Cleaning system and photovoltaic power station

Abstract

The utility model discloses a cleaning system and a photovoltaic power station, the cleaning system comprises a stop label and a recognizer, the stop label is hidden in a telescopic support of a flexible bridge, and the stop label is exposed when the telescopic support extends to a first preset length; the recognizer is arranged on the cleaning robot and is used for recognizing the stop label in the exposed state; and the cleaning robot stops walking in response to the identifier identifying the stop label. Therefore, whether the stop label is exposed or not is recognized through the recognizer on the cleaning robot, whether the rotating support connected with the telescopic support tilts to a certain height or not can be determined, the cleaning robot responds to the recognizer to recognize the stop label and stops walking, and collision between the cleaning robot and the rotating support is avoided; unreliable operation events of the cleaning system, such as clamping of the cleaning robot, collision of the bridge frame or falling of the robot on the ground and breaking, are avoided, and the operation 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 system and a photovoltaic power station. Background Technology

[0002] When using a photovoltaic cleaning robot to clean a tracking photovoltaic power station, if there is a large deviation angle between adjacent tracking support systems, the photovoltaic cleaning robot may experience unreliable operation events such as jamming (the deviation angle exceeds the robot's passing capacity), collision 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 system, comprising:

[0007] The stop label is hidden inside the telescopic bracket of the flexible cable tray and is exposed when the telescopic bracket is extended to a first preset length;

[0008] A reader is installed on the cleaning robot and is used to identify the stop label when it is exposed.

[0009] The cleaning robot stops moving in response to the identifier recognizing the stop label.

[0010] In some embodiments of this application, the telescopic bracket includes an outer sleeve and an inner sleeve slidably connected to the outer sleeve. The stop label is disposed on an insertion section of the inner sleeve inserted into the outer sleeve. When the telescopic bracket extends to a first preset length, the section containing the stop label is withdrawn from the outer sleeve, exposing the stop label.

[0011] In some embodiments of this application, the telescopic bracket includes an outer sleeve and an inner sleeve slidably connected to the outer sleeve. The stop label is disposed on the insertion section of the inner sleeve inserted into the outer sleeve, and a first identification window adapted to the stop label is provided on the wall of the outer sleeve. When the inner sleeve is pulled and slid relative to the outer sleeve, causing the telescopic bracket to extend to the first preset length, the stop label is exposed at the first identification window.

[0012] In some embodiments of this application, the stop label includes a first stop label and a second stop label, wherein the first stop label is hidden inside the telescopic bracket on one side of the flexible cable tray, and the second stop label is hidden inside the telescopic bracket on the other side of the flexible cable tray;

[0013] The cleaning robot stops moving when the identifier detects at least one of the first stop tag and the second stop tag.

[0014] In some embodiments of this application, the identifier includes a first identifier and a second identifier, wherein the first identifier is used to identify the first stop label in an exposed state, and the second identifier is used to identify the second stop label in an exposed state.

[0015] In some embodiments of this application, a deceleration label is also included, which is hidden within a telescopic bracket of a flexible cable tray. The deceleration label is exposed when the telescopic bracket extends to a second preset length, wherein the second preset length is less than the first preset length, and the cleaning robot decelerates in response to the identifier recognizing the deceleration label.

[0016] In some embodiments of this application, the telescopic bracket includes an outer sleeve and an inner sleeve slidably connected to the outer sleeve. The deceleration label is disposed on an insertion section of the inner sleeve inserted into the outer sleeve. When the telescopic bracket extends to the second preset length, the outer sleeve is pulled out of the tube section where the deceleration label is located, thus exposing the deceleration label.

[0017] In some embodiments of this application, the telescopic support includes an outer sleeve and an inner sleeve slidably connected to the outer sleeve. The deceleration label is disposed on the insertion section of the inner sleeve inserted into the outer sleeve, and a second identification window adapted to the deceleration label is provided on the wall of the outer sleeve. When the inner sleeve is pulled and slid relative to the outer sleeve, causing the telescopic support to extend to the second preset length, the deceleration label is exposed at the second identification window.

[0018] In some embodiments of this application, the deceleration tag includes a first deceleration tag and a second deceleration tag, wherein the first deceleration tag is hidden inside the telescopic bracket on one side of the flexible cable tray, and the second deceleration tag is hidden inside the telescopic bracket on the other side of the flexible cable tray.

