A photovoltaic cleaning robot deviation correction and obstacle crossing device and photovoltaic cleaning robot

Abstract

The utility model belongs to photovoltaic cleaning robot technical field discloses a photovoltaic cleaning robot deviation correction obstacle surmounting device and photovoltaic cleaning robot. Photovoltaic cleaning robot deviation correction obstacle surmounting device includes support and deviation correction obstacle surmounting mechanism, and support is configured to be connected with lower head; Deviation correction obstacle surmounting mechanism includes rotating part, deviation correction wheel, first sensor, elastic part and second sensor, and rotating part rotationally sets up in support, and deviation correction wheel rotationally sets up in rotating part, and deviation correction wheel can contact with the downside of photovoltaic panel, and first sensor is used to detect whether deviation correction wheel autorotates, and is configured to be connected with control mechanism communication; Elastic part is located between rotating part and support, and second sensor is used to detect the rotating position of rotating part, and is configured to be connected with control mechanism communication. The utility model can perceive body deflection and correct body deflection in time, can more accurately judge the timing of obstacle surmounting operation, can make photovoltaic cleaning robot smoothly drive on photovoltaic panel and complete cleaning.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning robot technology, and in particular to a photovoltaic cleaning robot obstacle correction and overcoming device and a photovoltaic cleaning robot. Background Technology

[0002] Solar panels convert solar energy into electricity, but they are typically located in plains, mountains, and deserts, where they are susceptible to dust and dirt buildup during operation. To prevent dust accumulation on the panels and its impact on power generation efficiency, solar cleaning robots can be used to regularly clean the panels. During cleaning, the robot passes over multiple panels sequentially.

[0003] When moving, the photovoltaic cleaning robot uses the edges of the photovoltaic panels as its track. However, height differences between the edges of different photovoltaic panels or speed differences between the upper and lower heads of the robot can cause the robot to tilt during movement, or even get stuck on steps and be unable to move. Existing photovoltaic cleaning robots can detect whether the robot is tilting, but when there are significant differences in the edges of different photovoltaic panels that prevent the robot from crossing them when moving normally, i.e., when the robot encounters steps with large height differences and cannot move, it cannot promptly determine whether obstacle crossing is necessary. Utility Model Content

[0004] The purpose of this utility model is to provide a device for correcting deviation and overcoming obstacles for a photovoltaic cleaning robot, as well as a photovoltaic cleaning robot. This device can sense the body deviation and correct it in a timely manner, accurately determine the timing of obstacle-crossing operations, and enable the photovoltaic cleaning robot to move smoothly on the photovoltaic panels and complete the cleaning.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] On the one hand, a device for correcting deviations and overcoming obstacles for a photovoltaic cleaning robot is provided, comprising:

[0007] The support is configured to connect to the lower part of the machine head;

[0008] The obstacle-crossing and deviation-correcting mechanism includes a rotating component, a deviation-correcting wheel, a first sensor, an elastic component, and a second sensor. The rotating component is rotatably mounted on the support, and the deviation-correcting wheel is rotatably mounted on the rotating component. The deviation-correcting wheel can contact the lower surface of the photovoltaic panel. The first sensor is used to detect whether the deviation-correcting wheel is rotating and is configured to communicate with the control mechanism. The elastic component is disposed between the rotating component and the support. The second sensor is used to detect the rotational position of the rotating component and is configured to communicate with the control mechanism.

[0009] In some possible implementations, the alignment wheel is connected to a sensor that can revolve around the rotation center line of the alignment wheel, the first sensor is fixed to the rotating component, the detection end of the first sensor is aligned with the rotation center line of the alignment wheel, and the sensor is used to trigger the first sensor.

[0010] In some possible implementations, the correction wheel is located outside the rotating member, the sensing element is disposed on the side of the correction wheel near the rotating member, and the first sensor is fixed to the outer wall of the rotating member.

[0011] In some possible implementations, at least two sensors are provided, and the at least two sensors are evenly spaced along the circumference of the correction wheel.

[0012] In some possible implementations, the second sensor is fixed to the support, with the detection end of the second sensor facing the outer wall of the rotating member, which is used to trigger the second sensor.

[0013] In some possible implementations, there are two obstacle-crossing mechanisms, which are located on both sides of the support and are arranged opposite to each other.

