Photovoltaic cleaning robot with water quantity monitoring

Abstract

The utility model provides a kind of photovoltaic cleaning robot with water quantity monitoring belongs to photovoltaic cleaning robot technical field, including organism, and it is equipped with cleaning water tank in organism, cleaning water tank is equipped with pressure type water quantity sensor and ultrasonic liquid level meter, output end is equipped with flow metering valve, and threefold collaborative monitoring system is constructed by pressure type sensor, ultrasonic liquid level meter and flow metering valve, multi-dimensional cross-checking of cleaning water tank water quantity data is realized, residual water quantity is monitored in real time, real-time dynamic deduction centroid changes, control unit drives lifting point slider to slide along with sliding groove guide rail self-adapting, so that lifting point position always keeps coaxial with current centroid, overturning moment generated due to gravity center deviation in the process of unmanned aerial vehicle hoisting is fundamentally eliminated.

Description

Technical Field

[0001] This utility model belongs to the field of photovoltaic cleaning robot technology, specifically relating to a photovoltaic cleaning robot with water volume monitoring. Background Technology

[0002] Existing photovoltaic cleaning robots are typically equipped with cleaning water tanks to store water for wet cleaning of photovoltaic panels. However, these tanks cannot monitor the remaining water level in real time, requiring manual observation or experience to determine sufficiency. This often leads to two problems: if the water level is insufficient, the robot may have to stop cleaning due to lack of water, resulting in incomplete cleaning of the photovoltaic panels and the need for a second cleaning, thus reducing overall efficiency; if too much water is added, it will increase the robot's weight, consuming more energy and potentially affecting the stability of the walking and adsorption units due to overloading, even causing equipment malfunction.

[0003] Furthermore, since the existing lifting structures of robots mostly adopt a fixed lifting point design, the position of the lifting point cannot be adjusted once it is determined. As the water volume in the cleaning tank continuously decreases during the operation, the robot's center of gravity will inevitably shift dynamically. The fixed lifting point cannot adapt to this change in center of gravity and the different axes of the lifting point will generate a tipping moment, causing the robot to tilt, sway, or even overturn during the lifting process. This not only increases the difficulty and risk of lifting operations, but may also cause safety accidents such as damage to the robot structure or falling, seriously restricting the equipment's transfer efficiency and safety of use.

[0004] Therefore, there is an urgent need for a photovoltaic cleaning robot with water volume monitoring capabilities to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to provide a photovoltaic cleaning robot with water volume monitoring, which aims to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A photovoltaic cleaning robot with water volume monitoring includes a body, an inner cavity of which is provided with a cleaning water tank for storing cleaning water, and a pressure-type water volume sensor electrically connected to a control unit at the bottom of the cleaning water tank.

[0008] Furthermore, the cleaning water tank is equipped with an ultrasonic level gauge, which is suspended at the top of the inner cavity of the cleaning water tank to monitor the remaining water volume in the cleaning water tank. The data monitored by the ultrasonic level gauge is compared with the data monitored by the pressure water volume sensor. When the difference between the two exceeds 5%, an alarm is triggered.

[0009] Furthermore, the cleaning water tank is provided with a quick connection interface on its outer periphery, which engages with a sliding groove in the inner cavity of the machine body, and a double-layer O-ring is provided at the engagement point between the quick connection interface and the sliding groove.

[0010] Furthermore, the pressure-type water volume sensor is fixedly embedded in the bottom of the cleaning water tank by waterproof sealant, and the surface of the pressure-type water volume sensor is provided with an anti-corrosion coating.

[0011] Furthermore, the output end of the cleaning water tank is equipped with a flow metering valve electrically connected to the control unit to record the water flow rate output each time cleaning is performed.

[0012] Furthermore, the top of the body is provided with an adjustable lifting point back armor structure, which includes a sliding guide rail and a lifting point slider. The sliding guide rail is arranged along the length direction of the top of the body and coincides with the center of gravity of the photovoltaic cleaning robot. The sliding guide rail has a number of limiting grooves along its length direction. The lifting point slider is installed on the sliding guide rail and can slide along the length direction of the sliding guide rail. The lifting point slider has a positioning block that cooperates with the limiting groove. The top of the lifting point slider has a lifting interface for connecting with the lifting device of the drone. The control unit inside the photovoltaic cleaning robot drives the positioning block to slide along the sliding guide rail into the corresponding limiting groove and engage in the limiting groove, thus completing the positioning of the lifting point slider on the sliding guide rail.

