Cleaning device and photovoltaic system

Abstract

The embodiment of the utility model provides a cleaning device and a photovoltaic system. The cleaning device comprises a conveying unit, and the conveying unit comprises an unmanned aerial vehicle, a telescopic rod and a cabin; the cabin body at least comprises an upper wall, a bottom wall and a plurality of side walls; the telescopic rod is arranged between the unmanned aerial vehicle and the upper wall so as to connect the unmanned aerial vehicle and the cabin body; the plurality of side walls comprise a first side wall, and the first side wall is hinged to the bottom wall; the cleaning unit comprises a cleaning robot, and the cleaning robot enters or moves out of the cabin body along the first side wall; and the charging unit is arranged in the cabin body, and the charging unit is used for charging the cleaning robot. According to the embodiment of the invention, the charging unit is arranged in the cabin connected with the unmanned aerial vehicle, and under the condition that the cleaning robot needs to be charged, the unmanned aerial vehicle carries the charging unit to the vicinity of the cleaning robot to charge the cleaning robot, so that the time for the cleaning robot to return to the charging position for charging can be saved, and the cleaning efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of photovoltaic power generation technology, and in particular to a cleaning device and a photovoltaic system. Background Technology

[0002] Dust accumulation is one of the main factors affecting the photoelectric conversion efficiency of photovoltaic (PV) panels. With the continuous expansion of PV power plant scale and the increase in module size, regular cleaning of PV panels has gradually become an industry trend. For complex environments, such as rooftop, hilly, and wetland PV power plants, manual cleaning of PV panels is difficult, and large machinery cannot easily access them. Existing technology has enabled the use of autonomous mobile PV cleaning robots to clean PV panels in these environments. However, the cleaning robots themselves have limited battery power and require periodic charging and replacement. How to replenish the cleaning robot's power in complex environments and ensure cleaning efficiency has become a problem that those skilled in the art need to consider and solve.

[0003] It should be noted that the above content is not necessarily prior art, nor is it intended to limit the scope of patent protection of this application. Utility Model Content

[0004] This application provides a cleaning device and a photovoltaic system to solve or alleviate one or more of the technical problems mentioned above.

[0005] As a first aspect of the embodiments of this application, this application provides a cleaning device applied to a photovoltaic system, the cleaning device comprising:

[0006] The transport unit includes an unmanned aerial vehicle (UAV), a telescopic boom, and a cabin; the cabin includes at least an upper wall, a bottom wall, and multiple side walls; the telescopic boom is disposed between the UAV and the upper wall to connect the UAV and the cabin; the multiple side walls include a first side wall that is hinged to the bottom wall.

[0007] The cleaning unit includes a cleaning robot that enters or exits the cabin along the first side wall.

[0008] A charging unit is disposed inside the cabin and is used to charge the cleaning robot.

[0009] In one embodiment, the charging unit includes a charging robot, which includes a first tracked moving mechanism and a first battery. The first tracked moving mechanism drives the charging robot to enter or exit the cabin along a first side wall.

[0010] In one embodiment, the plurality of sidewalls includes a second sidewall opposite to the first sidewall, and the charging robot is disposed on the bottom wall and close to the second sidewall.

[0011] In one embodiment, the charging robot further includes a turntable and a first camera device, the first camera device being fixed to the turntable and rotating with the turntable; the turntable is fixed to the upper surface of the first battery.

[0012] In one embodiment, at least two positioning marks are provided on the second sidewall, and the positioning marks include positioning blocks.

[0013] In one embodiment, the charging robot includes a charging plate supported at the front end of a first battery; the charging plate has two charging holes, and two wires led out from the first battery pass through the two charging holes and are electrically connected to a magnetic conductive sheet, the radius of which is larger than the radius of the two charging holes; the two wires are retractable wires.

[0014] In one embodiment, the cleaning robot includes a second tracked movement mechanism, a second battery, and a roller brush mechanism. The second tracked movement mechanism drives the cleaning robot to enter or exit the cabin along the first side wall. The side of the second battery facing away from the roller brush mechanism is made of magnetic material.

