A photovoltaic cleaning robot

Abstract

The utility model discloses a photovoltaic cleaning robot includes: main body frame, first rolling brush and second rolling brush. Main body frame is configured as with mechanical arm connection, and first rolling brush and second rolling brush at least one movable install on main body frame, and along the length direction of first rolling brush removes, and second rolling brush and first rolling brush along the radial arrangement of second rolling brush. Second rolling brush moves relative to first rolling brush just can adapt to different size photovoltaic panel, that is, through the telescopic of rolling brush, the size adjustment can be completed, and second rolling brush and first rolling brush do not need to disassemble, therefore, can size quick -adjusting, be favorable to quick -match the size of photovoltaic panel to thereby be favorable to improve cleaning effect.

Description

Technical Field

[0001] This utility model relates to the technical field of photovoltaic cleaning, and in particular to a photovoltaic cleaning robot. Background Technology

[0002] To achieve a dynamic balance between land utilization, power generation efficiency, and economic efficiency, photovoltaic power plants typically employ a mixed arrangement of photovoltaic modules of different sizes.

[0003] To accommodate cleaning scenarios with varying widths of photovoltaic modules, roller brushes of different sizes need to be developed, significantly increasing design investment and operating costs. Furthermore, the need to change roller brushes of different sizes based on the width of the photovoltaic modules during cleaning reduces cleaning efficiency. Utility Model Content

[0004] In view of this, the present invention provides a cleaning device for a photovoltaic cleaning robot, improving the cleaning efficiency of the cleaning device. Furthermore, the present invention also provides a photovoltaic cleaning robot equipped with the aforementioned cleaning device.

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

[0006] A photovoltaic cleaning robot includes: a main frame configured to be connected to a robotic arm of the photovoltaic cleaning robot; a first roller brush connected to the main frame; a second roller brush connected to the main frame, the second roller brush and the first roller brush being arranged radially along the second roller brush; at least one of the first roller brush and the second roller brush being movable along the length direction of the first roller brush.

[0007] Preferably, the photovoltaic cleaning robot further includes a drive component that drives the second roller brush to move along the axial direction of the second roller brush.

[0008] Preferably, in the above-mentioned photovoltaic cleaning robot, the driving component includes: a guide rail disposed on one of the main frame and the second roller brush; and a guide rail drive motor disposed on the other of the main frame and the second roller brush.

[0009] Preferably, in the above-mentioned photovoltaic cleaning robot, the guide rail has guide teeth, the guide teeth are arranged along the extension direction of the guide rail, and the guide rail drive motor meshes with the guide teeth for transmission.

[0010] Preferably, the photovoltaic cleaning robot further includes: a second bracket, on which the second roller brush is rotatably mounted, and the guide rail drive motor is mounted on the second bracket, and the guide rail is fixed to the main frame; and a second drive motor, mounted on the second bracket, which is connected to the second roller brush for transmission and drives the second roller brush to rotate.

[0011] Preferably, in the above-mentioned photovoltaic cleaning robot, the main frame has a limiting device, which is configured to limit the distance that the second roller brush moves along the axial direction.

[0012] Preferably, the photovoltaic cleaning robot further includes: a first bracket, on which the first roller brush is rotatably mounted, and the first bracket is connected to the main frame; and a first drive motor, on which the first drive motor is mounted, and which is connected to the first roller brush to drive the first roller brush to rotate.

[0013] Preferably, the photovoltaic cleaning robot further includes a drive unit, which drives the first roller brush to move along the axial direction of the first roller brush.

[0014] Preferably, the photovoltaic cleaning robot described above has at least two second roller brushes, which are arranged radially along the first roller brush.

[0015] At least two of the second rollers move in opposite directions; or, at least two of the second rollers move in the same direction but with different maximum moving distances.

[0016] Preferably, the photovoltaic cleaning robot further includes: a vision sensor configured to detect the position and size of the photovoltaic panel; and a control system connected to the vision sensor.