[0014] In some possible implementations, the support has an inner cavity, one end of the rotating member extends into the inner cavity and is rotatably connected to the support through a first rotating shaft, and the cavity wall near the elastic member has a slot, so that when the rotating member rotates, the rotating member can abut against the slot.

[0015] In some possible implementations, the elastic element is a tension spring, one end of which is connected to the rotating element and the other end of which is connected to the support.

[0016] In some possible implementations, the support includes a first bracket and a second bracket, the first bracket being connected to the lower machine head, the second bracket being detachably connected to the first bracket, the rotating member being rotatably disposed on the second bracket, and the elastic member being disposed between the rotating member and the second bracket.

[0017] On the other hand, a photovoltaic cleaning robot is provided, including a lower head and a photovoltaic cleaning robot deviation correction and obstacle crossing device as described in any of the above embodiments, with a support connected to the lower head.

[0018] The beneficial effects of this utility model are:

[0019] This utility model provides a photovoltaic cleaning robot obstacle-crossing and deviation-correction device, including a support and an obstacle-crossing and deviation-correction mechanism. When the photovoltaic cleaning robot moves, the deviation-correction wheel maintains a certain distance from the lower surface of the photovoltaic panel. When the robot body tilts, the distance between the deviation-correction wheel and the lower surface of the photovoltaic panel decreases until the wheel contacts the lower surface of the panel, generating friction and causing the wheel to rotate. At this time, a first sensor detects the rotation of the deviation-correction wheel and transmits a signal to the control mechanism. The control mechanism then controls the acceleration and deceleration of the upper and lower heads of the photovoltaic cleaning robot based on the signal from the first sensor. Therefore, by setting up the deviation-correction wheel and the first sensor, the robot body deviation can be detected and corrected in a timely manner. Based on this, when the upper head of the photovoltaic cleaning robot encounters a step with a significant height deviation and cannot move, the lower head, unobstructed, can continue moving. During this movement, the lower side of the photovoltaic panel presses against the correction wheel, causing the rotating component to rotate outward and stretch the elastic element. When the second sensor detects that the rotation position of the rotating component exceeds a preset range, it transmits a signal to the control mechanism to initiate an obstacle-crossing operation. When the first sensor detects that the correction wheel is not rotating, the photovoltaic cleaning robot resumes normal movement. By incorporating a second sensor, it can promptly determine whether an obstacle-crossing operation is necessary and accurately judge the timing of such operations. Furthermore, the second sensor communicates with the control mechanism and can automatically initiate obstacle-crossing operations, improving the level of automation. Attached Figure Description

[0020] Figure 1 This is a first-view structural diagram of the photovoltaic cleaning robot obstacle-crossing device provided by this utility model;

[0021] Figure 2 This is a second-view structural diagram of the photovoltaic cleaning robot obstacle-crossing device provided by this utility model;

[0022] Figure 3 This is a structural schematic diagram of the photovoltaic cleaning robot (when walking normally) provided by this utility model;

[0023] Figure 4 This is a partial structural schematic diagram of the photovoltaic cleaning robot provided by this utility model;

[0024] Figure 5 This is a structural schematic diagram of the photovoltaic cleaning robot provided by this utility model (when the upper head is tilted to the left relative to the lower head);

[0025] Figure 6 This is a structural schematic diagram of the photovoltaic cleaning robot provided by this utility model (when the upper head is tilted to the right relative to the lower head);

[0026] Figure 7This is a schematic diagram of the structure of the photovoltaic cleaning robot obstacle correction device and photovoltaic panel (when the correction wheel maintains a certain distance from the lower side of the photovoltaic panel) provided by this utility model;

[0027] Figure 8 yes Figure 7 Enlarged view of point A in the middle;

[0028] Figure 9 This is a schematic diagram of the structure of the photovoltaic cleaning robot obstacle correction device and photovoltaic panel (when the correction wheel located on the left side of the support can contact the lower side of the photovoltaic panel) provided by this utility model.

[0029] Figure 10 yes Figure 9 Enlarged view of point B in the middle;

[0030] Figure 11 This is a schematic diagram of the structure of the photovoltaic cleaning robot obstacle correction device and photovoltaic panel (when the correction wheel located on the right side of the support can contact the lower side of the photovoltaic panel) provided by this utility model.