[0013] Furthermore, the photovoltaic cleaning robot has cleaning units at both ends of its body, and the body moves through the walking unit. The side of the body facing the working surface of the photovoltaic panel has several adsorption units controlled by the control unit. The adsorption units provide negative pressure and adsorb onto the working surface of the photovoltaic panel.

[0014] Furthermore, the machine body is equipped with a slope sensor for real-time detection of the tilt angle of the photovoltaic panel.

[0015] Compared with existing technologies, the beneficial effects of this utility model are as follows: A triple-coordinated monitoring system constructed using a pressure sensor, an ultrasonic level gauge, and a flow metering valve enables multi-dimensional cross-verification of water volume data from the cleaning tank. The pressure sensor captures real-time water volume benchmark values ​​through changes in water static pressure; the ultrasonic level gauge synchronously monitors the liquid level height from the top in a non-contact manner; and the flow metering valve traces water consumption back through data from the outlet. These three components form a dynamically complementary monitoring network. Combined with a preset deviation alarm mechanism, this not only accurately identifies sensor anomalies but also filters out transient interference through a multi-source data fusion algorithm, ensuring the long-term stability and accuracy of water volume data and providing highly reliable basic parameters for subsequent centroid calculation. Based on the aforementioned accurate monitoring data, combined with slope sensor data, the centroid changes of the photovoltaic cleaning robot can be dynamically deduced in real time. By combining the real-time water volume of the cleaning tank, the tank's own structural parameters, and the fixed counterweights of each component of the robot body, the centroid coordinate algorithm continuously updates the overall center of gravity position.

[0016] This calculation process forms a closed-loop control with the adjustable lifting point back armor structure. When the center of gravity shifts due to changes in water volume, the control unit immediately drives the lifting point slider to slide adaptively along the guide rail that coincides with the axis of the whole machine's center of gravity. Through the precise engagement of the positioning block and the limiting groove, the position of the lifting point is always kept coaxial with the current center of gravity, fundamentally eliminating the overturning moment caused by the shift of the center of gravity during the lifting of the UAV. Regardless of whether the water tank is full, half-full, or low, the real-time coaxiality of the lifting point and the center of gravity can ensure that the lifting force line is completely coincident with the center of gravity of the whole machine, avoiding the risk of tilting, swaying, or even tipping over caused by changes in the center of gravity in traditional fixed lifting point designs. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0018] Figure 1 This is a schematic diagram of the cleaning water tank of this utility model;

[0019] Figure 2 This is a three-dimensional top view of the photovoltaic cleaning robot with water volume monitoring according to this utility model;

[0020] Figure 3 This is a three-dimensional bottom view of the photovoltaic cleaning robot with water volume monitoring according to this utility model;

[0021] Figure 4 This is a front view of the photovoltaic cleaning robot with water volume monitoring according to this utility model;

[0022] Figure 5 This is a schematic diagram of the adjustable lifting point back armor structure of this utility model;

[0023] In the diagram: 1-body, 2-cleaning unit, 3-walking unit, 4-adsorption unit, 5-adjustable hanging point back armor structure, 51-slide rail, 52-hanging point slider, 53-limiting groove, 6-cleaning water tank, 7-pressure water volume sensor. Detailed Implementation

[0024] 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.

[0025] like Figures 1 to 5 As shown, a photovoltaic cleaning robot with water volume monitoring includes a body 1. The inner cavity of the body 1 is provided with a cleaning water tank 6 for storing cleaning water. The bottom of the cleaning water tank 6 is provided with a pressure water volume sensor 7 electrically connected to the control unit.

[0026] The pressure-type water volume sensor 7 accurately reflects water volume through changes in water pressure, has high measurement stability, adapts to the dynamic operating environment of the clean water tank 6, and works in conjunction with the control unit to provide basic data input for core functions such as water volume monitoring and centroid calculation, thereby achieving intelligent management and control.