[0017] The second roller brush disclosed in this application can be moved relative to the first roller brush to adapt to photovoltaic panels of different sizes. That is, the size can be adjusted by extending and retracting the roller brush without disassembling the second roller brush and the first roller brush. Therefore, the size can be adjusted quickly, which is beneficial for quickly matching the size of the photovoltaic panel and thus improving the cleaning effect. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a partial structural front view of the photovoltaic cleaning robot disclosed in an embodiment of this utility model;

[0020] Figure 2 This is a partial structural schematic diagram of the photovoltaic cleaning robot disclosed in an embodiment of the present utility model;

[0021] Figure 3 This is a bottom view of the cleaning device of the photovoltaic cleaning robot disclosed in this embodiment of the present utility model when it is in the retracted state;

[0022] Figure 4 This is a bottom view of the cleaning device of the photovoltaic cleaning robot disclosed in this embodiment of the present invention when it is in a fully extended state;

[0023] Figure 5 This is a schematic diagram of the assembly structure of the first roller brush assembly of the cleaning device of the photovoltaic cleaning robot disclosed in this embodiment of the utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the second roller brush assembly of the cleaning device of the photovoltaic cleaning robot disclosed in this embodiment of the present utility model;

[0025] Figure 7 This is a schematic diagram of the guide rail structure of the cleaning device of the photovoltaic cleaning robot disclosed in this embodiment of the utility model;

[0026] Figure 8 This is a first position diagram of the photovoltaic cleaning robot during the cleaning process disclosed in this embodiment of the utility model;

[0027] Figure 9 This is a second position diagram of the photovoltaic cleaning robot during the cleaning process disclosed in this embodiment of the utility model;

[0028] Figure 10 This is a third position diagram of the photovoltaic cleaning robot disclosed in this embodiment of the utility model during the cleaning process. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0031] To accommodate cleaning scenarios with varying widths of photovoltaic modules, roller brushes of different sizes need to be developed, significantly increasing design investment and operating costs. Furthermore, during the cleaning process, different sized roller brushes need to be replaced according to the width of the photovoltaic modules, which not only reduces cleaning efficiency but also increases maintenance costs.

[0032] Based on the above-mentioned technical problems, this application discloses a photovoltaic cleaning robot, including a cleaning device. The length of the roller brush of the cleaning device is adjustable, thereby increasing the applicability of the cleaning device and reducing the design and use of roller brushes of different sizes.

[0033] like Figure 1 and Figure 2 As shown in the figure, the cleaning device 200 of the photovoltaic cleaning robot disclosed in this application embodiment is installed on the robotic arm 100 of the photovoltaic cleaning robot and is used to clean the photovoltaic panel 300.

[0034] The cleaning device 200 includes: a main frame 201, a first roller brush assembly 203, and a second roller brush assembly 202.

[0035] The main frame 201 is configured to be connected to the robotic arm 100 of the photovoltaic cleaning robot. Optionally, the main frame 201 is fixedly connected to the end of the robotic arm 100 or the main frame 201 is hinged to the end of the robotic arm 100. Those skilled in the art can choose the connection method between the cleaning device 200 and the robotic arm 100 according to different needs, which is not specifically limited here.

[0036] Both the first roller brush assembly 203 and the second roller brush assembly 202 are mounted on the main frame 201. At least one of the first roller brush assembly 203 and the second roller brush assembly 202 is movable relative to the main frame 201, and the direction of movement is along the axis of the roller brush. Optionally, the second roller brush assembly 202 is movable relative to the main frame 201, and the direction of movement of the second roller brush assembly 202 is along the axis of the first roller brush assembly 203. Specifically, by moving the second roller brush assembly 202 relative to the main frame 201 along the axis of the first roller brush assembly 203, the length of the roller brush in the cleaning device can be adjusted.