[0031] Figure 12 yes Figure 11 Enlarged view of point C in the middle;

[0032] Figure 13 This is a schematic diagram of the structure of the photovoltaic cleaning robot obstacle correction device and photovoltaic panel (when the rotating part rotates to leave the detection end of the second sensor) provided by this utility model;

[0033] Figure 14 This is a structural diagram of the photovoltaic cleaning robot provided by this utility model (when the upper part of the robot cannot walk when it encounters a step with a large height difference).

[0034] In the picture:

[0035] 1. Support; 11. Inner cavity; 12. Slot; 13. First bracket; 14. Second bracket; 141. First connector; 142. Second connector; 2. Correction and obstacle-crossing mechanism; 21. Rotating component; 22. Correction wheel; 23. First sensor; 24. Elastic component; 25. Second sensor; 26. Sensing component; 27. First rotating shaft; 28. Second rotating shaft; 29. ​​First bending component; 20. Second bending component;

[0036] 100. Lower unit head; 10. Second traveling wheel; 200. Upper unit head; 300. Photovoltaic panel. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0039] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0040] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0041] like Figures 1 to 14 As shown, this utility model provides a photovoltaic cleaning robot obstacle correction and crossing device, which can promptly correct the robot's tilt and cross steps with a height difference of less than 50mm, enabling the photovoltaic cleaning robot to smoothly travel on the photovoltaic panel 300 and complete the cleaning task. The photovoltaic cleaning robot obstacle correction and crossing device includes a support 1 and an obstacle correction and crossing mechanism 2. The support 1 is configured to be connected to the lower head 100. The obstacle correction and crossing mechanism 2 includes a rotating component 21, a correction wheel 22, a first sensor 23, an elastic component 24, and a second sensor 25. The rotating component 21 is rotatably mounted on the support 1, and the correction wheel 22 is rotatably mounted on the rotating component 21. The correction wheel 22 can contact the lower side of the photovoltaic panel 300. The first sensor 23 is used to detect whether the correction wheel 22 rotates and is configured to communicate with the control mechanism. The elastic component 24 is disposed between the rotating component 21 and the support 1. The second sensor 25 is used to detect the rotation position of the rotating component 21 and is configured to communicate with the control mechanism.

[0042] Specifically, the upper head 200 of the photovoltaic cleaning robot includes a first walking motor and a first walking wheel. The first walking motor is used to drive the first walking wheel to rotate. The lower head 100 includes a second walking motor and a second walking wheel 10. The second walking motor is used to drive the second walking wheel 10 to rotate. The control mechanism is used to control the acceleration and deceleration of the first walking motor of the upper head 200 and the second walking motor of the lower head 100. The first walking wheel of the upper head 200 can walk on the top surface of the photovoltaic panel 300, and the second walking wheel 10 of the lower head 100 can walk on the front wall surface of the photovoltaic panel 300. The support 1 is connected to the lower head 100, and the correction wheel 22 can contact the lower side surface of the photovoltaic panel 300.

[0043] When the photovoltaic cleaning robot walks, such as Figure 8 As shown, the correction wheel 22 maintains a certain distance from the lower side of the photovoltaic panel 300. When the robot body tilts, the distance between the correction wheel 22 and the lower side of the photovoltaic panel 300 decreases until it contacts the lower side of the photovoltaic panel 300 and generates friction, causing the correction wheel 22 to rotate. At this time, the first sensor 23 detects the rotation of the correction wheel 22 and transmits the signal to the control mechanism. The control mechanism controls the acceleration and deceleration of the upper head 200 and lower head 100 of the photovoltaic cleaning robot according to the signal emitted by the first sensor 23. Therefore, by setting the correction wheel 22 and the first sensor 23, the robot body tilt can be detected and corrected in time. When the photovoltaic cleaning robot encounters a step with a small height deviation, the first sensor 23 will detect the rotation of the correction wheel 22 and correct the tilt in time, allowing the first traveling wheel of the upper head 200 to pass directly over the step. Here, a step can refer to one of two adjacent photovoltaic panels 300, where the top surface of one photovoltaic panel 300 is higher than the top surface of the other photovoltaic panel 300, thus forming a step.

