A cleaning device

Abstract

The application discloses a cleaning device, and relates to the technical field of photovoltaics, comprising a rolling brush assembly and an adjusting mechanism; the rolling brush assembly can clean target objects; the adjusting mechanism comprises at least two floating units and at least two driving units, the two floating units are connected to the two ends of the rolling brush assembly respectively, the driving units are connected with the floating units, and the adjusting mechanism can adjust the distance between the rolling brush assembly and the target objects. The cleaning device provided by the application can drive the floating units at the two ends of the rolling brush assembly to move through the driving units, so that the rolling brush assembly can be adjusted according to the posture of the photovoltaic assembly, and the cleaning blind area or the excessively close photovoltaic assembly and other target objects can be avoided, and the cleaning efficiency is improved.

Description

Technical Field

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

[0002] In related technical fields, during the installation of photovoltaic modules, factors such as installation errors, foundation settlement, and temperature changes can lead to poor flatness of the photovoltaic modules. As a result, when cleaning devices clean the photovoltaic modules, there will be blind spots or the devices will be too close to the photovoltaic modules, thereby reducing cleaning efficiency. Utility Model Content

[0003] In view of this, the purpose of this application is to provide a cleaning device that can adjust the position and orientation of the roller brush assembly to adapt to the orientation of the photovoltaic module and improve cleaning efficiency.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] A cleaning device, comprising:

[0006] A roller brush assembly capable of cleaning a target object;

[0007] An adjustment mechanism is provided, comprising at least two floating units and at least two driving units, wherein the two floating units are respectively connected to both ends of the roller brush assembly, and the driving units are connected to the floating units. The adjustment mechanism is capable of adjusting the distance between the roller brush assembly and the target object.

[0008] Optionally, in the above-mentioned cleaning device, the roller brush assembly includes a support beam and at least one roller brush arranged parallel to the support beam, the floating unit is connected to the end of the roller brush, and a roller brush drive member capable of driving the roller brush to rotate is provided on at least one of the floating units.

[0009] Optionally, in the above-mentioned cleaning device, at least two roller brushes are arranged coaxially, and two adjacent roller brushes share one floating unit.

[0010] Optionally, in the above-described cleaning device, a connecting shaft capable of being connected to the roller brush is rotatably provided on the floating unit between two adjacent roller brushes.

[0011] Optionally, in the above-described cleaning device, there is one connecting shaft, which passes through the floating unit, and both ends of the connecting shaft are connected to two adjacent roller brushes via universal joints; or,

[0012] There are two connecting shafts, and the two connecting shafts are respectively disposed opposite to each other on the floating unit. The two connecting shafts are respectively connected to the two adjacent roller brushes through universal joints.

[0013] Optionally, in the above-mentioned cleaning device, the floating unit includes a floating component, a moving component, and an elastic component;

[0014] The floating component can be connected to the roller brush, the moving component can be connected to the drive unit, one end of the elastic component is connected to the moving component, and the other end of the elastic component is connected to the floating component.

[0015] Optionally, in the above-mentioned cleaning device, the floating unit includes a variable cavity, the floating member has a first cavity, the moving member has a second cavity, and the floating member is movably embedded in the second cavity of the moving member. The variable cavity includes at least the first cavity and the second cavity, the elastic member is at least partially located in the variable cavity, and the variable cavity is filled with a fluid medium.

[0016] Optionally, in the above-described cleaning device, the floating unit includes a spring, one end of which is connected to the roller brush, and the other end of which is connected to the drive unit.

[0017] Optionally, in the above-mentioned cleaning device, a fixed bracket is provided on the side of the support beam away from the roller brush, and the fixed bracket can be connected to the robotic arm of the cleaning device.

[0018] Optionally, in the above-mentioned cleaning device, the supporting beam is equipped with a plurality of attitude sensors capable of monitoring the movement attitude of the supporting beam; and / or,

[0019] The floating unit is equipped with a position sensor, which can monitor the relative position of the roller brush and the target object; and / or,

[0020] The fixed bracket is equipped with a vision sensor, which can identify the position of the target object.