[0037] The following combination Figures 3 to 7 The structure and connection relationship of the first roller brush assembly 203 and the second roller brush assembly 202 disclosed in the embodiments of this application will be described.

[0038] like Figure 3 and Figure 4 As shown, the first roller brush assembly 203 includes a first roller brush 2031, a first fixing frame 2032, a second fixing frame 2033, and a first drive motor 2034.

[0039] The second roller brush assembly 202 includes a second roller brush 2021, a third fixing frame 2022, a fourth fixing frame 2023, and a second drive motor 2024.

[0040] The first roller brush 2031 is fixed to the main frame 201. Optionally, the first roller brush 2031 is fixed to the main frame 201 via a first fixing bracket 2032 and a second fixing bracket 2033. Specifically, one end of the first roller brush 2031 along the axial direction is mounted on the first fixing bracket 2032, and the other end of the first roller brush 2031 along the axial direction is mounted on the second fixing bracket 2033; the first roller brush 2031 is rotatably connected to both the first fixing bracket 2032 and the second fixing bracket 2033. Both the first fixing bracket 2032 and the second fixing bracket 2033 are fixed to the main frame 201. The shape and size of the first fixing bracket 2032 and the second fixing bracket 2033 are not specifically limited herein; any structure that satisfies the above functions can be used as the first fixing bracket 2032 and the second fixing bracket 2033.

[0041] It is understood that the first fixing frame 2032 and the second fixing frame 2033 can be the first bracket for mounting the first roller brush 2031. The first bracket in this document includes, but is not limited to, the first fixing frame 2032 and the second fixing frame 2033. In other optional embodiments, the first bracket can also be a U-shaped frame structure.

[0042] The first drive motor 2034 is connected to the first roller brush 2031 and drives the first roller brush 2031 to rotate around the axis, thereby cleaning the photovoltaic panel 300. Optionally, the first drive motor 2034 is mounted on the first fixed frame 2032 or the second fixed frame 2033. The mounting method of the first drive motor 2034 can be set according to different needs, and all are within the protection range.

[0043] In other alternative embodiments, the first roller brush 2031 can move along the axial direction. Optionally, the first roller brush 2031 is mounted on a first bracket, which is movable relative to the main frame 201. In some embodiments, the cleaning device further includes a drive unit connected to the first bracket and capable of driving the first bracket to move relative to the main frame 201. Optionally, the drive unit includes, but is not limited to, a lead screw and nut, a cylinder, or a gear rack structure.

[0044] The second roller brush 2021 and the first roller brush 2031 are arranged radially along the second roller brush 2021. This can be understood as the axes of the first roller brush 2031 and the second roller brush 2021 being arranged parallel to each other. In this paper, the first roller brush 2031 and the second roller brush 2021 form the roller brushes of the cleaning device 200. It should be noted that the number of the first roller brush 2031 and the second roller brush 2021 can be set according to different needs, and all are within the protection range.

[0045] The second roller brush 2021 is movably connected to the main frame 201, and the moving direction of the second roller brush 2021 is the axial direction of the second roller brush 2021.

[0046] Combination Figure 3 and Figure 4 As shown, the second roller brush 2021 has two extreme positions, including a first position and a second position. In the first position, the second roller brush 2021 is retracted into the main frame 201, and the second roller brush 2021 and the first roller brush 2031 are arranged radially side-by-side. The length of the roller brush composed of the first roller brush 2031 and the second roller brush 2021 along the axial direction is L1. In the second position, the second roller brush 2021 extends outward from the main frame 201, and the second roller brush 2021 extends to its maximum position, that is, the second roller brush 2021 moves relative to the first roller brush 2031 along the axial direction, causing the second roller brush 2021 and the first roller brush 2031 to be arranged radially offset. The length of the roller brush composed of the first roller brush 2031 and the second roller brush 2021 along the axial direction is L2.

