on both sides of the front end and the rear end of the robot body 1. Furthermore, the number of first and second sensors arranged on both sides of the front end of the robot body 1 in the direction of movement can be selected and configured according to actual needs. For example, one or more first sensors can be arranged on one side of the front end in the direction of movement, and one or more second sensors can be arranged on the other side; no specific limitation is made here.

[0051] In practical applications, when the angular deviation between two adjacent tracking bracket systems 6 exceeds a certain value, the corresponding rotating bracket 72 on the flexible bridge 7 between the two adjacent tracking bracket systems 6 will swing and tilt relative to the plane where the photovoltaic module of the tracking bracket system 6 is located. When the tilting height of the rotating bracket 72 reaches a certain height, the tilted rotating bracket 72 constitutes an obstacle 8 that the robot body 1 cannot pass through. Since the detection signal formed between the first sensor and the second sensor at the front end of the robot body 1 can characterize whether there is an obstacle 8 that cannot pass through between the first sensor and the second sensor, the robot body 1 stops walking in response to the detection signal indicating that there is an obstacle 8 that cannot pass through. This can avoid the robot body 1 colliding with the rotating bracket 72, that is, avoid the cleaning robot 1 getting stuck, hitting the bridge, or the robot falling to the ground and being destroyed, which are unreliable events in the operation of the cleaning system, and greatly improve the reliability of the cleaning system operation.

[0052] In some specific implementations, the first sensor and the second sensor can both be transceiver integrated sensors, each capable of emitting detection signals from their respective sides to detect the height of the obstacle 8. If the first sensor and / or the second sensor detects that the height of the obstacle 8 is greater than a preset height value, the detection signal indicates the presence of an impassable obstacle 8. Specifically, when there is a large angular deviation between two adjacent tracking support systems 6, a rotating component of the rotating support 72 of the flexible bridge 7 will rotate and lift. When the cleaning robot moves close to the flexible bridge 7, the first sensor and the second sensor emit detection signals from their respective sides. When the detection signals touch the lifted rotating component, the sensor detects the height of the rotating support 72. If this height exceeds a set threshold (i.e., the aforementioned preset height value), the robot body 1 stops moving (i.e., does not perform the passage task); if it is below the set threshold, the passage task is performed. By designing the first sensor and the second sensor as transceiver integrated sensors, only one type of sensor is needed to determine whether there is an obstacle 8 between the first sensor and the second sensor that the robot body 1 cannot pass through. This reduces development difficulty, simplifies hardware and software design, and provides higher accuracy and stronger stability. The robot body 1 stops moving in response to a detection signal indicating the presence of an impassable obstacle 8. This can be achieved through a control circuit. For example, if the detection signal indicates that the height of obstacle 8 is less than a preset height, the corresponding control circuit is in a conducting state, and the drive circuit of the corresponding drive system of robot body 1 is activated, allowing the robot to move. If the detection signal indicates that the height of obstacle 8 is greater than the preset height, the corresponding control circuit is in a de-energized state, and the drive circuit of the corresponding drive system of robot body 1 is deactivated, stopping the robot body 1. Alternatively, if the detection signal indicates that the height of obstacle 8 is less than the preset height, the braking system of robot body 1 may not activate; if the detection signal indicates that the height of obstacle 8 is greater than the preset height, the braking system of robot body 1 may activate. This can be achieved through a signal switch. In practical applications, the configuration can be selected according to actual needs; no further specific limitations are made here.

[0053] In some other specific implementation schemes, refer to Figures 3-5As shown, one of the aforementioned first and second sensors can be a signal transmitter 2, and the other a signal receiver 3. The signal transmitter 2 sends a signal to the signal receiver 3. If the signal emitted by the signal transmitter 2 is not received by the signal receiver 3, the detection signal indicates the presence of an impassable obstacle 8. The robot body 1 stops walking in response to the detection signal indicating the presence of an impassable obstacle 8. This can also be achieved through a control circuit. For example, when the signal emitted by the signal transmitter 2 is received by the signal receiver 3, the corresponding control circuit is in a conducting state, and the drive circuit of the robot body 1's drive system is activated, allowing the robot body to walk. When the signal emitted by the signal transmitter 2 is not received by the signal receiver 3, the corresponding control circuit is in a disconnected state, and the drive circuit of the robot body 1's drive system is deactivated, causing the robot body to stop walking. Alternatively, if the signal emitted by the signal transmitter 2 is received by the signal receiver 3, the braking system of the robot body 1 is not activated; if the signal emitted by the signal transmitter 2 is not received by the signal receiver 3, the braking system of the robot body 1 is activated. This can be achieved through a signal switch. In practical applications, configurations can be selected according to actual needs, and no further specific limitations are made here.