[0021] The cleaning device provided in this application connects the floating units of the adjustment mechanism to both ends of the roller brush assembly. Simultaneously, it connects to the floating units via a drive unit, allowing the drive unit to move the floating units. This enables the adjustment mechanism to regulate the distance between the roller brush assembly and targets such as photovoltaic modules. As illustrated above, the cleaning device provided in this application, by driving the floating units located at both ends of the roller brush assembly via the drive unit, can adjust the roller brush assembly according to the posture of the photovoltaic modules, avoiding blind spots or excessive contact with targets such as photovoltaic modules, thereby improving cleaning efficiency.

[0022] 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

[0023] 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 embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the cleaning device provided in the embodiments of this application;

[0025] Figure 2 This is a schematic diagram of the structure of the driving end floating unit provided in the embodiments of this application;

[0026] Figure 3 This is an internal schematic diagram of the driving end floating unit provided in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram of the structure of the free-end floating unit provided in the embodiments of this application;

[0028] Figure 5 This is an internal schematic diagram of the free-end floating unit provided in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the first state of a photovoltaic module provided in an embodiment of this application;

[0030] Figure 7 This is a schematic diagram of the second state of a photovoltaic module provided in an embodiment of this application;

[0031] Figure 8 This is a schematic diagram of the first cleaning state of the cleaning device provided in the embodiments of this application;

[0032] Figure 9 This is a schematic diagram of the second cleaning state of the cleaning device provided in the embodiments of this application;

[0033] Figure 10 This is a schematic diagram of the third cleaning state of the cleaning device provided in the embodiments of this application.

[0034] Among them, 10 is the roller brush assembly, 11 is the support beam, 111 is the attitude sensor, 12 is the roller brush, 13 is the position sensor, 14 is the roller brush drive component, and 15 is the universal joint.

[0035] 20 is a fixed bracket, 21 is a connecting plate, 211 is an ear plate, 212 is a hollow area, 22 is a column, and 23 is a vision sensor;

[0036] 30 is a robotic arm;

[0037] 40 is the adjustment mechanism, 41 is the floating unit, 411 is the floating component, 4111 is the displacement sensor, 4112 is the connecting shaft, 4113 is the drive shaft, 412 is the moving component, 4121 is the lead screw, 413 is the elastic component, 414 is the variable cavity, 4141 is the adjustment hole, 4142 is the control valve, 4143 is the sealing component, and 42 is the drive unit.

[0038] 50 represents photovoltaic modules, and 51 represents blind spots for cleaning. Detailed Implementation

[0039] The core of this application is to provide a cleaning device that can adjust the position and orientation of the roller brush assembly to adapt to the orientation of the photovoltaic module and improve cleaning efficiency.

[0040] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] In related technical fields, especially in the cleaning process of photovoltaic modules, the flatness of photovoltaic modules is poor due to factors such as installation errors, foundation settlement and temperature changes during installation. As a result, the cleaning device will have blind spots or be too close to the photovoltaic module when cleaning it, thus reducing the cleaning efficiency.

[0042] Therefore, such as Figure 1 As shown in the figure, this application discloses a cleaning device, including a roller brush assembly 10 and an adjustment mechanism 40. The floating units 41 located at both ends of the roller brush assembly 10 are moved by the drive unit 42, thereby adjusting the roller brush assembly 10 according to the posture of the target object such as the photovoltaic module 50. This avoids cleaning blind spots 51 or excessive contact with the target object such as the photovoltaic module 50, improving cleaning efficiency, and providing a faster response speed and more precise adjustment of the roller brush assembly 10.

[0043] The following will combine Figures 1 to 10 The cleaning device disclosed in the embodiments of this application will be explained and described in detail.