[0047] L2 is greater than L1, meaning that after the second roller brush 2021 moves relative to the first roller brush 2031 along the axial direction, the length of the roller brush increases. It should be noted that: when the second roller brush 2021 is in the first position, the roller brush is in a retracted state; when the second roller brush 2021 is in the second position, the roller brush is in a fully extended state.

[0048] It should be noted that the length of the second roller brush 2021 can be changed by moving it relative to the first roller brush 2031 along the axial direction to accommodate the cleaning requirements of photovoltaic panels 300 of different sizes. This eliminates the need to design multiple roller brushes of different sizes, thus reducing design and operating costs. Furthermore, the ability to adapt to different photovoltaic panel sizes simply by moving the second roller brush 2021 relative to the first roller brush 2031—that is, size adjustment can be achieved through the extension and retraction of the roller brush—requires no disassembly of the second and first roller brushes 2021. This allows for rapid size adjustment, facilitating quick matching with the photovoltaic panel size, thereby improving cleaning efficiency and reducing maintenance costs associated with replacing roller brushes. Additionally, the extension and retraction of the second roller brush 2021 relative to the first roller brush 2031 reduces the size of the cleaning device 200, lowering transportation costs.

[0049] The second roller brush 2021 can be connected to the main frame 201 in a way that allows relative movement, including but not limited to the following: the second roller brush 2021 is movably mounted on the main frame 201 via the third fixing bracket 2022 and the fourth fixing bracket 2023.

[0050] Optionally, one end of the second roller brush 2021 along the axial direction is rotatably mounted on the third fixed frame 2022, and the other end of the second roller brush 2021 along the axial direction is rotatably mounted on the fourth fixed frame 2023. The third fixed frame 2022 and the fourth fixed frame 2023 are movable relative to the main frame 201.

[0051] The second drive motor 2024 is connected to the second roller brush 2021, driving the second roller brush 2021 to rotate around its own axis, facilitating the cleaning of the photovoltaic panel 300. Optionally, the second drive motor 2024 is mounted on the third fixing frame 2022 or the fourth fixing frame 2023. The shape and size of the third fixing frame 2022 or the fourth fixing frame 2023 are not specifically limited herein; any structure that can satisfy the above functions can be used as the third fixing frame 2022 or the fourth fixing frame 2023.

[0052] It is understood that the third fixing frame 2022 or the fourth fixing frame 2023 may be the second bracket for mounting the second roller brush 2021. The second bracket in this document includes, but is not limited to, the third fixing frame 2022 or the fourth fixing frame 2023. In other alternative embodiments, the second bracket may also be a U-shaped frame structure.

[0053] The above content describes the installation method of the first roller brush 2031 and the second roller brush 2021. The following is combined with... Figure 2 , Figures 4 to 7 The movement of the second roller brush 2021 disclosed in the embodiments of this application will be described.

[0054] The cleaning device 200 disclosed in this application embodiment also includes a drive component, which is connected to the second roller brush 2021 and drives the second roller brush 2021 to move relative to the main frame 201 along the axial direction of the second roller brush 2021.

[0055] The structure of the driving component can be set according to different needs. In this embodiment, the following structure is adopted:

[0056] like Figure 2 As shown, the cleaning device 200 also includes a guide rail 204, such as Figure 3 , Figure 4 and Figure 6 As shown, the second roller brush assembly 202 also includes a guide rail drive motor 2025.

[0057] The guide rail 204 is fixed to the main frame 201, and the guide rail drive motor 2025 is fixed to one axial end of the second roller brush 2021. Optionally, the guide rail drive motor 2025 is fixed to the third fixing frame 2022 or the fourth fixing frame 2023. For example, the third fixing frame 2022 is connected to the first end of the second roller brush 2021, and the fourth fixing frame 2023 is connected to the second end of the second roller brush 2021, with the first end of the second roller brush 2021 extending out of the main frame 201; the guide rail drive motor 2025 is fixed to the fourth fixing frame 2023, and the second drive motor 2024 is fixed to the third fixing frame 2022.