[0019] When the identifier detects at least one of the first deceleration tag and the second deceleration tag, the cleaning robot decelerates.

[0020] In some embodiments of this application, the identifier includes a third identifier and a fourth identifier, the third identifier being used to identify the first deceleration tag in an exposed state, and the fourth identifier being used to identify the second deceleration tag in an exposed state.

[0021] In some embodiments of this application, the identifier is disposed at the front end of the cleaning robot in the direction of movement, and is arranged close to the top of the cleaning robot or at a predetermined distance above the top of the cleaning robot.

[0022] To improve the reliability of the cleaning system, the cleaning system provided in this application addresses the issue that when the telescopic support of the flexible cable tray extends to a first preset length, a stop label is exposed. This extension indicates that the rotating support of the flexible cable tray has tilted to a certain height, posing a risk of collision with the cable tray. Therefore, by using a sensor on the cleaning robot to identify whether the stop label is exposed, it can be determined whether the rotating support connected to the telescopic support has tilted to a certain height. When the sensor detects the stop label, the cleaning robot stops moving, preventing collisions between the cleaning robot and the rotating support. This avoids unreliable cleaning system operations such as robot jamming, collisions with the cable tray, or the robot falling to the ground and being destroyed, significantly improving the reliability of the cleaning system.

[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 1A schematic diagram of the structure in which two adjacent tracking support systems are connected by a flexible cable tray according to 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 support systems;

[0028] Figure 3 A schematic diagram of the structure of the telescopic support for the flexible cable tray provided in the embodiments of this application, which uses an outer sleeve and an inner sleeve;

[0029] Figure 4 A perspective view of the stop label hidden in the telescopic bracket, as provided in an embodiment of this application;

[0030] Figure 5 A schematic diagram of the structure of the telescopic bracket provided in this application embodiment, showing that the label is stopped from being exposed when it extends to a first preset length;

[0031] Figure 6 This is a schematic diagram of the structure of the identifier provided in this application embodiment, which is arranged near the top of the cleaning robot;

[0032] Figure 7 A schematic diagram of the distribution structure of the first and second identifiers provided in the embodiments of this application.

[0033] in, Figures 1-7 middle:

[0034] 1-Stop label;

[0035] 2-Recognizer;

[0036] 21-First Recognizer;

[0037] 22 - Second Recognizer;

[0038] 3- Cleaning robot;

[0039] 4- Flexible cable trays;

[0040] 41-Telescopic bracket;

[0041] 411 - Outer tube;

[0042] 412 - Inner sleeve;

[0043] 42-Rotating bracket;

[0044] 5- Tracking support system;

[0045] 51 - Rotation axis. Detailed Implementation

[0046] The core of this application is to provide a cleaning system and a photovoltaic power station to improve the reliability of the cleaning system operation.

[0047] 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.

[0048] 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.

[0049] 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 51 malfunctions, i.e., the rotation angle difference between two adjacent tracking bracket systems 5 is large, the flexible bridge 4 that assists the cleaning robot 3 in passing between the two adjacent tracking bracket systems 5 adaptively deforms. That is, when the rotation angle difference between the two adjacent tracking bracket systems 5 is large, the flexible bridge 4 will not break, and when the angle between the two adjacent tracking bracket systems 5 returns to normal, the flexible bridge 4 can automatically recover. The flexible bridge 4 includes a telescopic bracket 41 and a rotating bracket 42. When the rotation angle difference between the two adjacent tracking bracket systems 5 is large, the telescopic bracket 41 and the rotating bracket 42 adaptively deform, thereby ensuring the connection function of the flexible bridge 4. It should be understood by those skilled in the art that the tracking bracket system 5 specifically includes a rotating shaft 51, purlins set on the rotating shaft 51, and photovoltaic modules installed on the purlins. The flexible bridge 4 is used to connect the opposite sides of two adjacent tracking bracket systems 5.

[0050] However, when the rotation angles of two adjacent tracking bracket systems 5 differ significantly, the corresponding rotating bracket 42 on the flexible cable tray 4 will tilt, affecting the normal passage of the cleaning robot 3. At this time, the cleaning robot 3 is obstructed by the cable tray, increasing its operating current. The cleaning robot 3 detects this abnormally high operating current and assumes the rotation angle difference between the two adjacent tracking bracket systems 5 is abnormal, thus stopping its forward movement. However, the cleaning robot 3's detection of the abnormal angle requires it to touch and squeeze the flexible cable tray 4. The obstructive force of the flexible cable tray 4 increases the robot's operating current, inevitably causing a significant impact on the flexible cable tray 4. Prolonged exposure to this will cause irreversible damage to the flexible cable tray 4, and may even cause it to detach. Furthermore, the photovoltaic cleaning robot 3 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.