[0044] Among them, such as Figure 1 As shown, the adjustment mechanism 40 may include at least two floating units 41 and at least two driving units 42. That is, there may be two, three or more floating units 41, and there may be two, three or more driving units 42 adapted to the floating units 41. At the same time, the two floating units 41 are respectively connected to both ends of the roller brush assembly 10, and the driving units 42 are connected to the floating units 41. Thus, according to the posture of the target object such as the photovoltaic module 50, the driving units 42 drive the floating units 41 to move, thereby adjusting the distance between the roller brush assembly 10 and the target object such as the photovoltaic module 50. This avoids the existence of cleaning blind spots 51 or excessive contact with the target object such as the photovoltaic module 50, improves cleaning efficiency, and has a faster response speed, making the adjustment of the roller brush assembly 10 more precise.

[0045] In some embodiments, such as Figure 1 As shown, the roller brush assembly 10 may include a support beam 11 and at least one roller brush 12 arranged parallel to the support beam 11. That is, one roller brush 12 may be used, or two or more may be coaxially arranged. A floating unit 41 may be connected to the end of the roller brush 12, meaning each roller brush 12 can be connected to the support beam 11 via two floating units 41, thereby allowing adjustment of the angle of each roller brush 12 to adapt to the cleaning conditions of multiple rows of photovoltaic modules 50. Simultaneously, a roller brush drive member 14 capable of driving the roller brush 12 to rotate may be provided on at least one floating unit 41. This means the roller brush drive member 14 may be provided on one floating unit 41, or on two or more floating units 41.

[0046] In some embodiments, such as Figure 1 As shown, at least two roller brushes 12 can be coaxially arranged, and two adjacent roller brushes 12 share a floating unit 41. At the same time, the roller brush drive unit 14 is located on the floating unit 41 at the end of the outermost roller brush 12 away from the adjacent roller brush 12, so that each roller brush 12 can be driven to rotate by the two roller brush drive units 14, thereby ensuring a large rotation speed of the roller brush 12 and improving cleaning efficiency.

[0047] In some embodiments, such as Figure 1 As shown, the rotating shaft of the roller brush 12 can be connected and fixed to the floating unit 41 through the universal joint 15, thereby reducing the number of roller brush drive components 14. The roller brush drive components 14 at the ends drive each roller brush 12 to rotate synchronously. At the same time, the angle of the roller brush 12 can be adjusted through the universal joint 15 to adapt to different postures of the photovoltaic module 50.

[0048] In some embodiments, such as Figure 1As shown, two roller brushes 12 can be coaxially arranged, with adjacent roller brushes 12 sharing a single floating unit 41. Meanwhile, the roller brush drive 14 is located on the floating unit 41 at the end of the roller brush 12 furthest from the adjacent roller brush 12. For ease of understanding, as... Figure 1 As shown, the floating unit 41 between two adjacent roller brushes 12 is defined as the free-end floating unit, and the floating unit 41 with the roller brush drive component 14 is defined as the drive-end floating unit. Wherein, as... Figure 4 As shown, a connecting shaft 4112 is rotatably mounted on the free-end floating unit, and two connecting shafts 4112 can be used. The two connecting shafts 4112 are respectively mounted opposite to each other on the free-end floating unit, and the two connecting shafts 4112 can be connected to the rotating shafts of two adjacent roller brushes 12 through universal joints 15. Figure 2 As shown, a roller brush drive 14 and a drive shaft 4113 are arranged opposite to each other on the floating unit at the drive end. The drive shaft 4113 can be connected to the roller brush drive 14 through transmission, such as spline connection or interference fit connection. At the same time, the drive shaft 4113 is connected to the end of the rotation axis of the roller brush 12 away from the adjacent roller brush 12 through a universal joint 15, so that the two roller brushes 12 can be driven to rotate by the two roller brush drive 14.