[0058] The extension direction of the guide rail 204 is the axial direction of the second roller brush 2021. The fourth fixing frame 2023 is slidably engaged with the guide rail 204. During the sliding process of the fourth fixing frame 2023 along the guide rail 204, the second roller brush 2021 moves along the guide rail 204.

[0059] It should be noted that the sliding fit between the fourth fixing bracket 2023 and the guide rail 204 described above increases the moving distance of the fourth fixing bracket 2023, thereby increasing the travel distance of the second roller brush 2021; in addition, it can reduce the length of the guide rail 204. If the third fixing bracket 2022 is fitted with the guide rail 204, the length of the guide rail 204 needs to be increased to ensure the travel distance of the second roller brush 2021, which does not meet the miniaturization requirements of the cleaning device 200.

[0060] Furthermore, the guide rail drive motor 2025 is not limited to being arranged on the fourth fixed frame 2023; it can also be arranged on the same side as the second drive motor 2024 to reduce cable length. The center of gravity position of the second roller brush assembly 202 can be adjusted according to the arrangement of the guide rail drive motor 2025 and the second drive motor 2024.

[0061] like Figure 7 As shown, the guide rail 204 disclosed in this application embodiment includes: guide teeth 2041 and guide rail seat 2042.

[0062] The guide rail 204 is fixed to the main frame 201 via guide rail seats 2042. Specifically, multiple guide rail seats 2042 are provided along the guide rail 204, which can improve the stability of the connection between the guide rail 204 and the main frame 201, realize multi-point connection between the guide rail 204 and the main frame 201, ensure the connection rigidity between the guide rail 204 and the main frame 201, and thus enhance the connection rigidity between the guide rail 204 and the second roller brush 2021.

[0063] The guide rail 204 has multiple guide teeth 2041 arranged along its extension direction, and the guide rail drive motor 2025 meshes with the guide teeth 2041 for transmission. Optionally, the output shaft of the guide rail drive motor 2025 is fixed with a transmission gear, and the transmission gear meshes with the guide teeth 2041 for transmission.

[0064] During operation, the guide rail drive motor 2025 drives the transmission gear to rotate, causing the transmission gear to rotate along the guide tooth 2041. This enables the second roller brush 2021 to move along the guide rail 204. Furthermore, the forward and reverse rotation of the guide rail drive motor 2025 achieves the reciprocating movement of the second roller brush 2021 along the guide rail 204. In other words, the cooperation of the guide rail drive motor 2025, the transmission gear, and the guide tooth 2041 provides the power for the movement of the second roller brush 2021.

[0065] Those skilled in the art will understand that the positions of the guide rail 204 and the guide rail drive motor 2025 are interchangeable, that is, the guide rail 204 is connected to the second roller brush 2021, and the guide rail drive motor 2025 is mounted on the main frame 201.

[0066] In other alternative embodiments, the drive assembly may also be a lead screw and nut assembly, specifically, the lead screw and nut assembly includes a lead screw and a nut. It should be noted that the structure of the drive unit described above can be found in the structure of the drive assembly.

[0067] The lead screw is rotatably mounted on the main frame 201. The fourth fixing bracket 2023 at one end of the second roller brush 2021 is threadedly engaged with the lead screw. Specifically, the fourth fixing bracket 2023 is sleeved on the lead screw and threadedly engaged with it. Optionally, a lead screw motor for driving the lead screw to rotate is provided on the main frame 201.

[0068] In addition, the main frame 201 is provided with an anti-rotation structure. Optionally, the anti-rotation structure includes, but is not limited to, contacting the fourth fixed frame 2023 to restrict the rotation of the fourth fixed frame 2023. The anti-rotation structure includes, but is not limited to, a limiting plate, which is arranged on both sides of the fourth fixed frame 2023 along the radial direction of the lead screw.