[0054] It is worth mentioning that, Figure 5 The diagram shows that the signal emitted by the signal transmitter 2 is blocked by the obstacle 8, making it impossible for the signal receiver 3 to receive the signal emitted by the signal transmitter 2. The obstacle 8 can be the aforementioned rotating bracket 72, or other possible obstacle components. For example, when the distance between two adjacent tracking bracket systems 6 is close, and no flexible bridge 7 is set between them, the obstacle 8 can be the tracking bracket system 6 itself that has an angular deviation.

[0055] In some specific implementations, the aforementioned cleaning robot may further include a first extending bracket 4 and a second extending bracket 5. The first extending bracket 4 and the second extending bracket 5 are respectively disposed on opposite sides of the front end of the robot body 1 in the direction of movement. One of the two sensors is disposed on the first extending bracket 4, and the other on the second extending bracket 5. By designing the first extending bracket 4 and the second extending bracket 5, and by disposing of the first and second sensors on their respective extending brackets, the cleaning robot can determine in advance whether there is a large angular deviation between two adjacent tracking bracket systems 6 before it reaches the flexible bridge 7. This allows the cleaning robot to stop moving earlier, better preventing unreliable events such as the cleaning robot getting stuck, colliding with the bridge, or falling to the ground and being destroyed, thus greatly improving the reliability of the cleaning system.

[0056] In a further implementation scheme, to minimize the space occupied by the cleaning robot when it is not moving, the first extension bracket 4 can be designed to be retractably mounted on the robot body 1; similarly, the second extension bracket 5 can also be designed to be retractably mounted on the robot body 1. This design minimizes the space occupied by the cleaning robot when it is not moving, such as when it is placed on a charging platform.

[0057] Specifically, the first probe bracket 4 and the second probe bracket 5 can be designed to be rotatably mounted on two opposite sides of the robot body 1. The opposite sides refer to the two sides along the running direction of the robot body 1. In addition, the plane of rotatable motion can be rotatable in a horizontal plane, in a vertical plane, or in an inclined plane at a certain angle.

[0058] It is understandable that the aforementioned storage method, in which the first probe bracket 4 and the second probe bracket 5 are respectively arranged in a rotatable manner on two opposite sides of the robot body 1, is merely an example of an embodiment in this application. In actual applications, it is also possible to design and integrate both the first probe bracket 4 and the second probe bracket 5 in a rotatable manner at the front end of the robot body 1 in the direction of movement. In actual applications, the corresponding rotatable configuration can be selected according to actual needs, and no further specific limitations are made here.

[0059] Furthermore, the first extension bracket 4 and the second extension bracket 5 can also be designed so that the first extension bracket 4 is retractably mounted on one side of the robot body 1, and the second extension bracket 5 is retractably mounted on the other side of the robot body 1. For example, both the first extension bracket 4 and the second extension bracket 5 can be designed as electrically controlled telescopic rods. This structural form makes the retraction operation of the first extension bracket 4 and the second extension bracket 5 more intelligent and convenient.

[0060] In some specific implementations, the first probe bracket 4 may be provided with a first mounting groove, and the second probe bracket 5 may be provided with a second mounting groove. The first mounting groove and the second mounting groove are arranged opposite each other. One of the first sensor and the second sensor is disposed in the first mounting groove, and the other is disposed in the second mounting groove. By installing the first sensor and the second sensor respectively in their corresponding mounting grooves, the sensors can be protected to a certain extent from scratches and damage.

[0061] In some other specific implementations, the cleaning robot may also include a first shielding part that shields the first sensor and a second shielding part that shields the second sensor. By designing the first / second shielding parts, the sensors can be protected to a certain extent, such as preventing rainwater from falling on the sensors and affecting their normal use.

