A photovoltaic panel cleaning robot and photovoltaic panel cleaning system

Abstract

This application discloses a photovoltaic panel cleaning robot and a photovoltaic panel cleaning system, including: a vehicle body, a walking device, and at least one cleaning device. The walking device is mounted on the vehicle body and is used to drive the vehicle body to move on the photovoltaic panel. The cleaning device is hinged to the vehicle body, allowing the cleaning device to swing and maintain contact with the photovoltaic panel by its own weight.

Description

Technical Field

[0001] This application relates to the field of photovoltaic panel cleaning technology, and in particular to a photovoltaic panel cleaning robot and a photovoltaic panel cleaning system. Background Technology

[0002] With the widespread application of photovoltaic power generation technology, the need for cleaning and maintenance of large-scale photovoltaic power plants is becoming increasingly prominent. Currently, various photovoltaic panel cleaning robots have emerged on the market. These robots are typically equipped with cleaning mechanisms such as roller brushes to clean photovoltaic panels. However, in practical applications, especially on photovoltaic panel arrays with complex terrain, gaps between panels, or minor obstacles, the connection between the cleaning mechanism and the main body of existing cleaning robots is mostly rigidly fixed or a simple elastic suspension design. This structure causes the cleaning mechanism to be unable to independently adapt during robot movement, particularly when the robot's posture changes due to crossing obstacles. It easily lifts up with the robot, losing contact with the photovoltaic panels, creating cleaning blind spots, and resulting in poor cleaning performance. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a photovoltaic panel cleaning robot and a photovoltaic panel cleaning system, which can improve the cleaning effect.

[0004] In a first aspect, embodiments of this application provide a photovoltaic panel cleaning robot, comprising: Vehicle body; A walking device, which is mounted on the vehicle body, is used to drive the vehicle body to move on the photovoltaic panel; At least one cleaning device is hinged to the vehicle body, allowing the cleaning device to swing and maintain contact with the photovoltaic panel by its own weight.

[0005] According to some embodiments of this application, the walking device includes: track; An elastic support mechanism is disposed on the inner side of the track and is used to provide elastic force to the inner side of the track.

[0006] According to some embodiments of this application, the resilient support mechanism includes: An elastic component, the elastic component being connected to the vehicle body; A follower wheel assembly, which is movably connected to the elastic component.

[0007] According to some embodiments of this application, the resilient component includes A fastener, which connects to the vehicle body, and has mounting holes; A first bearing housing is disposed on the mounting hole; A spring support shaft is inserted into the first bearing seat, one end of the spring support shaft is connected to the follower wheel assembly, and a limit part is provided at one end of the spring support shaft; A spring is disposed on the spring support shaft, one end of the spring abuts against the limiting part, and the other end of the spring abuts against the fixing member.

[0008] According to some embodiments of this application, the follower wheel assembly includes: A connecting shaft is provided at one end of the spring support shaft, and a limiting hole is provided on the connecting part, through which the connecting shaft passes; A first fixing plate, wherein a second bearing seat is provided on the first fixing plate; A second fixing plate is provided with a third bearing seat, and the connecting shaft passes through the second bearing seat and the third bearing seat; At least one follower wheel is mounted between the first fixed plate and the second fixed plate.

[0009] According to some embodiments of this application, it also includes: An image acquisition device is mounted on the vehicle body.

[0010] According to some embodiments of this application, the features are as follows: The image acquisition device is installed on the top of the vehicle body.

[0011] According to some embodiments of this application, the cleaning apparatus includes: Electric motor; A roller brush, which is driven by a motor.

[0012] According to some embodiments of this application, the cleaning apparatus further includes: Couplings; The motor is connected to the drive wheel via the coupling. The driven wheel is connected to the driving wheel via a transmission belt, and the driven wheel is connected to the roller brush.

[0013] Secondly, embodiments of this application provide a photovoltaic panel cleaning system, comprising: Such as the photovoltaic panel cleaning robot mentioned above; The hangar is equipped with a positioning device and a charging device. The positioning device is used to send a signal to provide a positioning reference for the photovoltaic panel cleaning robot, and the charging device is used to charge the photovoltaic panel cleaning robot.