[0069] Using the above connection method, during the operation of the lead screw motor, the lead screw rotates. Since the fourth fixed frame 2023 does not rotate with the lead screw under the action of the anti-rotation structure, the fourth fixed frame 2023 can move along the axis of the lead screw, thereby realizing the movement of the second roller brush 2021 along the guide rail 204. Through the forward and reverse rotation of the lead screw, the second roller brush 2021 can reciprocate along the guide rail 204.

[0070] In other alternative embodiments, the drive component may also be a cylinder, with the cylinder's telescopic rod fixedly connected to the fourth fixed frame 2023, and the cylinder seat fixed to the main frame 201. During the extension and retraction of the cylinder rod relative to the cylinder seat, the second roller brush 2021 reciprocates along the guide rail 204.

[0071] The above content describes how the second roller brush 2021 moves on the main frame 201. The following describes the limiting device during the movement of the second roller brush 2021.

[0072] To prevent the second roller brush 2021 from detaching from the main frame 201 during the outward extension of the second roller brush 2031 relative to the first roller brush 2031, the main frame 201 disclosed in this application embodiment is provided with a limiting device, which can limit the movement position of the second roller brush 2021.

[0073] like Figure 5 As shown, the limiting device disclosed in this application embodiment is a limiting hole 2011. Specifically, the main frame 201 is provided with a limiting hole 2011 at one end for the second roller brush 2021 to extend outward. Optionally, when the second roller brush 2021 is in the first position, the end of the second roller brush 2021 away from the limiting hole 2011 has a structure that can make limiting contact with the limiting hole 2011. Optionally, the structure in which the second roller brush 2021 makes limiting contact with the limiting hole 2011 includes, but is not limited to, a guide rail drive motor 2025 fixed on the fourth fixing frame 2023.

[0074] With the above structure, during the process of the second roller brush 2021 extending outward relative to the first roller brush 2031, the second roller brush 2021 moves until the guide rail drive motor 2025 abuts against the limiting hole 2011, the second roller brush 2021 extends outward to the maximum distance, and the second roller brush 2021 is in the second position.

[0075] Optionally, the guide rail drive motor 2025 can be made to be larger than the size of the limiting hole 2011 to achieve limiting contact between the guide rail drive motor 2025 and the limiting hole 2011.

[0076] It should be noted that: In this embodiment of the application, a limiting hole 2011 is provided at one end of the main frame 201 for the second roller brush 2021 to extend outward, and a guide rail drive motor 2025 is provided on the fourth fixed frame 2023. By abutting the guide rail drive motor 2025 with the limiting hole 2011, the movement of the second roller brush 2021 is limited, which allows the second roller brush 2021 to have a large moving stroke and a simple structure.

[0077] The cleaning device 200 in this embodiment only shows one first roller brush 2031 and one second roller brush 2021. In other optional embodiments, the first roller brush 2031 of the cleaning device 200 may be two, three, or even more, and the first roller brushes 2031 may be arranged side by side radially. Of course, the first roller brushes 2031 may also be arranged in a staggered arrangement radially. By increasing the number of first roller brushes 2031, the cleaning area of ​​the cleaning device 200 can be increased, thereby improving the cleaning efficiency.

[0078] Furthermore, there may be two, three, or more second roller brushes 2021. The second roller brushes 2021 may be arranged side-by-side radially, or they may be arranged in a staggered radial arrangement. At least two of the second roller brushes 2021 move in opposite directions, meaning at least two of them extend outwards in different directions. Extending the second roller brushes 2021 outwards in different directions can increase the size of the roller brush while reducing the stroke of the second roller brushes 2021.

[0079] In other alternative embodiments, at least two second roller brushes 2021 move in the same direction, and the maximum moving distances of the two second roller brushes 2021 are different. By changing the maximum stroke of the second roller brushes 2021, the moved second roller brushes 2021 can be arranged sequentially along the axial direction, so that the roller brushes can be adjusted to a greater range of sizes.