[0015] In one embodiment, the cleaning robot further includes at least two ultrasonic sensors, and the upper wall of the cabin is provided with at least two ultrasonic receivers respectively corresponding to the at least two ultrasonic sensors; the at least two ultrasonic receivers are disposed close to the first side wall.

[0016] In one embodiment, the bottom wall is provided with a through hole, and the cabin also includes a baffle strip disposed in the through hole and rotatably connected to the bottom wall; the target angle for the rotation of the baffle strip includes at least a first angle and a second angle; the first angle is 0° and the second angle is 30°-90°.

[0017] In one embodiment, a pressure sensor is provided on the side of the bottom wall opposite to the top wall.

[0018] In one embodiment, there are two telescopic rods and two pressure sensors, with each pressure sensor corresponding to one of the positions of the two telescopic rods.

[0019] In one embodiment, the unmanned aerial vehicle is equipped with a second camera device; the second camera device is fixed to the front end of the unmanned aerial vehicle and positioned in front of the first side wall.

[0020] As a second aspect of the embodiments of this application, the embodiments of this application provide a photovoltaic system, including:

[0021] A photovoltaic support frame is provided with at least one photovoltaic module.

[0022] The cleaning device in any of the above embodiments.

[0023] In this embodiment, the charging unit is placed inside the cabin connected to the unmanned aerial vehicle (UAV), so that the charging unit can move with the UAV. When the cleaning robot needs to be charged, the UAV can carry the charging unit to the vicinity of the cleaning robot, so that the cleaning robot can quickly return to the cabin to charge, instead of returning to the designated location for charging along a longer path. This can save the time for the cleaning robot to return to the charging location and improve cleaning efficiency. Attached Figure Description

[0024] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the various drawings denote the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings depict only some embodiments disclosed in this application and should not be construed as limiting the scope of this application.

[0025] Figure 1 A schematic diagram of the cleaning device provided in an embodiment of this application is shown.

[0026] Figure 2 This shows another structural schematic diagram of the cleaning device provided in an embodiment of this application.

[0027] Figure 3 This diagram illustrates the structure of the charging robot provided in an embodiment of this application.

[0028] Figure 4 A schematic diagram of the structure of the cleaning robot provided in an embodiment of this application is shown.

[0029] Figure 5 This diagram illustrates the structure of the baffle provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other. The application will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] In this application, when numerical intervals (i.e., numerical ranges) are involved, unless otherwise specified, the distribution of selectable numerical values ​​within the numerical interval is considered continuous, and includes the two endpoints of the numerical interval (i.e., the minimum and maximum values), as well as every numerical value between these two endpoints. Unless otherwise specified, when a numerical interval refers only to integers within that numerical interval, it includes the two endpoint integers of the numerical range, as well as every integer between the two endpoints, which is equivalent to directly listing every integer. When multiple numerical ranges are provided to describe features or characteristics, these numerical ranges can be merged. In other words, unless otherwise specified, the numerical ranges disclosed in this application should be understood to include any and all subranges included therein. The "numerical value" in the numerical interval can be any quantitative value, such as a number, percentage, ratio, etc. The term "numerical interval" can be broadly included to include percentage intervals, ratio intervals, proportion intervals, etc.

[0033] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. It should be understood that these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein.

[0034] This application provides a cleaning device applied to a photovoltaic system to clean the photovoltaic panels within the system. Figures 1 to 5 As shown, the cleaning device includes a delivery unit, a cleaning unit, and a charging unit.

[0035] The conveying unit uses an unmanned aerial vehicle 110 for transport. The conveying unit is used to transport the cleaning robot 200 to a designated location in the photovoltaic panel, so that the cleaning robot 200 can start cleaning from that designated location.

[0036] The transport unit includes an unmanned aerial vehicle (UAV) 110, a telescopic boom 120, and a cabin 130; the cabin 130 includes at least an upper wall 131, a bottom wall 132, and multiple side walls; the telescopic boom 120 is disposed between the UAV 110 and the upper wall 131 to connect the UAV 110 and the cabin 130; the multiple side walls include a first side wall 1331, which is hinged to the bottom wall 132.