[0044] Based on this, when the upper head 200 of the photovoltaic cleaning robot encounters a step with a large height deviation and cannot move, the lower head 100 can continue to move because there is no obstruction. During the movement of the lower head 100, the lower side of the photovoltaic panel 300 will squeeze the correction wheel 22, causing the rotating component 21 to rotate outward and stretch the elastic component 24. When the second sensor 25 detects that the rotation position of the rotating component 21 exceeds the preset position range, it transmits a signal to the control mechanism to perform an obstacle-crossing operation. When the first sensor 23 detects that the correction wheel 22 is not rotating, the photovoltaic cleaning robot resumes normal movement. By setting the second sensor 25, it is possible to determine in a timely manner whether an obstacle-crossing operation is needed, and to accurately determine the timing of the obstacle-crossing operation. When the first walking wheel of the upper head 200 can directly pass over the step, the first sensor 23 corrects the body tilt in time. When the first walking wheel of the upper head 200 encounters a step with a large height deviation and cannot move, the second sensor 25 initiates the obstacle-crossing operation. In addition, the second sensor 25 is connected to the control mechanism and can initiate the obstacle-crossing operation automatically, which can improve the degree of automation. By setting the elastic element 24, the rotation of the rotating element 21 is reset.

[0045] Optionally, two obstacle-crossing mechanisms 2 are provided, located on both sides of the support 1 and arranged opposite each other. This arrangement allows for the detection and timely correction of the aircraft's tilt relative to the lower aircraft head 100 when the upper aircraft head 200 tilts to the left, and for more accurate judgment of the timing of obstacle-crossing operations. Similarly, it can detect and timely correct the aircraft's tilt relative to the lower aircraft head 100 when the upper aircraft head 200 tilts to the right, and for more accurate judgment of the timing of obstacle-crossing operations. Figure 5 As shown, when the upper head 200 tilts to the left relative to the lower head 100, that is, when the lower head 100 is ahead when the photovoltaic cleaning robot is moving from left to right, or when the upper head 200 is ahead when the photovoltaic cleaning robot is moving from right to left, as... Figure 11 and Figure 12 As shown, the steering wheel 22 located on the right side of the support 1 can contact the lower side of the photovoltaic panel 300. The first sensor 23 corresponding to the steering wheel 22 will detect the rotation of the steering wheel 22 and transmit the signal to the control mechanism. The control mechanism will control the acceleration and deceleration of the upper head 200 and lower head 100 of the photovoltaic cleaning robot according to the signal emitted by the first sensor 23. Figure 6 As shown, when the upper head 200 tilts to the right relative to the lower head 100, that is, when the upper head 200 of the photovoltaic cleaning robot is ahead when it is moving from left to right, or when the lower head 100 of the photovoltaic cleaning robot is ahead when it is moving from right to left, such as Figure 9 and Figure 10As shown, the correction wheel 22 located on the left side of the support 1 can contact the lower side of the photovoltaic panel 300. The first sensor 23 corresponding to the correction wheel 22 will detect the rotation of the correction wheel 22 and transmit the signal to the control mechanism. The control mechanism will control the acceleration and deceleration of the upper head 200 and lower head 100 of the photovoltaic cleaning robot according to the signal emitted by the first sensor 23.

[0046] When the photovoltaic cleaning robot travels from left to right, if the upper head 200 encounters a step with a large height difference and cannot move, the lower head 100 will pass the upper head 200, causing the lower head 100 to deviate in the direction of travel. Consequently, the upper head 200 tilts to the left relative to the lower head 100. Since the lower head 100 is unobstructed, it can continue to move, causing the right-side rotating component 21 to continue rotating. The right-side elastic component 24 is further stretched, causing the rotation position of the right-side rotating component 21 to exceed the preset position range. At this time, the right-side second sensor 25 transmits a signal to the control mechanism to perform obstacle crossing operation.

[0047] When the photovoltaic cleaning robot travels from right to left, if the upper head 200 encounters a step with a large height difference and cannot move, the lower head 100 will pass the upper head 200, causing the lower head 100 to deviate in the direction of travel. Consequently, the upper head 200 tilts to the right relative to the lower head 100. Since the lower head 100 is unobstructed, it can continue to move, causing the left rotating component 21 to continue rotating. The left elastic component 24 is further stretched, causing the rotation position of the left rotating component 21 to exceed the preset position range. At this time, the second sensor 25 on the left transmits a signal to the control mechanism to perform obstacle crossing operation.