[0049] In some embodiments, a connecting shaft 4112 may be provided through the free-end floating unit, and the two ends of the connecting shaft 4112 are respectively connected to two adjacent roller brushes 12 through universal joints 15, so that the two roller brushes 12 can be driven to rotate simultaneously by the two roller brush drive members 14. Alternatively, two independent connecting shafts 4112 may be used on the free-end floating unit, so that the two roller brushes 12 can be driven to rotate separately by the two roller brush drive members 14, thereby realizing independent control of the rotation speed of each roller brush 12. Of course, a connecting shaft 4112 may also be provided through the free-end floating unit, and the roller brush drive member 14 is located on the floating unit 41 at one end of the roller brush 12 away from the adjacent roller brush 12, so that the two roller brushes 12 can be driven to rotate by one roller brush drive member 14.

[0050] It should be noted that when there are three or more roller brushes 12, the installation method is the same as in the above embodiment, and will not be repeated here. Meanwhile, the roller brush drive component 14 can be a drive motor or other drive component capable of rotating the roller brushes 12; this is not limited here.

[0051] In some embodiments, such as Figure 1As shown, a fixed bracket 20 is provided on the side of the supporting beam 11 away from the roller brush 12, and the fixed bracket 20 can be connected to the robotic arm 30 of the cleaning device. The fixed bracket 20 may include a connecting plate 21 and columns 22 located on both sides of the connecting plate 21. The columns 22 can be welded to the side of the supporting beam 11 of the roller brush assembly 10 away from the roller brush 12, and the connecting plate 21 can be hinged to the robotic arm 30 of the cleaning device, so as to realize the purpose of moving the roller brush assembly 10 to the target object such as the photovoltaic module 50 by the robotic arm 30 of the cleaning device, thereby cleaning the target object such as the photovoltaic module 50.

[0052] In some embodiments, such as Figure 1 As shown, the column 22 can have a rectangular cross-section, and the end of the column 22 connected to the roller brush assembly 10 can extend outward to form a connecting part. This connecting part can then be welded to the support beam 11 of the roller brush assembly 10, increasing the connection area between the column 22 and the support beam 11 of the roller brush assembly 10 and improving the reliability of the connection between the fixed bracket 20 and the support beam 11 of the roller brush assembly 10. Simultaneously, the connecting plate 21 can be welded between the two columns 22, and an ear plate 211 that can connect to the robotic arm 30 of the cleaning device can be provided on the side of the connecting plate 21 away from the support beam 11 of the roller brush assembly 10. This allows the connection between the ear plate 211 and the robotic arm 30 of the cleaning device, preventing the fixed bracket 20 from interfering with the movement of the robotic arm 30 and reducing the length of the robotic arm 30. In addition, a hollow area 212 can be provided on the connecting plate 21 to reduce the weight of the fixed bracket 20, thereby reducing the weight of the end of the robotic arm 30, reducing the risk of the photovoltaic module 50 being crushed, and meeting the lightweight requirements of the robotic arm 30 of the cleaning device.

[0053] In the above embodiments, the column 22 and the roller brush assembly 10 can also be connected and fixed by multiple bolts or other fasteners, which is not limited here.

[0054] In some embodiments, such as Figure 1 As shown, the drive unit 42 can be installed on the side of the support beam 11 of the roller brush assembly 10 away from the roller brush 12. Thus, the drive unit 42 can drive the floating unit 41 to move toward or away from the target object such as the photovoltaic module 50, so as to drive the roller brush 12 of the roller brush assembly 10 to move toward or away from the target object such as the photovoltaic module 50.

[0055] like Figure 6 and Figure 9As shown, when the junction of two adjacent rows of photovoltaic modules 50 is recessed towards the ground, since the rotation axes of the two roller brushes 12 are initially on the same straight line, a cleaning blind spot 51 will appear at the junction of the two rows of photovoltaic modules 50. At this time, the floating unit 41 between the two roller brushes 12 can be adjusted to move towards the target object such as the photovoltaic module 50, so that the adjacent ends of the two roller brushes 12 move towards the target object such as the photovoltaic module 50, until the two roller brushes 12 are just in contact with the two adjacent rows of photovoltaic modules 50, thus achieving the purpose of normal cleaning of the photovoltaic modules 50. Figure 10 As shown.