[0037] The cleaning unit includes a cleaning robot 200, which enters or exits the cabin 130 along the first sidewall 1331.

[0038] The charging unit is located inside the cabin 130 and is used to charge the cleaning robot 200.

[0039] The cleaning robot 200 can employ any existing or potentially future technical solution for cleaning photovoltaic panels that is known to those skilled in the art.

[0040] The cabin 130 is used to load the cleaning robot 200. The cleaning robot 200 is located inside the cabin 130 and can be transported to a designated location by the unmanned aerial vehicle 110.

[0041] In the cabin 130, the first side wall 1331 is hinged to the bottom wall 132, so that the first side wall 1331 and the upper wall 131 can be opened and closed. When the first side wall 1331 and the upper wall 131 are open, the first side wall 1331 can rotate downward and rotate to the bottom wall 132 to contact the photovoltaic panel, so that the cleaning robot 200 can stably move out of the cabin 130 and move onto the photovoltaic panel.

[0042] The cabin 130 and the unmanned aerial vehicle 110 are connected by a telescopic rod 120. When the telescopic rod 120 begins to retract, it can be determined that the bottom of the cabin 130 has made contact with the photovoltaic panel. The first side wall 1331 can be opened so that the cleaning robot 200 can move out of the cabin 130 from the first side wall 1331 and onto the photovoltaic panel.

[0043] The charging unit is located inside the cabin 130, allowing it to move with the unmanned aerial vehicle 110. When the cleaning robot 200 needs charging, the unmanned aerial vehicle 110 can carry the charging unit to the vicinity of the cleaning robot 200, enabling the cleaning robot 200 to quickly return to the cabin 130 for charging, instead of returning to the designated location for charging along a longer path. This saves the time it takes for the cleaning robot 200 to return to the charging location and improves cleaning efficiency.

[0044] In this embodiment, the cleaning robot 200 is transported to a designated location by an unmanned aerial vehicle 110 to begin cleaning. Based on the dirt detection results on the surface of the photovoltaic panel, the cleaning robot 200 can be transported to the dirty location so that it can clean the dirty location and improve cleaning efficiency.

[0045] In this embodiment, the unmanned aerial vehicle 110 can also transport the cleaning robot 200 to the initial cleaning position at preset intervals or when a decrease in the power generation of the photovoltaic panel is detected, so that the cleaning robot 200 can perform a comprehensive cleaning according to a preset route.

[0046] On the other hand, by placing the charging unit inside the cabin 130 in this embodiment, the cleaning robot 200 can save time returning to the charging position to recharge, thereby improving cleaning efficiency.

[0047] In one embodiment, the charging unit includes a charging robot 300, which includes a first tracked moving mechanism 310 and a first battery 320. The first tracked moving mechanism 310 drives the charging robot 300 to enter or exit the cabin 130 along the first side wall 1331.

[0048] In this embodiment, not only is the charging unit located inside the cabin 130, but the charging unit can also enter and exit the cabin 130 via the charging robot 300, allowing the cleaning robot 200 to charge without returning to the cabin 130. Furthermore, the first battery 320 in the charging robot 300 can store sufficient electrical energy to charge the cleaning robot 200 outside the cabin.

[0049] Furthermore, the charging robot 300 is mobile, allowing it to move alongside the cleaning robot 200. This enables the cleaning robot 200 to clean while charging, saving charging time and further reducing charging time, thus improving cleaning efficiency.

[0050] In one example, the power level of the cleaning robot 200 can be collected by a detection device and the collected power data can be returned to the scheduling system. When the power data reaches a first threshold, the scheduling system controls the unmanned aerial vehicle 110 to move to the current position of the cleaning robot 200. The current position of the cleaning robot 200 can also be obtained by position information collected by position sensors, etc., so that the charging robot 300 moves out of the cabin 130 at the current position to charge the cleaning robot 200.

[0051] The first threshold must be a power level sufficient to ensure that the cleaning robot 200 can clean and charge simultaneously. The first threshold is compatible with the power consumption rate of the cleaning robot 200 and the charging rate of the charging robot 300 for the cleaning robot 200.