[0051] Currently, the industry standard for cleaning robot 3 is to obtain backend data from the tracking bracket system, read the angle data of each tracking bracket system 5, and then guide the operation of the cleaning robot 3 based on the angle deviation data of adjacent tracking bracket systems 5. However, the data from the tracking bracket system 5 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 3 with incorrect information. Under incorrect guidance, the operating strategy executed by the cleaning robot 3 may lead to safety issues.

[0052] Based on this, this application provides a cleaning system, referring to... Figures 3-6 As shown, the cleaning system specifically includes a stop label 1 and a reader 2. The stop label 1 is hidden inside the telescopic bracket 41 of the flexible cable tray 4 and is exposed when the telescopic bracket 41 is extended to a first preset length. The reader 2 is installed on the cleaning robot 3 and is used to identify the stop label 1 in the exposed state. The cleaning robot 3 stops walking in response to the reader 2 recognizing the stop label 1.

[0053] It should be noted that the stop tag 1 mentioned above can specifically be an RFID tag, also known as an electronic tag, radio frequency tag, transponder, or data carrier, which is a core component of RFID (Radio Frequency Identification) technology. In this case, the corresponding reader 2 is an RFID card reader. Of course, the stop tag 1 can also be designed as a color card or other images. In this case, the corresponding reader 2 is a camera or other identification device capable of recognizing the stop tag 1. In practical applications, the appropriate stop tag 1 and reader 2 can be selected according to actual needs, without further specific limitations here.

[0054] It should also be noted that the first preset length in the above-mentioned telescopic bracket 41 extending to the first preset length can specifically refer to a certain length value or a certain length range, without further specific limitation here.

[0055] In practical application, when the telescopic support 41 of the flexible cable tray 4 extends to the first preset length, the stop label 1 will be exposed. The extension of the telescopic support 41 to the first preset length indicates that the rotating support 42 of the flexible cable tray 4 has tilted up to a certain height, posing a risk of collision with the cable tray. Therefore, the identification device 2 on the cleaning robot 3 identifies whether the stop label 1 is exposed, which determines whether the rotating support 42 connected to the telescopic support 41 has tilted up to a certain height. When the cleaning robot 3 responds to the identification device 2 recognizing the stop label 1, it stops moving, avoiding collision between the cleaning robot 3 and the rotating support 42. This also avoids unreliable operation of the cleaning system, such as the cleaning robot 3 getting stuck, colliding with the cable tray, or the robot falling to the ground and being destroyed, greatly improving the reliability of the cleaning system.

[0056] It's worth noting that the cleaning robot 3 stops moving in response to the reader 2 recognizing the stop label 1. This can be achieved through a control switch. For example, when the reader 2 recognizes the stop label 1, the control switch disconnects the drive circuit of the corresponding drive system of the cleaning robot 3, causing the cleaning robot 3 to stop. Alternatively, when the reader 2 recognizes the stop label 1, the control switch activates the braking system of the cleaning robot 3. In practical applications, the configuration can be selected according to actual needs; no further specific limitations are made here.

[0057] In some specific implementation plans, refer to 3- Figure 5 As shown, the telescopic bracket 41 may specifically include an outer sleeve 411 and an inner sleeve 412 slidably connected to the outer sleeve 411. A stop label 1 is disposed on an insertion tube segment 4120 of the inner sleeve 412 inserted into the outer sleeve 411. When the telescopic bracket 41 extends to a first preset length, the tube segment containing the stop label 1 is withdrawn from the outer sleeve 411, exposing the stop label 1. By designing the telescopic bracket 41 with the aforementioned slidably connected inner sleeve 412 and outer sleeve 411, the telescopic structure is simplified, and the stop label 1 is more easily concealed during retraction. Furthermore, when the telescopic bracket 41 extends to or exceeds the first preset length, the stop label 1 remains exposed. The outer sleeve 411 and inner sleeve 412 can be designed as circular, square, or other cross-sectional shapes. The inner sleeve 412 can be solid or hollow, as long as it allows for telescopic movement; no further specific limitations are imposed here.