[0048] Optionally, such as Figure 1 and Figure 4 As shown, the support 1 has an inner cavity 11. One end of the rotating member 21 extends into the inner cavity 11 and is rotatably connected to the support 1 through the first rotating shaft 27. The cavity wall of the inner cavity 11 near the elastic member 24 has a slot 12. When the rotating member 21 rotates, it can abut against the slot 12. By setting the slot 12, the rotation position of the rotating member 21 can be restricted.

[0049] Optionally, the support 1 includes a first bracket 13 and a second bracket 14. The first bracket 13 is connected to the lower head 100, and the second bracket 14 is detachably connected to the first bracket 13. A rotating member 21 is rotatably mounted on the second bracket 14, and an elastic member 24 is disposed between the rotating member 21 and the second bracket 14. Detachably connecting the second bracket 14 to the first bracket 13 facilitates the disassembly, assembly, and replacement of the second bracket 14 and the obstacle-crossing mechanism 2. Specifically, the first bracket 13 is an L-shaped plate, comprising two mutually perpendicular flat plates. One flat plate is connected to the second bracket 14 by screws, and the other flat plate is connected to the main frame plate of the lower head 100 by screws.

[0050] Specifically, such as Figure 1 and Figure 4 As shown, the second bracket 14 includes a first connector 141 and a second connector 142. The first connector 141 is perpendicular to the second connector 142, and both the first connector 141 and the second connector 142 are square tubes. Further, in this embodiment, the first connector 141 has connecting holes on both sides, and two rotating parts 21 are correspondingly arranged with the two connecting holes. Each connecting hole has a first rotating shaft 27. In addition, both the first connector 141 and the second connector 142 are made of aluminum alloy. In this embodiment, the first connector 141 and the second connector 142 are welded together.

[0051] Optionally, the elastic element 24 is a tension spring, with one end connected to the rotating element 21 and the other end connected to the support 1. The elastic element 24 is a tension spring, which has a simple structure and is readily available. Specifically, both the rotating element 21 and the second connecting element 142 are provided with hooking holes; one end of the tension spring hooks into the hooking hole of the rotating element 21, and the other end of the tension spring hooks into the hooking hole of the second connecting element 142.

[0052] Optionally, in this embodiment, the alignment wheel 22 is connected to a sensor 26, which can revolve around the rotation center line of the alignment wheel 22. A first sensor 23 is fixed to the rotating component 21, with its detection end aligned with the rotation center line of the alignment wheel 22. The sensor 26 is used to trigger the first sensor 23. When the alignment wheel 22 contacts the lower surface of the photovoltaic panel 300, causing it to rotate, the sensor 26 revolves around the rotation center line of the alignment wheel 22, triggering the first sensor 23. The first sensor 23 detects the rotation of the sensor 26 and transmits the signal to the control mechanism. This configuration allows for the detection of whether the alignment wheel 22 is rotating. Optionally, the first sensor 23 is an inductive proximity switch, and the sensor 26 is made of metal. This configuration enables non-contact detection, avoiding damage to the alignment wheel 22. Optionally, the sensor 26 has a cylindrical structure.

[0053] To facilitate the installation of the alignment wheel 22 and the observation of its movement, optionally in this embodiment, the alignment wheel 22 is located outside the rotating member 21, the sensing element 26 is disposed on the side of the alignment wheel 22 near the rotating member 21, and the first sensor 23 is fixed to the outer wall of the rotating member 21. Optionally, the first sensor 23 is fixed to the outer wall of the rotating member 21 by a first bending member 29. In other embodiments, the alignment wheel 22 may be located inside the rotating member 21.

[0054] In this embodiment, the straightening wheel 22 is rotatably connected to the rotating component 21 via a second rotating shaft 28. Specifically, the second rotating shaft 28 passes through the straightening wheel 22 and the rotating component 21 and is threadedly connected to a slotted nut. A bearing is provided between the straightening wheel 22 and the second rotating shaft 28. Furthermore, both ends of the rotating component 21 have mounting holes, one for connecting to the first rotating shaft 27 and the other for connecting to the second rotating shaft 28. Optionally, the rotating component 21 can be a square tube, which simplifies the structure and facilitates manufacturing.

[0055] Optionally, at least two sensors 26 are provided, and the at least two sensors 26 are evenly spaced along the circumference of the correction wheel 22. Providing at least two sensors 26 reduces the detection blind zone and improves measurement accuracy and reliability. In this embodiment, six sensors 26 are provided, and the six sensors 26 are evenly spaced along the circumference of the correction wheel 22.