[0080] For example, there are two second roller brushes 2021, and the maximum strokes of the two second roller brushes 2021 are different. In the first position, the second roller brushes 2021 are arranged radially side-by-side with the first roller brush 2031, and the length of the roller brush is a first dimension. During the extension of the second roller brushes 2021, when the two second roller brushes 2021 reach the maximum stroke of the second roller brush 2021 with the smaller maximum stroke, the length of the roller brush is a second dimension; when the second roller brush 2021 with the larger maximum stroke continues to reach its maximum stroke, the length of the roller brush is a third dimension. The first dimension is smaller than the second dimension, and the second dimension is smaller than the third dimension.

[0081] Those skilled in the art can select the quantity and arrangement of the first roller brush 2031 and the second roller brush 2021 according to different needs, and all of these are within the scope of protection.

[0082] Based on the above technical solution, the photovoltaic cleaning robot disclosed in this application embodiment also includes a vision sensor 400, which is used to detect the position and size of the photovoltaic panel 300 so as to adjust the size of the roller brush according to the size of the photovoltaic panel 300.

[0083] Based on this, the vision sensor 400 in this embodiment is connected to the control system, and the vision sensor 400 is communicatively connected to the guide rail drive motor 2025. The control system adjusts the start and stop of the guide rail drive motor 2025 according to the size of the photovoltaic panel 300 obtained by the vision sensor 400, so as to adapt to the size of the photovoltaic panel 300.

[0084] Combination Figures 8 to 10 As shown, this application also discloses a control method for the cleaning device of a photovoltaic cleaning robot, including the following steps:

[0085] S1: The total length L1 of the pre-stored cleaning device's roller brush when it is in the retracted state and the total length L2 when it is in the fully extended state.

[0086] S2: Obtain the current total length L0 of the roller brush, the distance L3 between the first roller brush 2031 and the lower edge of the photovoltaic panel 300, the distance L4 between the second roller brush 2021 and the upper edge of the photovoltaic panel 300, and the current dimension Ln from the upper edge to the lower edge of the photovoltaic panel.

[0087] It should be noted that: the photovoltaic panel 300 is usually arranged at an angle, with the lower edge of the photovoltaic panel 300 being the side closer to the bottom surface and the upper edge being the side farther from the bottom surface. During the cleaning process of the cleaning device 200 cleaning the photovoltaic panel 300, the first roller brush 2031 is arranged close to the lower edge and the second roller brush 2021 is arranged close to the upper edge.

[0088] Where L0 = L3 + L4 + Ln.

[0089] The vision sensor 400 can acquire graphic information about the roller brush and the current photovoltaic panel. Based on the acquired image information, the values ​​of L0, L3, L4, and Ln can be obtained. Optionally, after acquiring the values ​​of L0, L3, L4, and Ln using the vision sensor 400, these values ​​can be recorded by the control system.

[0090] In this article, the line connecting the top and bottom edges of the photovoltaic panel is in the width direction.

[0091] S3: Obtain the dimension Lm between the upper and lower edges of adjacent photovoltaic panels, and obtain the dimension difference L5 between the lower edge of the current photovoltaic panel and the lower edge of the adjacent photovoltaic panel along the width direction.

[0092] This article stipulates that: if the lower edge of an adjacent photovoltaic panel moves away from the lower edge of the current photovoltaic panel relative to the direction away from the robotic arm, the calculated value of L5 is positive; if the lower edge of an adjacent photovoltaic panel moves closer to the robotic arm relative to the lower edge of the current photovoltaic panel, the calculated value of L5 is negative.

[0093] S4: Controls the extension and retraction of the roller brush of the sweeping device 200.