[0058] In some other specific embodiments, the telescopic bracket 41 includes an outer sleeve 411 and an inner sleeve 412 slidably connected to the outer sleeve 411. A stop label 1 is disposed on an insertion section 4120 of the inner sleeve 412 inserted into the outer sleeve 411. A first identification window adapted to the stop label 1 is provided on the wall of the outer sleeve 411. When the inner sleeve 412 is pulled and slid relative to the outer sleeve 411, causing the telescopic bracket 41 to extend to a first preset length, the stop label 1 is exposed at the first identification window. By designing this first identification window, the insertion section 4120 of the inner sleeve 412 corresponding to the stop label 1 can still be exposed through the first identification window to achieve the identification effect, even if it is not pulled out of the outer sleeve 411.

[0059] In some more specific embodiments, the aforementioned stop label 1 may specifically include a first stop label and a second stop label. The first stop label is concealed within a telescopic bracket 41 on one side of the flexible cable tray 4, and is exposed when the corresponding telescopic bracket 41 extends to a first preset length. The second stop label is concealed within a telescopic bracket 41 on the other side of the flexible cable tray 4, and is exposed when the corresponding telescopic bracket 41 extends to the first preset length. When the identifier 2 detects at least one of the first and second stop labels, the cleaning robot 3 stops moving. By designing the first and second stop labels, it is more effective to ensure that when either of the telescopic brackets 41 on either side of the flexible cable tray 4 extends to the first preset length, the identifier 2 can detect the corresponding stop label, and at this time, the cleaning robot 3 stops moving.

[0060] Specifically, refer to Figure 6 and Figure 7 As shown, the aforementioned identifier 2 may specifically include a first identifier 21 and a second identifier 22. The first identifier 21 is used to identify a first stop label in an exposed state, and its installation position corresponds to the telescopic bracket 41 where the first stop label is located. The second identifier 22 is used to identify a second stop label in an exposed state, and its installation position corresponds to the telescopic bracket 41 where the second stop label is located. By designing the identifier 2 as a first identifier 21 and a second identifier 22, and ensuring that the first identifier 21 matches the first stop label and the second identifier 22 matches the second stop label, the first and second stop labels are made easier to identify, and the required recognition range of the identifier is reduced to some extent.

[0061] In some specific implementations, the cleaning system described above may further include a deceleration tag hidden within the telescopic bracket 41 of the flexible cable tray 4. This deceleration tag is exposed when the telescopic bracket 41 extends to a second preset length, where the second preset length is less than the first preset length. The cleaning robot 3 decelerates in response to the identifier 2 recognizing the deceleration tag. By designing this deceleration tag, the cleaning robot 3 can decelerate in advance when it detects that the rotation angle difference between two adjacent tracking bracket systems 5 reaches a certain value, i.e., when the telescopic bracket 41 extends to the second preset length. Therefore, stopping the robot when the telescopic bracket 41 continues to extend to the first preset length is easier to control and achieve.

[0062] It should be noted that the aforementioned deceleration tag can specifically be an RFID tag, also known as an electronic tag, radio frequency tag, transponder, or data carrier, which is a core component of RFID (Radio Frequency Identification) technology. In this case, the corresponding reader 2 is an RFID card reader. Of course, the deceleration tag can also be designed as a color card or other image, in which case the corresponding reader 2 is a camera or other identification device capable of recognizing the deceleration tag. In practical applications, the appropriate deceleration tag and reader 2 can be selected according to actual needs, without further specific limitations here.

[0063] It should also be noted that the second preset length in the above-mentioned telescopic bracket 41 extending to the second preset length can specifically refer to a certain length value or a certain length range, without further specific limitation here.

[0064] It's worth noting that the cleaning robot 3 stops moving in response to the recognition device 2 detecting the deceleration label. This can be achieved through a control circuit. For example, when the recognition device 2 detects the deceleration label, the control circuit controls the drive circuit of the corresponding drive system of the cleaning robot 3 to decelerate. Of course, the specific method of achieving deceleration is not limited to the control circuit described above. In actual applications, the configuration can be selected according to actual needs, and no further specific limitations are made here.