[0056] like Figure 7 As shown, when the junction of two adjacent rows of photovoltaic modules 50 protrudes away from the ground, since the rotation axes of the two roller brushes 12 are initially on the same straight line, the adjacent ends of the two roller brushes 12 will be excessively pressed against the adjacent rows of photovoltaic modules 50. At this time, the floating unit 41 between the two roller brushes 12 can be adjusted to move it away from the photovoltaic modules 50 and other target objects, so that the adjacent ends of the two roller brushes 12 move away from the photovoltaic modules 50 and other target objects until the two roller brushes 12 are just in contact with the adjacent rows of photovoltaic modules 50, thus achieving the purpose of normal cleaning of the photovoltaic modules 50. Figure 10 As shown.

[0057] In some embodiments, such as Figure 3 and Figure 5 As shown, the floating unit 41 may include a floating element 411, a moving element 412, and an elastic element 413. The floating element 411 can be connected to the roller brush 12, the moving element 412 can be connected to the drive unit 42, and one end of the elastic element 413 is connected to the moving element 412, while the other end of the elastic element 413 is connected to the floating element 411. When the relative position of the floating element 411 and the moving element 412 deviates from the equilibrium position, the elastic element 413 can provide tension or rebound force to the floating unit 41. It should be noted that the elastic element 413 may be a spring or the like.

[0058] In some embodiments, such as Figure 3 and Figure 5 As shown, the floating member 411 may have a first cavity, and the moving member 412 may have a second cavity, with the floating member 411 movably embedded within the second cavity of the moving member 412. Simultaneously, the floating unit 41 may include a variable cavity 414, which may consist of at least the first cavity and the second cavity. At least a portion of the elastic member 413 may be located within the variable cavity 414; that is, the elastic member 413 may be partially or entirely located within the variable cavity 414, so that the elastic deformation of the elastic member 413 can drive the change of the variable cavity 414.

[0059] In some embodiments, such as Figure 3 and Figure 5 As shown, the variable cavity 414 can be filled with a fluid medium. A sealing ring or other sealing element 4143 is provided between the outer wall of the floating member 411 and the inner wall of the moving member 412 to prevent fluid leakage. Furthermore, an adjustment hole 4141 for fluid medium flow is provided on the side wall of the variable cavity 414. A control valve 4142 is located at the position of the adjustment hole 4141 to control the opening and closing size of the adjustment hole 4141. By adjusting the opening and closing size of the adjustment hole 4141, the flow rate of the fluid medium out of the adjustment hole 4141 can be controlled, thereby adjusting the damping effect of the floating unit 41. It should be noted that a balloon can be provided on the side of the adjustment hole 4141 away from the variable cavity 414. When all the fluid medium in the variable cavity 414 flows into the balloon, the fluid medium can be discharged back into the variable cavity 414 by compressing the balloon, thus ensuring the damping adjustment effect of the floating unit 41. In addition, a liquid injection hole for injecting fluid medium can be provided on the floating member 411 or the moving member 412, so that the initial fluid medium can be injected into the variable cavity 414 through the liquid injection hole, and the liquid injection hole can be sealed by plugging.

[0060] In the above embodiments, the fluid medium may be silicone oil, glycerin, polybutene-type damping oil, ethylene or olefin polymer-type damping oil, etc., and the control valve 4142 may be a solenoid valve, etc., which are not limited here.

[0061] Of course, the floating unit 41 may also include a spring, and the roller brush 12 is connected to one end of the spring, while the other end of the spring is connected to the drive unit 42. Thus, the spring can be used to provide tension or rebound force to the roller brush 12, ensuring the stability of the roller brush 12 in cleaning the photovoltaic module 50. Specifically, a spring or a floating unit 41 with variable damping can be selected according to actual needs to achieve the adjustment effect of the roller brush 12.