[0094] If L5 is positive and L2≥L3+L4+L5+Lm, the robotic arm 100 remains stationary, and the control system starts the guide rail drive motor 2025, causing the second roller brush 2021 to extend until the total length L0 of the roller brush satisfies: L0=L3+L4+L5+Lm; if L5 is negative and L2≥L3+L4+L5+Lm, after cleaning the current photovoltaic panel 300, the control system controls the robotic arm 100 to move so that the distance between the first roller brush 2031 and the lower edge of the adjacent photovoltaic panel 300 is L3, and the control system starts the guide rail drive motor 2025, causing the second roller brush 2021 to extend until the total length L0 of the roller brush satisfies: L0=L3+L4+Lm.

[0095] When L5 is positive, there is no need to move the robotic arm 100, which can reduce the movement of the robotic arm 100 and improve cleaning efficiency.

[0096] It should be noted that the photovoltaic cleaning robot described in this article, employing the aforementioned cleaning method, can automatically adjust the length of its roller brush to adapt to the width of the photovoltaic panel, reducing the operator's workload. Furthermore, it can pre-deploy the roller brush, shortening the time required for individual brush adjustments and thus improving cleaning efficiency.

[0097] 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.

[0098] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic cleaning robot, characterized in that, include: The main frame (201) is configured to be connected to the robotic arm of the photovoltaic cleaning robot; The first roller brush (2031) is connected to the main frame (201); The second roller brush (2021) is connected to the main frame (201), and the second roller brush (2021) and the first roller brush (2031) are arranged radially along the second roller brush (2021); At least one of the first roller brush (2031) and the second roller brush (2021) is capable of moving along the length direction of the first roller brush (2031).

2. The photovoltaic cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a drive assembly that drives the second roller brush (2021) to move along the axis of the second roller brush (2021).

3. The photovoltaic cleaning robot according to claim 2, characterized in that, The driving component includes: Guide rail (204), the guide rail (204) is disposed on one of the main frame (201) and the second roller brush (2021); A guide rail drive motor (2025) is mounted on the other of the main frame (201) and the second roller brush (2021).

4. The photovoltaic cleaning robot according to claim 3, characterized in that, The guide rail (204) has guide teeth (2041) arranged along the extension direction of the guide rail (204), and the guide rail drive motor (2025) meshes with the guide teeth (2041) for transmission.

5. The photovoltaic cleaning robot according to claim 3, characterized in that, The cleaning robot also includes: The second bracket, the second roller brush (2021) is rotatably mounted on the second bracket, the guide rail drive motor (2025) is mounted on the second bracket, and the guide rail (204) is fixed to the main frame (201). The second drive motor (2024) is mounted on the second bracket and is connected to the second roller brush (2021) to drive the second roller brush (2021) to rotate.

6. The photovoltaic cleaning robot according to any one of claims 1 to 5, characterized in that, The main frame (201) has a limiting device configured to limit the distance the second roller brush (2021) can move along the axial direction.

7. The photovoltaic cleaning robot according to any one of claims 1 to 5, characterized in that, The photovoltaic cleaning robot also includes: The first bracket, the first roller brush (2031) is rotatably mounted on the first bracket, and the first bracket is connected to the main frame (201); The first drive motor (2034) is mounted on the first bracket and is connected to the first roller brush (2031) for transmission, thereby driving the first roller brush (2031) to rotate.

8. The photovoltaic cleaning robot according to claim 7, characterized in that, The cleaning robot further includes a drive unit that drives the first roller brush (2031) to move along the axis of the first roller brush (2031).

9. The photovoltaic cleaning robot according to any one of claims 1 to 5, characterized in that, There are at least two second roller brushes (2021), and the second roller brushes (2021) are arranged radially along the first roller brush (2031); At least two of the second roller brushes (2021) move in opposite directions; or, at least two of the second roller brushes (2021) move in the same direction but with different maximum moving distances.

10. The photovoltaic cleaning robot according to any one of claims 1 to 5, characterized in that, The photovoltaic cleaning robot also includes: A vision sensor (400) is configured to detect the position and size of the photovoltaic panel (300); A control system, which is connected to the vision sensor (400).

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