[0065] In a further embodiment, the telescopic bracket 41 may specifically include an outer sleeve 411 and an inner sleeve 412 slidably connected to the outer sleeve 411. A deceleration label is disposed on an insertion section 4120 of the inner sleeve 412 inserted into the outer sleeve 411. When the telescopic bracket 41 extends to a second preset length, the outer sleeve 411 is withdrawn from the section containing the deceleration label, exposing the deceleration label. By designing the telescopic bracket 41 with the aforementioned slidably connected inner sleeve 412 and outer sleeve 411, the telescopic structure is simplified, and the deceleration label is more easily concealed during retraction. Furthermore, the deceleration label remains exposed even when the telescopic bracket 41 extends to the second preset length. The outer sleeve 411 and inner sleeve 412 can be designed as circular, square, or other cross-sectional shapes. The inner sleeve 412 can be solid or hollow, as long as it allows for telescopic movement; no further specific limitations are imposed here.

[0066] In some other specific embodiments, the aforementioned telescopic bracket 41 may specifically include an outer sleeve 411 and an inner sleeve 412 slidably connected to the outer sleeve 411. A deceleration label is disposed on an insertion section 4120 of the inner sleeve 412 inserted into the outer sleeve 411. A second identification window adapted to the deceleration label is provided on the wall of the outer sleeve 411. When the inner sleeve 412 is pulled and slid relative to the outer sleeve 411, causing the telescopic bracket 41 to extend to a second preset length, the deceleration label is exposed at the second identification window. By designing this second identification window, the insertion section 4120 of the inner sleeve 412 corresponding to the deceleration label can still be exposed through the second identification window to achieve the identification effect even if it is not pulled out of the outer sleeve 411.

[0067] In some more specific implementations, the aforementioned deceleration tags may specifically include a first deceleration tag and a second deceleration tag. The first deceleration tag is hidden within a telescopic bracket 41 on one side of the flexible cable tray 4, and is exposed when the corresponding telescopic bracket 41 extends to a second preset length. The second deceleration tag is hidden within a telescopic bracket 41 on the other side of the flexible cable tray 4, and is exposed when the corresponding telescopic bracket 41 extends to a second preset length. When the identifier 2 detects at least one of the first and second deceleration tags, the cleaning robot 3 decelerates. By designing the tags as a first and second deceleration tag, it is more effective to ensure that when either of the telescopic brackets 41 on either side of the flexible cable tray 4 extends to the second preset length, the identifier 2 can detect the corresponding deceleration tag, and at this time, the cleaning robot 3 stops moving.

[0068] Specifically, the aforementioned identifier 2 includes a third identifier and a fourth identifier. The third identifier is used to identify the first deceleration tag in its exposed state, and its installation position corresponds to the telescopic bracket 41 where the first deceleration tag is located. The fourth identifier is used to identify the second deceleration tag in its exposed state, and its installation position corresponds to the telescopic bracket 41 where the second deceleration tag is located. By designing the identifier 2 as a third and fourth identifier, and matching the third identifier with the first deceleration tag and the fourth identifier with the second deceleration tag, the first and second deceleration tags are made easier to identify, and the identification range requirement of the identifier is reduced to some extent.

[0069] It is worth mentioning that the design of the stop label 1 and the deceleration label on the insertion section 4120 of the inner sleeve 412 can be specifically designed as a recessed design (that is, lower than the outer wall surface of the inner sleeve 412) or flush with the outer wall surface of the inner sleeve 412, so as to minimize the wear and tear of the stop label 1 due to scratches.

[0070] In some other specific implementation schemes, refer to Figure 6 and Figure 7 As shown, the aforementioned identifier 2 can be specifically positioned at the front end of the cleaning robot 3 along its direction of movement, either close to the top of the cleaning robot 3 or positioned at a predetermined distance above the top of the cleaning robot 3. This design allows the identifier 2 to better identify the stop label 1 and the deceleration label. The front end of the cleaning robot 3 along its direction of movement can be designed with a corresponding extendable bracket, on which the identifier 2 is mounted, thus more effectively preventing other structures of the flexible bracket from obstructing the identifier 2.

[0071] Furthermore, this application also provides a photovoltaic power station, including a cleaning system, wherein the cleaning system 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 system, characterized in that, include: The stop label (1) is hidden inside the telescopic bracket (41) of the flexible cable tray (4) and is exposed when the telescopic bracket (41) is extended to a first preset length; A recognizer (2) is installed on the cleaning robot (3) and is used to recognize the stop label (1) in an exposed state. The cleaning robot (3) stops walking in response to the recognition (2) recognizing the stop label (1).