[0052] In one embodiment, the plurality of sidewalls includes a second sidewall opposite to the first sidewall 1331, and the charging robot 300 is disposed on the bottom wall 132 and close to the second sidewall.

[0053] Inside the cabin 130, the charging robot 300 is positioned close to the second side wall, allowing the charging robot 300 to enter first and exit last. The cleaning robot 200 is positioned close to the first side wall 1331, facilitating the entry and exit of the cleaning robot 200.

[0054] In some other examples, the cleaning robot 200 and the charging robot 300 can be arranged side by side along the extension direction of the second sidewall, that is, the rear ends of the cleaning robot 200 and the charging robot 300 are close to the second sidewall, and the front ends are close to the first sidewall 1331.

[0055] In this embodiment, the charging robot 300 is positioned close to the second side wall so that the placement of the charging robot 300 does not affect the entry and exit of the cleaning robot 200.

[0056] In one embodiment, the charging robot 300 further includes a turntable 330 and a first camera device 340, the first camera device 340 being fixed to the turntable 330 and rotating with the turntable 330; the turntable 330 is fixed to the upper surface of the first battery 320.

[0057] If the charging robot 300 is moved out of the cabin 130, it needs to be moved to the vicinity of the cleaning robot 200 based on the location information of the cleaning robot 200.

[0058] In this embodiment, the turntable 330 and the first camera device 340 are configured so that the first camera device 340 can capture surrounding images to determine the position of the cleaning robot 200 and its orientation or angle based on the image information, which facilitates the docking of the charging robot 300 with the cleaning robot 200 to achieve charging.

[0059] The turntable 330 is fixed to the upper surface of the first battery 320. The upper surface of the first battery 320 is flat to facilitate the fixing and installation of the first camera device 340 and to facilitate the acquisition of images by the first camera device 340.

[0060] In one embodiment, at least two positioning marks (not shown in the figure) are provided on the second sidewall, and the positioning marks include positioning blocks.

[0061] The setting of positioning markers facilitates the charging robot 300 in determining its stopping position when it returns to the cabin 130. When the image captured by the first camera device 340 inside the cabin 130 shows at least two positioning markers at a distance equal to or meeting preset conditions, it is determined that the charging robot 300 can stop moving.

[0062] This application embodiment ensures that the charging robot 300 can return to the preset position by setting at least two positioning marks (positioning blocks) on the second side wall, thus avoiding affecting the cleaning robot 200's return to the dwell position inside the cabin 130.

[0063] In one embodiment, the charging robot 300 includes a charging plate 321, which is supported on the front end of a first battery 320. The charging plate 321 includes two charging holes, and two wires 323 led out from the first battery 320 pass through the two charging holes and are electrically connected to a magnetic conductive sheet 322. The radius of the magnetic conductive sheet 322 is larger than the radius of the two charging holes. The two wires 323 are retractable wires 323.

[0064] In the charging robot 300, a charging plate 321 extends from the battery and can be supported by a support plate, positioning the charging plate 321 at the front end of the first battery 320. A preset distance is maintained between the charging plate 321 and the front end of the first battery 320. This preset distance does not need to be too long, otherwise it will affect the space occupied by the charging robot 300. The preset distance can be 2-10cm, for example, 2cm, 6cm, or 10cm.

[0065] Two wires 323 extend from the first battery 320, designated as a positive and a negative lead, respectively, for electrical connection to the cleaning robot 200. These two wires 323 are also electrically connected to a magnetic conductive plate 322, allowing the magnetic conductive plate 322 to magnetically attract the cleaning robot 200, thus enabling magnetic charging. The wires 323 pass through the charging ports, and the radius of the magnetic conductive plate 322 is larger than the radii of the two charging ports, allowing the magnetic conductive plate 322 to be positioned at the front end of the charging plate 321. The wires 323 are retractable, facilitating the removal of the magnetic conductive plate 322 by the cleaning robot 200. The rear end of either the magnetic conductive plate 322 or the cleaning robot 200 can be a charged magnetic component; disconnecting power to either will cause both to lose their magnetism, and the magnetic conductive plate 322 will retract back to the conductive plate.