[0056] Optionally, the second sensor 25 is fixed to the support 1, with its detection end facing the outer wall of the rotating component 21. The rotating component 21 is used to trigger the second sensor 25. When the upper head 200 of the photovoltaic cleaning robot encounters a step with a large height deviation and cannot move, the lower head 100 can continue to move because there is no obstruction. This allows the rotating component 21 to rotate outward and stretch the elastic component 24, such as... Figure 13 As shown, when the rotating component 21 rotates away from the detection end of the second sensor 25, that is, when the rotation position of the rotating component 21 exceeds the preset position range, the second sensor 25 transmits a signal to the control mechanism to perform an obstacle-crossing operation. This configuration facilitates the detection of the rotation position of the rotating component 21. In this embodiment, the second sensor 25 is a magnetic induction proximity switch, and the rotating component 21 is made of magnetic stainless steel. Optionally, the second sensor 25 is fixed to the outer wall of one side of the first connecting component 141 by the second bending member 20.

[0057] For example, the correction method of the photovoltaic cleaning robot's obstacle-crossing device is as follows: After the photovoltaic cleaning robot's obstacle-crossing device is fixed to the main frame plate of the lower head 100, the photovoltaic cleaning robot travels on the photovoltaic panel 300. The correction wheel 22 maintains a certain distance from the lower side of the photovoltaic panel 300. After the robot body tilts, the distance between the correction wheel 22 and the lower side of the photovoltaic panel 300 will decrease until it contacts the lower side of the photovoltaic panel 300, causing the correction wheel 22 to rotate. The first sensor 23 corresponding to the correction wheel 22 will detect the rotation of the correction wheel 22 and transmit the signal to the control mechanism. The control mechanism will control the acceleration and deceleration of the upper head 200 and the lower head 100 of the photovoltaic cleaning robot according to the signal emitted by the first sensor 23. Specifically, if the first sensor 23 in the forward direction emits a signal, the second walking motor of the lower head 100 will stop 5 seconds after receiving the first signal and wait for 1 second before accelerating the second walking motor of the lower head 100 to the set speed. Five seconds after receiving the first correction signal, the second travel motor of the lower head 100 is stopped, and a one-second wait is allowed to rule out unexpected situations and prevent misoperation. If the signal is sent by the first sensor 23 behind in the forward direction, the first travel motor of the upper head 200 is stopped five seconds after receiving the first correction signal, and a one-second wait is allowed before the first travel motor of the upper head 200 is accelerated to the set speed.

[0058] For example, the obstacle-crossing method of the photovoltaic cleaning robot's obstacle-crossing correction device: such as Figure 14 As shown, when the upper head 200 encounters a step with a large height deviation and cannot move, the lower head 100 will overtake the upper head 200, causing the lower head 100 to deviate in the forward direction. After the first sensor 23 in the forward direction sends the first correction signal, the second sensor 25 in the forward direction sends a signal within a first set time. When the control mechanism receives the first obstacle crossing signal from the second sensor 25 and waits for a second set time, the photovoltaic cleaning robot will start the obstacle crossing operation. The obstacle crossing operation is as follows: the upper head 200 and the lower head 100 move backward at the same time for a third set time. Then the upper head 200 stops, and the lower head 100 moves forward for a period of time to raise the first wheel of the upper head 200. After that, the lower head 100 stops, and the upper head 200 moves forward until the first sensor 23 stops sending the correction signal. After the first sensor 23 stops sending the correction signal, the lower head 100 starts and accelerates to normal speed after a fourth set time. Specifically, the first set time is 5 seconds, the second set time is 3 seconds, the third set time is 1 second, and the fourth set time is 0.5 seconds.