2. The cleaning system as described in claim 1, characterized in that, The telescopic bracket (41) includes an outer sleeve (411) and an inner sleeve (412) slidably connected to the outer sleeve (411). The stop label (1) is disposed on the insert section (4120) of the inner sleeve (412) inserted into the outer sleeve (411). When the telescopic bracket (41) extends to a first preset length, the section of the tube where the stop label (1) is located is pulled out of the outer sleeve (411) and the stop label (1) is exposed.

3. The cleaning system as described in claim 1, characterized in that, The telescopic bracket (41) includes an outer sleeve (411) and an inner sleeve (412) slidably connected to the outer sleeve (411). The stop label (1) is disposed on the insert section (4120) of the inner sleeve (412) inserted into the outer sleeve (411). The outer sleeve (411) has a first identification window adapted to the stop label (1) on its wall. When the inner sleeve (412) is pulled and slid relative to the outer sleeve (411) and the telescopic bracket (41) is extended to the first preset length, the stop label (1) is exposed at the first identification window.

4. The cleaning system as described in claim 1, characterized in that, The stop label (1) includes a first stop label and a second stop label. The first stop label is hidden inside the telescopic bracket (41) on one side of the flexible cable tray (4), and the second stop label is hidden inside the telescopic bracket (41) on the other side of the flexible cable tray (4). When the identifier (2) identifies at least one of the first stop label and the second stop label, the cleaning robot (3) stops walking.

5. The cleaning system as described in claim 4, characterized in that, The identifier (2) includes a first identifier (21) and a second identifier (22), wherein the first identifier (21) is used to identify the first stop label in an exposed state, and the second identifier (22) is used to identify the second stop label in an exposed state.

6. The cleaning system as described in claim 1, characterized in that, It also includes a deceleration label hidden in a telescopic bracket (41) of a flexible cable tray (4), the deceleration label being exposed when the telescopic bracket (41) extends to a second preset length, wherein the second preset length is less than the first preset length, and the cleaning robot (3) decelerates in response to the recognition of the deceleration label by the recognizer (2).

7. The cleaning system as described in claim 6, characterized in that, The telescopic bracket (41) includes an outer sleeve (411) and an inner sleeve (412) slidably connected to the outer sleeve (411). The deceleration label is disposed on the insertion tube section (4120) of the inner sleeve (412) inserted into the outer sleeve (411). When the telescopic bracket (41) extends to the second preset length, the outer sleeve (411) is pulled out of the tube section where the deceleration label is located, and the deceleration label is exposed.

8. The cleaning system as described in claim 6, characterized in that, The telescopic bracket (41) includes an outer sleeve (411) and an inner sleeve (412) slidably connected to the outer sleeve (411). The deceleration label is disposed on the insertion tube section (4120) of the inner sleeve (412) inserted into the outer sleeve (411). The outer sleeve (411) has a second identification window adapted to the deceleration label on its tube wall. When the inner sleeve (412) is pulled and slid relative to the outer sleeve (411) and the telescopic bracket (41) is extended to the second preset length, the deceleration label is exposed at the second identification window.

9. The cleaning system as described in claim 8, characterized in that, The deceleration label includes a first deceleration label and a second deceleration label. The first deceleration label is hidden inside the telescopic bracket (41) on one side of the flexible cable tray (4), and the second deceleration label is hidden inside the telescopic bracket (41) on the other side of the flexible cable tray (4). When the identifier (2) identifies at least one of the first deceleration tag and the second deceleration tag, the cleaning robot (3) performs deceleration walking.

10. The cleaning system as described in claim 9, characterized in that, The identifier (2) includes a third identifier and a fourth identifier, the third identifier being used to identify the first deceleration tag in an exposed state, and the fourth identifier being used to identify the second deceleration tag in an exposed state.

11. The cleaning system as described in any one of claims 1-10, characterized in that, The identifier (2) is located at the front end of the cleaning robot (3) in the direction of movement, and is arranged close to the top of the cleaning robot (3) or at a predetermined distance above the top of the cleaning robot (3).

12. A photovoltaic power station, comprising a cleaning system, characterized in that, The cleaning system is the cleaning system as described in any one of claims 1-11.

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