[0062] In some embodiments, such as Figure 2 and Figure 4 As shown, a displacement sensor 4111 can also be provided on the floating component 411, so that the relative position of the floating component 411 and the moving component 412 can be measured in real time through the displacement sensor 4111.

[0063] It should be noted that the drive unit 42 can be, but is not limited to, a lead screw motor. The lead screw motor can be connected to the lead screw 4121 connected to the moving part 412 to drive the moving part 412 to move, thereby pulling the floating part 411 to drive the roller brush 12 to move. The drive unit 42 can also be a worm gear mechanism, a telescopic cylinder, or other drive components, which are not limited here.

[0064] In some embodiments, such as Figure 1As shown, one or more attitude sensors 111 capable of monitoring the movement attitude of the support beam 11 can be provided on the support beam 11. That is, the attitude sensor 111 can be one, two, three or more. Optionally, the attitude sensor 111 can be one, and the attitude sensor 111 is located at the middle position of the support beam 11, thereby realizing the monitoring of the movement attitude of the support beam 11.

[0065] In some embodiments, such as Figure 1 As shown, each floating unit 41 can be equipped with a position sensor 13 to monitor the relative position of the roller brush 12 and the photovoltaic module 50 and other targets in real time, thereby enabling the adjustment mechanism 40 to adjust the roller brush 12 in real time.

[0066] In some embodiments, such as Figure 1 As shown, a vision sensor 23 can be installed on the fixed bracket 20. The vision sensor 23 can identify the position of the target object such as the photovoltaic module 50, so that the roller brush assembly 10 can perform a cleaning action on the target object such as the photovoltaic module 50.

[0067] To facilitate a better understanding of the cleaning process of the cleaning device for photovoltaic modules 50 and other target objects, the cleaning process of two roller brushes 12 on two adjacent rows of photovoltaic modules 50 is used as an example for explanation and illustration. The floating unit 41 between the adjacent ends of the two roller brushes 12 is the free end floating unit, and the floating unit 41 at the opposite ends of the two roller brushes 12 is the drive end floating unit.

[0068] like Figure 8 As shown, the damping ratio of the driving-end floating unit is defined as N1, the damping ratio of the free-end floating unit is defined as N2, and the downward adjustment amount of both the driving-end and free-end floating units is L1, the upward adjustment amount of both the driving-end and free-end floating units is L2, the stiffness coefficient of the elastic element 413 of the driving-end floating unit is K1, the stiffness coefficient of the elastic element 413 of the free-end floating unit is K2, the weight of a single roller brush 12 is mg, the angle between the supporting beam 11 and the ground is B, and the distance between the driving-end and free-end floating units is L4. Figure 6 and Figure 7 As shown, the angle between the straight line formed by the top and bottom points on the surface of photovoltaic module 50 and the ground is A (hereinafter referred to as angle A of photovoltaic module 50). The projected length of photovoltaic module 50 on the straight line is L3. The perpendicular distance between the intersection of two rows of photovoltaic modules 50 and the straight line is d. When the intersection of two rows of photovoltaic modules 50 is concave towards the side closer to the ground, as... Figure 6 As shown, the perpendicular distance between the intersection of the two rows of photovoltaic modules 50 and the straight line is defined as d(+). When the intersection of the two rows of photovoltaic modules 50 protrudes towards the side away from the ground, as shown... Figure 7As shown, the perpendicular distance between the intersection of the two rows of photovoltaic modules 50 and the straight line is defined as d(﹣). Figure 10 As shown, the center of the roller brush 12 is D away from the target of the photovoltaic module 50. It should be noted that the stiffness coefficient K1 of the elastic element 413 of the driving end floating unit can be the ratio between the weight mg of a single roller brush 12 and the minimum value of min (0.1L1, 0.1L2), i.e., 0.1L1 to 0.1L2. The stiffness coefficient K2 of the elastic element 413 of the free end floating unit can be 2K1, where g is the acceleration due to gravity.

