Photovoltaic cleaning robot
By using a geomagnetic sensor and a distance sensor in conjunction with a PLC controller, the problems of deviation and collision during the movement of the photovoltaic cleaning robot were solved, achieving efficient cleaning and stable equipment operation, and extending its service life.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-16
- Publication Date
- 2026-03-06
AI Technical Summary
When a photovoltaic cleaning robot moves, it is prone to deviation or collision and jamming due to misalignment between adjacent photovoltaic panels, which may cause abnormal cleaning operations or equipment damage.
Using a geomagnetic sensor and a distance sensor in conjunction with a PLC controller, the robot corrects its walking posture in real time. Through the design of the cleaning roller, walking wheels and guide wheels, the robot is kept at a reasonable distance from the edge of the photovoltaic panel and walks stably.
It improves cleaning quality and efficiency, extends the service life of equipment and photovoltaic panels, and prevents movement deviation and collision jamming.
Smart Images
Figure CN223971708U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of photovoltaic technology, and in particular to a photovoltaic cleaning robot. Background Technology
[0002] A photovoltaic cleaning robot is a device used to move and clean photovoltaic panels. However, due to height differences that can easily occur between adjacent photovoltaic panels forming a photovoltaic array due to misalignment, the photovoltaic cleaning robot is prone to deviation or collision and jamming during movement, leading to abnormalities or termination of the cleaning operation. In severe cases, it may even cause damage to the photovoltaic cleaning robot or the photovoltaic panels. Utility Model Content
[0003] To overcome the shortcomings of the prior art, this application provides a photovoltaic cleaning robot that can prevent walking deviation or collision jamming.
[0004] The photovoltaic cleaning robot provided in this application adopts the following technical solution:
[0005] A photovoltaic cleaning robot includes a frame, on which a cleaning module, a walking module, and a guiding module are mounted. The photovoltaic cleaning robot also includes a first sensing module for calibrating the walking posture, a second sensing module for measuring the edge position, and a control module mounted on the frame. The first sensing module, the second sensing module, and the control module are all electrically connected to the walking module.
[0006] By adopting the above technical solution, the walking module can correct its walking posture in cooperation with the control module, the first sensing module and the second sensing module, so as to prevent the photovoltaic cleaning robot from walking off course or getting stuck due to collision during operation. This not only improves the cleaning quality and efficiency of the photovoltaic cleaning robot, but also extends the service life of the photovoltaic cleaning robot and the photovoltaic panel.
[0007] In one specific implementation, the first sensing module is a geomagnetic sensor located in the middle of the frame.
[0008] By adopting the above technical solution, the photovoltaic cleaning robot can perform attitude angle calibration through geomagnetic sensors during deployment, so as to determine the main walking posture through the controller and prevent the photovoltaic cleaning robot from deviating from its walking position.
[0009] In one specific implementation, a first mounting box is provided on the rack, and the first sensing module is housed in the first mounting box.
[0010] In one specific implementation, the second sensing module includes two distance sensors respectively located at both ends of the frame.
[0011] By adopting the above technical solution, the photovoltaic cleaning robot can detect the distance between itself and the edge of the photovoltaic panel through distance sensors at both ends during cleaning. The controller can then adjust the walking action of the walking module in real time to ensure that the guide module maintains a reasonable distance from the edge of the photovoltaic panel, thus avoiding collisions or jamming between the photovoltaic cleaning robot and the photovoltaic panel.
[0012] In one specific implementation, a second mounting box is provided on the rack, and the second sensing module is housed in the second mounting box.
[0013] In one specific implementation, the cleaning module includes a cleaning roller rotatable about its own axis and mounted on the frame, the cleaning roller extending along the length of the frame.
[0014] By adopting the above technical solutions, the cleaning quality and efficiency of the cleaning module have been effectively improved.
[0015] In one specific implementation, the walking module includes a plurality of first wheel sets arranged at intervals along the length of the frame. Each first wheel set includes two walking wheels and a drive component for driving the two walking wheels to rotate. The rotation axis of the walking wheels extends along the length of the frame.
[0016] By adopting the above technical solution, the walking efficiency of the walking module has been effectively improved.
[0017] In one specific implementation, there are three first wheel sets, which are located in the middle and at both ends of the frame, respectively.
[0018] In one specific implementation, the two walking wheels constituting each of the first wheel sets are arranged along the width direction of the frame.
[0019] By adopting the above technical solution, the walking stability of the walking module has been effectively improved.
[0020] In one specific implementation, the guide module includes two second wheel sets respectively located at both ends of the frame, each of the second wheel sets including two guide wheels arranged along the width direction of the frame, and the rotation axis of the guide wheels extending along the height direction of the frame.
[0021] By adopting the above technical solution, the guide wheel can contact the edge of the photovoltaic panel, further improving the walking stability of the walking module.
[0022] In summary, this application includes at least one of the following beneficial technical effects:
[0023] The walking module, in conjunction with the control module, the first sensing module, and the second sensing module, can correct the walking posture to prevent the photovoltaic cleaning robot from deviating or colliding and getting stuck during operation. This not only improves the cleaning quality and efficiency of the photovoltaic cleaning robot but also extends the service life of both the photovoltaic cleaning robot and the photovoltaic panels. Attached Figure Description
[0024] Figure 1 This is a schematic diagram of the cooperative structure between the photovoltaic cleaning robot and the photovoltaic panel according to an embodiment of this application.
[0025] Figure 2 yes Figure 1 Top view.
[0026] Figure 3 yes Figure 2 A schematic diagram of section AA in the diagram.