[0066] The structure of the charging robot 300 provided in this embodiment allows for convenient magnetic contact between the charging robot 300 and the cleaning robot 200, enabling magnetic charging. When the charging robot 300 moves within a preset distance of the cleaning robot 200, it can automatically contact and charge the cleaning robot 200. Upon completion of charging, the magnetic conductive sheet 322 can be retracted by disconnecting the power.

[0067] In one embodiment, the cleaning robot 200 includes a second tracked moving mechanism 210, a second battery 220, and a roller brush mechanism 230. The second tracked moving mechanism 210 drives the cleaning robot 200 to enter or exit the cabin 130 along the first side wall 1331. The side of the second battery 220 facing away from the roller brush mechanism 230 is made of magnetic material.

[0068] The cleaning robot 200 moves via a second tracked moving mechanism 210. The tracked movement disperses the pressure on the photovoltaic panel, reducing damage to the panel.

[0069] Furthermore, in the first tracked moving mechanism 310 or the second tracked moving mechanism 210, a vacuum generator is installed at the bottom of the track. The vacuum generator includes a vacuum suction cup and a vacuum pump or centrifugal fan, which can generate negative pressure at the bottom of the cleaning / charging robot 300 to enhance the anti-slip ability of the cleaning / charging robot 300.

[0070] The second battery 220 provides the cleaning robot 200 with the power required during the cleaning process.

[0071] The roller brush mechanism 230 is used by the cleaning robot 200 to perform cleaning operations. The cleaning robot 200 may also include a water tank (not shown) to spray water onto the roller brush of the roller brush mechanism 230 during the cleaning process for easy cleaning.

[0072] In one example, the unmanned aerial vehicle 110 may also be equipped with a water replenishment device to replenish the water tank in the cleaning robot 200.

[0073] In one embodiment, the cleaning robot 200 further includes at least two ultrasonic sensors 240, and the upper wall 131 of the cabin 130 is provided with at least two ultrasonic receivers 160 respectively corresponding to the at least two ultrasonic sensors 240; the at least two ultrasonic receivers 160 are disposed close to the first side wall 1331.

[0074] An ultrasonic sensor 240 is configured to correspond to an ultrasonic receiver 160. When the ultrasonic signals received by at least two ultrasonic receivers 160 are at equal distances from at least two ultrasonic sensors 240, it indicates that the cleaning robot 200 has aligned with the first sidewall 1331 or the door 1301 of the cabin 130. The cleaning robot 200 can then be controlled to retreat and move into the cabin 130.

[0075] In one example, the charging robot 300 may also be equipped with at least two ultrasonic sensors 240 corresponding to the at least two ultrasonic receivers 160, so that the charging robot 300 can move into the cabin 130 after aligning with the cabin 130.

[0076] In this embodiment of the application, the charging robot 300 can determine that it is aligned with the cabin 130 by the image captured by the first camera device 340, and then move into the cabin 130 after the charging robot 300 is aligned with the cabin 130.

[0077] In one embodiment, the bottom wall 132 is provided with a through hole 1321 penetrating the bottom wall 132, and the cabin 130 also includes a baffle 1322, which is disposed in the through hole 1321 and rotatably connected to the bottom wall 132; the target angle of the baffle 1322 rotation includes at least a first angle and a second angle; the first angle is 0° and the second angle is 30°-90°.

[0078] In this embodiment, the positions of the cleaning robot 200 and the charging robot 300 are blocked by the setting of the baffle 1322.

[0079] When the angle of the baffle 1322 is the first angle, the upper surface of the baffle 1322 is flush with the upper surface of the bottom wall 132, and the charging robot 300 can return to the cabin 130 and move to a position close to the second side wall.

[0080] After the charging robot 300 returns to the cabin 130 and has finished moving, the angle of the baffle 1322 can be adjusted to the second angle so that when the cleaning robot 200 moves into the cabin 130, it will not exceed the baffle 1322 and will stop moving when it comes into contact with the baffle 1322.