[0062] It should be noted that the first and second sensors mentioned above can both be photoelectric sensors; or both can be ultrasonic sensors; or other signal sensors can be selected, as long as a detection signal can be generated between the first and second sensors. In practical applications, the configuration can be selected according to actual needs, and no further specific limitations are made here.

[0063] This application also provides a cleaning system, including a cleaning robot, wherein the cleaning robot is the cleaning robot described in any of the above-mentioned solutions. Since the aforementioned cleaning robot has the above-mentioned technical effects, the cleaning system with this cleaning robot should also have the corresponding technical effects, which will not be elaborated further here.

[0064] Furthermore, this application also provides a photovoltaic power station, including a cleaning system, which is the cleaning system described in any of the above-mentioned solutions. Since the aforementioned cleaning system has the above-mentioned technical effects, the photovoltaic power station with this cleaning system should also have the corresponding technical effects, which will not be elaborated further here.

[0065] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0066] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0067] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more.

[0068] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A cleaning robot, characterized in that, include: The robot body (1) has a first sensor and a second sensor arranged opposite to each other on both sides of its front end in the direction of movement. The first sensor and the second sensor are used to form a detection signal between them. The detection signal can characterize whether there is an insurmountable obstacle (8) between the first sensor and the second sensor. The robot body (1) stops walking in response to the detection signal indicating that there is an insurmountable obstacle (8).

2. The cleaning robot as described in claim 1, characterized in that, Both the first sensor and the second sensor are transceiver integrated sensors, and each can emit a detection signal from its respective side to detect the height information of the obstacle (8); If the first sensor and / or the second sensor detects that the height of the obstacle (8) is greater than a preset height value, then the detection signal indicates that there is an obstacle (8) that cannot be passed.

3. The cleaning robot as described in claim 1, characterized in that, One of the first sensor and the second sensor is a signal transmitter (2), and the other is a signal receiver (3). The signal transmitter (2) is used to send a signal to the signal receiver (3). If the signal emitted by the signal transmitter (2) is not received by the signal receiver (3), then the detection signal is characterized as having an insurmountable obstacle (8).

4. The cleaning robot as described in any one of claims 1-3, characterized in that, It also includes a first probe bracket (4) and a second probe bracket (5). The first probe bracket (4) and the second probe bracket (5) are respectively disposed on both sides of the front end of the robot body (1) in the direction of movement and are arranged opposite to each other. One of the first sensor and the second sensor is disposed on the first probe bracket (4) and the other is disposed on the second probe bracket (5).

5. The cleaning robot as described in claim 4, characterized in that, The first probe bracket (4) is retractably mounted on the robot body (1); the second probe bracket (5) is retractably mounted on the robot body (1).

6. The cleaning robot as described in claim 5, characterized in that, The first probe bracket (4) and the second probe bracket (5) are respectively arranged on two opposite sides of the robot body (1) in a rotatable manner; Alternatively, the first probe bracket (4) and the second probe bracket (5) are both rotatably disposed at the front end of the robot body (1) in the direction of movement; Alternatively, the first probe bracket (4) is retractably mounted on one side of the robot body (1); the second probe bracket (5) is retractably mounted on the other side of the robot body (1).

7. The cleaning robot as described in claim 4, characterized in that, The first probe bracket (4) is provided with a first mounting groove, and the second probe bracket (5) is provided with a second mounting groove. The first mounting groove and the second mounting groove are arranged opposite each other. One of the first sensor and the second sensor is located in the first mounting groove, and the other is located in the second mounting groove.

8. The cleaning robot as described in claim 1, characterized in that, It also includes a first shielding portion that shields the first sensor and a second shielding portion that shields the second sensor.

9. The cleaning robot as described in claim 1, characterized in that, Both the first sensor and the second sensor are photoelectric sensors; or, both the first sensor and the second sensor are ultrasonic sensors.

10. A cleaning system, comprising a cleaning robot, characterized in that, The cleaning robot is the cleaning robot as described in any one of claims 1-9.

11. A photovoltaic power station, comprising a cleaning system, characterized in that, The cleaning system is the cleaning system as described in claim 10.

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