[0059] This utility model also provides a photovoltaic cleaning robot, including a lower head 100 and the aforementioned photovoltaic cleaning robot obstacle-crossing device, with a support 1 connected to the lower head 100. Specifically, the photovoltaic cleaning robot further includes a lower head 100, an upper head 200 including a first walking motor and a first walking wheel, the first walking motor driving the first walking wheel to rotate, and a lower head 100 including a second walking motor and a second walking wheel 10, the second walking motor driving the second walking wheel 10 to rotate. A control mechanism is used to control the acceleration and deceleration of the first walking motor of the upper head 200 and the second walking motor of the lower head 100. The first walking wheel of the upper head 200 can walk on the top surface of the photovoltaic panel 300, and the second walking wheel 10 of the lower head 100 can walk on the front wall surface of the photovoltaic panel 300. The support 1 is connected to the lower head 100, and the correction wheel 22 can contact the lower side surface of the photovoltaic panel 300. This photovoltaic cleaning robot can sense and correct its tilt in a timely manner, accurately determine the timing of obstacle-crossing operations, and smoothly navigate and clean the photovoltaic panels 300. In addition, the robot includes a cleaning mechanism for removing dust from the photovoltaic panels 300.

[0060] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A device for correcting deviation and overcoming obstacles in a photovoltaic cleaning robot, characterized in that, include: The support (1) is configured to connect to the lower head (100); The obstacle-crossing mechanism (2) includes a rotating component (21), a correction wheel (22), a first sensor (23), an elastic component (24), and a second sensor (25). The rotating component (21) is rotatably mounted on the support (1), and the correction wheel (22) is rotatably mounted on the rotating component (21). The correction wheel (22) can contact the lower side of the photovoltaic panel (300). The first sensor (23) is used to detect whether the correction wheel (22) rotates and is configured to communicate with the control mechanism. The elastic component (24) is disposed between the rotating component (21) and the support (1). The second sensor (25) is used to detect the rotation position of the rotating component (21) and is configured to communicate with the control mechanism.

2. The photovoltaic cleaning robot obstacle-crossing and deviation-correction device according to claim 1, characterized in that, The correction wheel (22) is connected to a sensor (26), which can revolve around the rotation center line of the correction wheel (22). The first sensor (23) is fixed to the rotating component (21), and the detection end of the first sensor (23) is aligned with the rotation center line of the correction wheel (22). The sensor (26) is used to trigger the first sensor (23).

3. The photovoltaic cleaning robot obstacle-crossing and deviation-correction device according to claim 2, characterized in that, The correction wheel (22) is located outside the rotating member (21), the sensing element (26) is disposed on the side of the correction wheel (22) close to the rotating member (21), and the first sensor (23) is fixed to the outer wall of the rotating member (21).

4. The photovoltaic cleaning robot obstacle-crossing and deviation-correction device according to claim 2, characterized in that, The sensor (26) is provided in at least two, and the at least two sensors (26) are evenly spaced along the circumference of the correction wheel (22).

5. The photovoltaic cleaning robot obstacle-crossing and deviation-correction device according to claim 1, characterized in that, The second sensor (25) is fixed to the support (1), and the detection end of the second sensor (25) is set towards the outer wall of the rotating member (21). The rotating member (21) is used to trigger the second sensor (25).

6. The photovoltaic cleaning robot obstacle-crossing and deviation-correction device according to any one of claims 1-5, characterized in that, There are two of the deviation correction and obstacle crossing mechanisms (2), which are located on both sides of the support (1) and are arranged opposite to each other.

7. The photovoltaic cleaning robot obstacle correction and crossing device according to any one of claims 1-5, characterized in that, The support (1) has an inner cavity (11). One end of the rotating member (21) extends into the inner cavity (11) and is rotatably connected to the support (1) through the first rotating shaft (27). The inner cavity (11) has a groove (12) on the side of the cavity wall near the elastic member (24). When the rotating member (21) rotates, the rotating member (21) can abut against the groove (12).

8. The photovoltaic cleaning robot obstacle-crossing and deviation-correcting device according to any one of claims 1-5, characterized in that, The elastic element (24) is a tension spring, one end of which is connected to the rotating element (21), and the other end of which is connected to the support (1).

9. The photovoltaic cleaning robot obstacle-crossing and deviation-correction device according to any one of claims 1-5, characterized in that, The support (1) includes a first bracket (13) and a second bracket (14). The first bracket (13) is connected to the lower machine head (100). The second bracket (14) is detachably connected to the first bracket (13). The rotating member (21) is rotatably disposed on the second bracket (14). The elastic member (24) is disposed between the rotating member (21) and the second bracket (14).

10. A photovoltaic cleaning robot, characterized in that, It includes a lower head (100) and a photovoltaic cleaning robot obstacle correction and overcoming device as described in any one of claims 1-9, with the support (1) connected to the lower head (100).

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