[0069] During the cleaning process, the vision sensor 23 can monitor in real time the included angle A of the photovoltaic module 50, the vertical distance d between the intersection of the two rows of photovoltaic modules 50 and the straight line, and the position of the intersection of the two rows of photovoltaic modules 50. By adjusting the robotic arm 30, the free end floating unit is positioned directly above the intersection of the two rows of photovoltaic modules 50. The attitude sensor 111 monitors in real time the included angle B between the support beam 11 and the ground, and makes the included angle B between the support beam 11 and the ground equal to the included angle A of the photovoltaic module 50. The position sensor 13 senses the relative position of the roller brush 12 and the photovoltaic module 50, and by adjusting the robotic arm 30, the distance D between the center of the roller brush 12 on the upper and lower sides of the cleaning device and the photovoltaic module 50 is made.

[0070] When the photovoltaic modules in two adjacent rows are uneven due to factors such as installation errors, foundation settlement, and temperature changes, i.e., d is in the d(+) state or the d(-) state. When the d offset is small, i.e., d≤min(0.3L1, 0.3L2), the floating units at the drive ends on both sides do not move. When d is in the d(+) state, according to the geometric relationship, the free end floating unit can be extended by tan(arctan(d / L3))×L4; when d is in the d(-) state, the free end floating unit can be shortened by tan(arctan(d / L3))×L4. When the offset of d is large, i.e., d > min(0.3L1, 0.3L2), and when d is in the d(+) state, the floating units at the drive ends on both sides can be shortened by 0.5 tan(arctan(d / L3)) × L4, and the floating units at the free end can be extended by 0.5 tan(arctan(d / L3)) × L4; when d is in the d(-) state, the floating units at the drive ends on both sides can be extended by 0.5 tan(arctan(d / L3)) × L4, and the floating units at the free end can be shortened by 0.5 tan(arctan(d / L3)) × L4, which ensures that each roller brush 12 is parallel to the photovoltaic module 50 being cleaned, and by adjusting the robotic arm 30, the distance between the center of the roller brush 12 and the photovoltaic module 50 is D.

[0071] Due to the mechanical vibration caused by the undulation of the ground and the positional change of the photovoltaic module 50, the relative position of the roller brush 12 and the photovoltaic module 50 changes continuously over time. The position sensor 13 can monitor the relative position of the roller brush 12 and the photovoltaic module 50 in real time, thereby maintaining a dynamic balance between the relative positions of the roller brush 12 and the photovoltaic module 50 by extending and shortening the drive end floating unit and the free end floating unit.

[0072] In addition, the displacement sensor 4111 on the floating component 411 can monitor the pressure of the roller brush 12 on the photovoltaic module 50 in real time. Based on the distribution of dust on the photovoltaic module 50 perceived by the vision sensor 23, the pressure of the roller brush 12 on the photovoltaic module 50 can be changed by adjusting the extension and shortening of the drive end floating unit and the free end floating unit, thereby achieving differentiated cleaning of different areas and improving cleaning efficiency.

[0073] Meanwhile, the attitude sensor 111 can monitor the vibration state of the support beam 11 in real time. The damping ratio N1 of the drive end floating unit and the damping ratio N2 of the free end floating unit can be adjusted by the control valve 4142. When the vibration of the support beam 11 of the roller brush assembly 10 is mainly in a low-frequency state, the values ​​of N1 and N2 can be 0.1~0.3. When the vibration of the support beam 11 of the roller brush assembly 10 is mainly in a high-frequency state, the values ​​of N1 and N2 can be 0.3~0.5.

[0074] The cleaning device disclosed in this application connects the floating unit 41 of the adjustment mechanism 40 to both ends of the roller brush assembly 10, and connects the floating unit 41 to the drive unit 42, so that the drive unit 42 can drive the floating unit 41 to move, thereby realizing the adjustment of the distance between the adjustment mechanism 40 and the target objects such as the roller brush assembly 10 and the photovoltaic module 50.