[0027] Furthermore, the cleaning water tank 6 is equipped with an ultrasonic level gauge, which is suspended at the top of the inner cavity of the cleaning water tank 6, and is used to monitor the remaining water in the cleaning water tank 6. The data monitored by the ultrasonic level gauge is compared with the data monitored by the pressure water sensor 7. When the difference between the two exceeds 5%, an alarm is triggered.

[0028] It adopts a dual monitoring mode of "pressure + ultrasonic" to make up for the limitations of a single sensor. For example, the pressure sensor is affected by the water tank structure and the ultrasonic sensor is affected by water surface fluctuations. It improves the accuracy of water volume monitoring. The deviation alarm function can detect sensor failures or abnormalities such as scaling or installation misalignment in a timely manner, avoiding operational risks caused by data errors. For example, it can prevent cleaning from continuing even when the water volume is insufficient and prevent deviations in centroid calculation.

[0029] Furthermore, the cleaning water tank 6 is provided with a quick connection interface on its outer periphery, the quick connection interface is engaged with the sliding groove in the inner cavity of the body 1, and the quick connection interface is provided with a double O-ring at the engagement point with the sliding groove.

[0030] The sliding snap-fit ​​structure enables quick assembly and disassembly of the cleaning water tank 6, significantly reducing operation time during maintenance or water replenishment and improving work efficiency. The double-layer O-ring seals enhance sealing performance and effectively prevent water leakage at the connection between the cleaning water tank 6 and the body 1, adapting to the complex environment of the robot's outdoor operations.

[0031] Furthermore, the pressure water volume sensor 7 is fixedly embedded in the bottom of the cleaning water tank 6 by waterproof sealant, and the surface of the pressure water volume sensor 7 is provided with an anti-corrosion coating.

[0032] Waterproof sealant ensures the seal between the pressure water volume sensor 7 and the bottom of the cleaning water tank 6, preventing water from seeping into the pressure water volume sensor 7 and causing circuit failure, thus extending its service life. The anti-corrosion coating can resist possible water quality erosion inside the cleaning water tank 6, such as trace amounts of cleaning agents and impurities in the cleaning water, ensuring the long-term stable operation of the pressure water volume sensor 7.

[0033] Furthermore, the output end of the cleaning water tank 6 is equipped with a flow metering valve electrically connected to the control unit to record the water flow rate output each time cleaning is performed.

[0034] The flow metering valve accurately records the water consumption for a single cleaning cycle. Combined with the initial water volume data, it can reversely verify the remaining water volume. Together with the pressure water volume sensor 7 and the ultrasonic level gauge, it forms a "triple verification" to further improve the accuracy of water volume control. The control unit can optimize the cleaning strategy based on the flow data, such as adjusting the water output speed and controlling the cleaning range to avoid water waste and adapt to photovoltaic panels with different levels of dirt.

[0035] Furthermore, the top of the body 1 is provided with an adjustable lifting point back armor structure 5. The adjustable lifting point back armor structure 5 includes a sliding guide rail 51 and a lifting point slider 52. The sliding guide rail 51 is arranged along the length direction of the top of the body 1 and coincides with the center of mass of the photovoltaic cleaning robot. The sliding guide rail 51 is provided with a plurality of limiting grooves 53 along its length direction. The lifting point slider 52 is installed on the sliding guide rail 51 and can slide along the length direction of the sliding guide rail 51. The lifting point slider 52 is provided with a positioning block that cooperates with the limiting groove 53. The top of the lifting point slider 52 is provided with a lifting interface for connecting with the lifting device of the drone. The control unit inside the photovoltaic cleaning robot drives the positioning block to slide along the sliding guide rail 51 into the corresponding limiting groove 53 and engage in the limiting groove 53, thereby completing the positioning of the lifting point slider 52 on the sliding guide rail 51.

[0036] The sliding guide rail 51 coincides with the center of gravity of the photovoltaic cleaning robot, ensuring that the adjustment of the lifting point is always around the center of gravity, improving the adjustment efficiency and accuracy. The sliding lifting point slider 52 matches the changes in the center of gravity of the photovoltaic cleaning robot in real time, ensuring that the center of gravity of the drone is coaxial with the lifting point when it is lifted, fundamentally avoiding the risk of overturning caused by the shift of the center of gravity, and significantly improving the safety of the lifting. The locking structure between the limiting groove 53 and the positioning block ensures that the position of the lifting point is stable and is not affected by vibration or wind during the lifting process.