[0081] In one example, a sponge pad 1323 can be provided on the baffle 1322 to stop the cleaning robot 200 from moving if it touches the sponge pad 1323. The sponge pad 1323 provides cushioning for the cleaning robot and prevents the cleaning robot 200 from moving backward beyond the baffle 1322.

[0082] The embodiment of this application uses the baffle 1322 to facilitate the planning of the positions of the cleaning robot 200 and the charging robot 300 when they return to the cabin 130, so that the cleaning robot 200 and the charging robot 300 can return to the designated position without collision.

[0083] In one embodiment, a pressure sensor 140 is provided on the side of the bottom wall 132 facing away from the upper wall 131. That is, the pressure sensor 140 is located below the bottom wall 132, and when the pressure sensor 140 detects an increase in pressure, it indicates that the cabin 130 has approached the photovoltaic panel.

[0084] In one example, since the photovoltaic panel is tilted, when the first sidewall 1331 is opened, the end of the first sidewall 1331 needs to be aligned with the photovoltaic panel. When the pressure sensor 140 detects an increase in pressure, the unmanned aerial vehicle 110 can be controlled to move linearly in multiple directions. When moving linearly in the first direction, if the pressure change of the pressure sensor 140 remains unchanged or within a preset range, then the first direction is the horizontal direction of the photovoltaic panel. The photovoltaic panel is at the same height in the first direction, so that the edge of the first sidewall 1331 is aligned with the first direction. Then the first sidewall 1331 can be opened, so that the edge of the first sidewall 1331 can fit against the photovoltaic panel, allowing the cleaning robot 200 or the charging robot 300 to move smoothly out of or into the cabin 130.

[0085] In one embodiment, there are two telescopic rods 120; there are two pressure sensors 140, with the two pressure sensors 140 respectively positioned corresponding to the positions of the two telescopic rods 120.

[0086] In this embodiment of the application, by setting two pressure sensors 140 and two telescopic rods 120, when the pressure detected by the two pressure sensors 140 is equal, it indicates that when the first sidewall 1331 is opened, the edge of the first sidewall 1331 can be attached to the photovoltaic panel.

[0087] The arrangement direction of the two telescopic rods 120 and the arrangement direction of the two pressure sensors 140 are parallel or approximately parallel to the edge of the first sidewall 1331 or the hatch 1301.

[0088] In one embodiment, the unmanned aerial vehicle 110 is provided with a second camera device 150; the second camera device 150 is fixed to the front end of the unmanned aerial vehicle 110 and is located in front of the first side wall 1331.

[0089] The second camera device 150 is used to capture images of the photovoltaic panel to locate the cleaning robot 200, or to determine the coordinates or location information of a specified position on the photovoltaic panel, so that the unmanned aerial vehicle 110 can drive the cleaning robot 200 or the charging robot 300 to the specified position.

[0090] This application also provides a photovoltaic system, including: a photovoltaic support frame and a cleaning device for any of the above embodiments. The photovoltaic support frame is provided with at least one photovoltaic module; the at least one photovoltaic module constitutes a photovoltaic panel in the above embodiments. When the photovoltaic panel becomes dirty, or after a preset time interval, or when a decrease in the power generation of the photovoltaic panel is detected, the cleaning device cleans the photovoltaic panel. Using the above-described cleaning device to clean the photovoltaic panel eliminates the need for the cleaning robot 200 to return to a designated charging station, and further enables simultaneous cleaning and charging, greatly improving cleaning efficiency.

[0091] For cleaning photovoltaic panels, if dirt is detected on the photovoltaic panels, the UAV 110 can transport the cleaning robot 200 to the dirty location to clean it; or, after a preset time or when a decrease in the power generation of the photovoltaic panels is detected, the UAV 110 can transport the cleaning robot 200 to the initial cleaning position, so that the cleaning robot 200 can perform a comprehensive cleaning according to a preset route.