[0075] The cleaning device disclosed in this application uses a drive unit 42 to move floating units 41 located at both ends of the roller brush assembly 10. This allows the roller brush assembly 10 to be adjusted according to the posture of the target object such as the photovoltaic module 50, so as to avoid cleaning blind spots 51 or excessive contact with the target object such as the photovoltaic module 50, thereby improving cleaning efficiency, and the response speed is faster and the adjustment of the roller brush assembly 10 is more precise.

[0076] The terms "first" and "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units may include steps or units not listed, but rather not listed.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. 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 this application. Therefore, this application 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 cleaning device, characterized in that, include: A roller brush assembly (10) capable of cleaning the target object; The adjustment mechanism (40) includes at least two floating units (41) and at least two driving units (42), with the two floating units (41) respectively connected to both ends of the roller brush assembly (10), and the driving units (42) connected to the floating units (41). The adjustment mechanism (40) can adjust the distance between the roller brush assembly (10) and the target object.

2. The cleaning device according to claim 1, characterized in that, The roller brush assembly (10) includes a support beam (11) and at least one roller brush (12) arranged parallel to the support beam (11). The floating unit (41) is connected to the end of the roller brush (12), and a roller brush drive (14) capable of driving the roller brush (12) to rotate is provided on at least one of the floating units (41).

3. The cleaning device according to claim 2, characterized in that, The roller brushes (12) are at least two coaxially arranged, and two adjacent roller brushes (12) share one floating unit (41).

4. The cleaning device according to claim 3, characterized in that, A connecting shaft (4112) capable of being connected to the roller brush (12) is rotatably provided on the floating unit (41) between two adjacent roller brushes (12).

5. The cleaning device according to claim 4, characterized in that, There is one connecting shaft (4112), and the connecting shaft (4112) passes through the floating unit (41). The two ends of the connecting shaft (4112) are respectively connected to two adjacent roller brushes (12) through universal joints (15); or, There are two connecting shafts (4112), and the two connecting shafts (4112) are respectively arranged opposite to each other on the floating unit (41). The two connecting shafts (4112) are respectively connected to the two adjacent roller brushes (12) through universal joints (15).

6. The cleaning device according to any one of claims 2 to 5, characterized in that, The floating unit (41) includes a floating element (411), a moving element (412), and an elastic element (413). The floating member (411) can be connected to the roller brush (12), the moving member (412) can be connected to the drive unit (42), one end of the elastic member (413) is connected to the moving member (412), and the other end of the elastic member (413) is connected to the floating member (411).

7. The cleaning device according to claim 6, characterized in that, The floating unit (41) includes a variable cavity (414), the floating member (411) has a first cavity, the moving member (412) has a second cavity, and the floating member (411) is movably embedded in the second cavity of the moving member (412). The variable cavity (414) includes at least the first cavity and the second cavity, and the elastic member (413) is at least partially located in the variable cavity (414). The variable cavity (414) is filled with a fluid medium.

8. The cleaning device according to any one of claims 2 to 5, characterized in that, The floating unit (41) includes a spring, one end of which is connected to the roller brush (12) and the other end of which is connected to the drive unit (42).

9. The cleaning device according to claim 2, characterized in that, The supporting beam (11) is provided with a fixed bracket (20) on the side away from the roller brush (12), and the fixed bracket (20) can be connected to the robotic arm (30) of the cleaning device.

10. The cleaning device according to claim 9, characterized in that, The supporting beam (11) is provided with a plurality of attitude sensors (111) capable of monitoring the motion attitude of the supporting beam (11); and / or, The floating unit (41) is equipped with a position sensor (13), which can monitor the relative position of the roller brush (12) and the target object; and / or, A vision sensor (23) is provided on the fixed bracket (20), and the vision sensor (23) can identify the position of the target object.

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