[0027] Figure 4 yes Figure 2 A schematic diagram of the BB section.
[0028] Explanation of reference numerals in the attached figures:
[0029] 1. Frame; 2. Cleaning module; 3. Walking module; 31. First wheel assembly; 311. Walking wheel; 312. Drive component; 4. Guide module; 41. Second wheel assembly; 411. Guide wheel; 5. First sensing module; 6. Second sensing module; 7. Control module; 8. First mounting box; 9. Second mounting box; 100. Photovoltaic panel. Detailed Implementation
[0030] The present application will be further described in detail below with reference to the accompanying drawings.
[0031] See Figure 1-4 As shown, a photovoltaic cleaning robot includes a horizontally arranged frame 1. The frame 1 houses a cleaning module 2, a walking module 3, a guiding module 4, a first sensing module 5, a second sensing module 6, and a control module 7. The first sensing module 5, the second sensing module 6, and the control module 7 are all electrically connected to the walking module 3. The control module 7 is a PLC controller, as is common in the art. The first sensing module 5 is a geomagnetic sensor located in the middle of the frame 1. The second sensing module 6 includes two distance sensors located at opposite ends of the frame 1.
[0032] In this way, during the cleaning process of the photovoltaic cleaning robot, the geomagnetic sensor can calibrate the posture angle of the photovoltaic cleaning robot and transmit the calibration signal to the PLC controller. The two distance sensors can detect the distance between the photovoltaic cleaning robot and the edge position of the photovoltaic panel 100 in real time and transmit the detection signal to the PLC controller. The PLC controller corrects the walking posture of the walking module 3 according to the calibration signal and the detection signal, preventing the photovoltaic cleaning robot from walking off course or colliding and getting stuck during operation. This not only improves the cleaning quality and efficiency of the photovoltaic cleaning robot, but also extends the service life of the photovoltaic cleaning robot and the photovoltaic panel 100.
[0033] In this embodiment, a first mounting box 8 is provided in the middle of the frame 1, and a second mounting box 9 is provided at both ends of the frame 1. The geomagnetic sensor is housed in the first mounting box 8, and the two distance sensors are housed in the second mounting box 9.
[0034] In this embodiment, the cleaning module 2 includes a cleaning roller mounted on the frame 1 that is rotatable about its own axis and extends along the length of the frame 1.
[0035] The walking module 3 includes three first wheel sets 31 arranged at intervals along the length of the frame 1. The three first wheel sets 31 are located in the middle and at both ends of the frame 1, respectively. Each first wheel set 31 includes two walking wheels 311 and a drive unit 312 for driving the two walking wheels 311 to rotate. The two walking wheels 311 are arranged along the width of the frame 1. The drive unit 312 is a motor. The rotation axis of the walking wheels 311 extends along the length of the frame 1.
[0036] The guide module 4 includes two second wheel sets 41 respectively located at both ends of the frame 1. Each second wheel set 41 includes two guide wheels 411 arranged along the width direction of the frame 1, and the rotation axis of the guide wheels 411 extends vertically. The guide wheels 411 can abut against the edge of the photovoltaic panel 100, improving the walking stability of the walking module 3.
[0037] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.
Claims
1. A photovoltaic cleaning robot, comprising a frame (1), a cleaning module (2), a walking module (3) and a guiding module (4) are arranged on the frame (1), characterized in that: The photovoltaic cleaning robot further comprises a first sensing module (5) for calibrating a walking posture, a second sensing module (6) for measuring an edge position, and a control module (7) provided on the frame (1), and the first sensing module (5), the second sensing module (6) and the control module (7) are electrically connected with the walking module (3).
2. A photovoltaic cleaning robot according to claim 1, characterized in that: The first sensing module (5) is a geomagnetic sensor provided at the middle of the frame (1).
3. A photovoltaic cleaning robot according to claim 1 or 2, characterized in that: The frame (1) is provided with a first mounting box (8), and the first sensing module (5) is accommodated in the first mounting box (8).
4. The photovoltaic cleaning robot of claim 1, wherein: The second sensing module (6) comprises two distance sensors respectively provided at the two ends of the frame (1).
5. A photovoltaic cleaning robot according to claim 1 or 4, characterized in that: The frame (1) is provided with a second mounting box (9), and the second sensing module (6) is accommodated in the second mounting box (9).
6. A photovoltaic cleaning robot according to claim 1, characterized in that: The cleaning module (2) comprises a cleaning roller rotatable around its own axial direction and provided on the frame (1), and the cleaning roller extends along the length direction of the frame (1).
7. The photovoltaic cleaning robot of claim 1, wherein: The walking module (3) comprises a plurality of first wheel groups (31) arranged at intervals along the length direction of the frame (1), each first wheel group (31) comprises two walking wheels (311) and a driving member (312) for driving the two walking wheels (311) to rotate, and the rotation axes of the walking wheels (311) extend along the length direction of the frame (1).
8. A photovoltaic cleaning robot according to claim 7, characterized in that: The first wheel group (31) has three, and the three first wheel groups (31) are respectively located at the middle and both ends of the frame (1).
9. A photovoltaic cleaning robot according to claim 7, characterized in that: The two walking wheels (311) constituting each first wheel group (31) are arranged along the width direction of the frame (1).
10. The photovoltaic cleaning robot of claim 1, wherein: The guide module (4) comprises two second wheel groups (41) respectively provided at the two ends of the frame (1), each second wheel group (41) comprises two guide wheels (411) arranged along the width direction of the frame (1), and the rotation axes of the guide wheels (411) extend along the height direction of the frame (1).