[0092] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0093] For ease of description, directional terms such as "front, back, up, down, left, right," "horizontal, vertical, horizontal," and "top, bottom" generally indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are used solely for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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 limiting the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner or outer contours relative to the components themselves. For example, if a device in the drawings is inverted, a device described as "above" or "on top of" other devices or structures will subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0094] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," 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, an electrical connection, or a communication 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. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0095] Unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0096] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0097] It should also be noted that the terms "one embodiment," "another embodiment," or "embodiment" used in this specification refer to specific features, structures, or characteristics described in connection with that embodiment, which are included in at least one embodiment described in the general description of this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in connection with any embodiment, the intention is to suggest that implementing such a feature, structure, or characteristic in conjunction with other embodiments also falls within the scope of this application.

[0098] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0099] It should also be noted that the above are merely preferred embodiments of this application and do not limit the scope of patent protection of this application. Any equivalent structural or procedural changes made using the content of this application’s specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A cleaning device applied to a photovoltaic system, characterized in that, include: A transport unit includes an unmanned aerial vehicle (UAV), a telescopic boom, and a cabin; the cabin includes at least an upper wall, a bottom wall, and multiple side walls; the telescopic boom is disposed between the UAV and the upper wall to connect the UAV and the cabin; the multiple side walls include a first side wall, which is hinged to the bottom wall. A cleaning unit, comprising a cleaning robot, which enters or exits the cabin along the first sidewall; A charging unit is disposed inside the cabin and is used to charge the cleaning robot.

2. The cleaning device according to claim 1, characterized in that, The charging unit includes a charging robot, which includes a first tracked moving mechanism and a first battery. The first tracked moving mechanism drives the charging robot to enter or exit the cabin along the first side wall.

3. The cleaning device according to claim 2, characterized in that, The plurality of sidewalls includes a second sidewall opposite to the first sidewall, and the charging robot is disposed on the bottom wall and close to the second sidewall.

4. The cleaning device according to claim 3, characterized in that, The charging robot also includes a turntable and a first camera device, the first camera device being fixed to the turntable and rotating with the turntable; the turntable is fixed to the upper surface of the first battery.

5. The cleaning device according to claim 4, characterized in that, The second sidewall is provided with at least two positioning marks, the positioning marks including positioning blocks.

6. The cleaning device according to claim 2, characterized in that, The charging robot includes a charging plate supported at the front end of the first battery. The charging plate has two charging holes, and two wires from the first battery pass through the two charging holes and are electrically connected to a magnetic conductive sheet. The radius of the magnetic conductive sheet is larger than the radius of the two charging holes. The two wires are retractable wires.

7. The cleaning device according to claim 6, characterized in that, The cleaning robot includes a second tracked movement mechanism, a second battery, and a roller brush mechanism. The second tracked movement mechanism drives the cleaning robot to enter or exit the cabin along the first side wall. The side of the second battery facing away from the roller brush mechanism is made of magnetic material.

8. The cleaning device according to claim 7, characterized in that, The cleaning robot also includes at least two ultrasonic sensors, and the upper wall of the cabin is provided with at least two ultrasonic receivers respectively corresponding to the at least two ultrasonic sensors; the at least two ultrasonic receivers are arranged close to the first side wall.

9. The cleaning device according to claim 8, characterized in that, The bottom wall has a through hole, and the cabin also includes a baffle strip, which is disposed in the through hole and rotatably connected to the bottom wall; the target angle for the rotation of the baffle strip includes at least a first angle and a second angle; the first angle is 0°, and the second angle is 30°-90°.

10. The cleaning apparatus according to any one of claims 1 to 9, characterized in that, A pressure sensor is provided on the side of the bottom wall opposite to the upper wall.

11. The cleaning apparatus according to claim 10, characterized in that, The number of telescopic rods is two; the number of pressure sensors is two, and the two pressure sensors are respectively set at the positions of the two telescopic rods.

12. The cleaning apparatus according to any one of claims 1 to 9, characterized in that, The unmanned aerial vehicle is equipped with a second camera device; the second camera device is fixed to the front end of the unmanned aerial vehicle and is located in front of the first side wall.

13. A photovoltaic system, characterized in that, include: A photovoltaic support frame is provided with at least one photovoltaic module. The cleaning device according to any one of claims 1 to 12.

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