[0037] Furthermore, the photovoltaic cleaning robot has cleaning units 2 at both ends of its body 1. The body 1 moves and operates through the walking unit 3. The side of the body 1 facing the working surface of the photovoltaic panel has several adsorption units 4 controlled by the control unit. The adsorption units 4 provide negative pressure and adsorb onto the working surface of the photovoltaic panel.

[0038] Furthermore, the body 1 is equipped with a slope sensor to detect the tilt angle of the photovoltaic panel in real time.

[0039] The working principle of the photovoltaic cleaning robot with water volume monitoring: The pressure water sensor 7 collects the water pressure at the bottom of the cleaning water tank 6 in real time, converts it into water volume data and transmits it to the control unit. At the same time, the ultrasonic level gauge monitors the liquid level height from the top and transmits the data. The two are compared to ensure the reliability of the water volume data. Based on the real-time water volume data of the pressure water sensor 7, combined with the weight of the cleaning water tank 6 and the weight of other components, the control unit dynamically calculates the overall center of gravity position of the photovoltaic cleaning robot. According to the calculated center of gravity position, the control unit drives the positioning block in the adjustable lifting point back armor structure 5 to slide along the slide rail 51 until the lifting interface of the lifting point slider 52 is coaxial with the current center of gravity position. Then the positioning block is engaged with the corresponding limit groove 53 to complete the lifting point fixation. This ensures that when the drone is lifting, the center of gravity of the photovoltaic cleaning robot is always located directly below the lifting point, avoiding the overturning moment caused by the center of gravity shift and ensuring the stability and safety of the lifting process.

[0040] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A photovoltaic cleaning robot with water volume monitoring, characterized in that: Includes a body, the inner cavity of which is provided with a cleaning water tank for storing cleaning water, and the bottom of the cleaning water tank is provided with a pressure-type water volume sensor electrically connected to the control unit; The cleaning water tank is equipped with an ultrasonic level gauge, which is suspended from the top of the inner cavity of the cleaning water tank to monitor the remaining water volume in the cleaning water tank. The data monitored by the ultrasonic level gauge is compared with the data monitored by the pressure water volume sensor. When the difference between the two exceeds 5%, an alarm is triggered. The output end of the cleaning water tank is equipped with a flow metering valve electrically connected to the control unit to record the water flow rate output during each cleaning. The top of the robot body is equipped with an adjustable lifting point back armor structure, which includes a sliding guide rail and a lifting point slider. The sliding guide rail is arranged along the length direction of the top of the robot body and coincides with the center of gravity of the photovoltaic cleaning robot. The sliding guide rail has several limiting grooves along its length direction. The lifting point slider is installed on the sliding guide rail and can slide along the length direction of the sliding guide rail. The lifting point slider has a positioning block that cooperates with the limiting groove. The top of the lifting point slider has a lifting interface for connecting with the lifting device of the drone. The control unit inside the photovoltaic cleaning robot drives the positioning block to slide along the sliding guide rail into the corresponding limiting groove and engage in the limiting groove, thus completing the positioning of the lifting point slider on the sliding guide rail.

2. The photovoltaic cleaning robot with water volume monitoring according to claim 1, characterized in that: The cleaning water tank is provided with a quick connection interface on its outer periphery. The quick connection interface is engaged with a sliding groove in the inner cavity of the machine body. A double O-ring is provided at the engagement point between the quick connection interface and the sliding groove.

3. The photovoltaic cleaning robot with water volume monitoring according to claim 1, characterized in that: The pressure-type water volume sensor is fixedly embedded in the bottom of the cleaning water tank with waterproof sealant, and the surface of the pressure-type water volume sensor is provided with an anti-corrosion coating.

4. The photovoltaic cleaning robot with water monitoring according to claim 1, characterized in that: The photovoltaic cleaning robot has cleaning units at both ends of its body. The body moves and operates through a walking unit. Several adsorption units controlled by the control unit are located on the side of the body facing the working surface of the photovoltaic panel. The adsorption units provide negative pressure and adsorb onto the working surface of the photovoltaic panel.

5. The photovoltaic cleaning robot with water monitoring according to claim 1, characterized in that: The machine body is equipped with a slope sensor for real-time detection of the tilt angle of the photovoltaic panels.

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