[0014] In this embodiment, when the photovoltaic panel cleaning robot moves on the photovoltaic panel, its posture will passively change when it encounters gaps between panels, minor obstacles, or uneven surfaces. Because the cleaning device is connected to the vehicle body via a hinge, the swing freedom gained by the cleaning device under gravity allows it to adaptively adjust when the vehicle body changes posture. This ensures that the bottom of the cleaning device can continuously and stably adhere to the photovoltaic panel, effectively preventing interruptions or omissions in cleaning operations caused by the cleaning device lifting up with the vehicle body when crossing gaps or uneven surfaces. This guarantees the continuity and reliability of the cleaning process and improves the cleaning effect.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of an embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 2 A schematic diagram of the vehicle body in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 3 A schematic diagram of the elastic support mechanism in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 4 A schematic diagram of the cleaning device in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 5 A schematic diagram showing the installation positions of the first detection unit and the second detection unit in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 6 A schematic diagram of the structure of the second mounting component in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 7 A schematic diagram of the first posture of the cleaning mechanism in an embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 8 A schematic diagram of the second posture of the cleaning mechanism in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 9 A schematic diagram of the third posture of the cleaning mechanism in the embodiment of the photovoltaic panel cleaning robot provided in this application; Figure 10 This is a schematic diagram of the structure of an embodiment of the photovoltaic panel cleaning system provided in this application; Figure label: Vehicle body 100, wireless charging receiver 110, first sensor 120, second sensor 130, third sensor 140, fourth sensor 150, fifth sensor 160, sixth sensor 170, trigger 171, first mounting component 180, tilting shaft 181, limiting shaft 182, second mounting component 190, tilting shaft groove 191, limiting shaft groove 192, walking device 200, track 210, protective plate 211, elastic support mechanism 220, fixed... Fixed component 221, first bearing seat 222, spring support shaft 223, spring 224, connecting shaft 225, limiting part 226, connecting part 227, second bearing seat 228, first fixed plate 229, second fixed plate 230, follower wheel 231, cleaning device 300, motor 310, roller brush 320, coupling 330, driving wheel 340, driven wheel 350, image acquisition device 400, hangar 500, positioning device 510, charging device 520. Detailed Implementation

[0017] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0018] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0019] In the description of this application, "multiple" refers to two or more. The use of "first" and "second" is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features indicated, or the order in which the technical features are indicated.

[0020] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0021] The following reference Figures 1 to 10 This application describes a photovoltaic panel cleaning robot and a photovoltaic panel cleaning system according to embodiments thereof.

[0022] This application provides a photovoltaic panel cleaning robot, such as... Figure 1 As shown, it includes: Vehicle body 100; A walking device 200 is mounted on the vehicle body 100 and is used to drive the vehicle body 100 to move on the photovoltaic panel. Two cleaning devices 300 are connected to the vehicle body 100 via a hinge assembly, allowing the cleaning devices 300 to swing and maintain contact with the photovoltaic panel by their own weight.

[0023] In this embodiment, when the photovoltaic panel cleaning robot moves on the photovoltaic panel, the posture of the vehicle body 100 will passively change when it encounters gaps between panels, minor obstacles, or uneven surfaces. Since the cleaning device 300 is connected to the vehicle body 100 via a hinge, the swing freedom gained by the cleaning device 300 under gravity allows it to adaptively adjust when the posture of the vehicle body 100 changes. This ensures that the bottom of the cleaning device 300 can continuously and stably adhere to the photovoltaic panel, effectively preventing interruptions or omissions in cleaning operations caused by the cleaning device 300 lifting along with the vehicle body 100 when crossing gaps or uneven surfaces. This ensures the continuity and reliability of the cleaning process and improves the cleaning effect.

[0024] In some embodiments of this application, the cleaning device 300 is connected to the vehicle body 100 via a movable hinge. The hinge axis of this movable hinge is approximately parallel to the surface of the photovoltaic panel and perpendicular to the forward direction of the photovoltaic panel cleaning robot. After installation, the cleaning device 300 naturally droops under its own weight, with its bottom contacting the surface of the photovoltaic panel. When the photovoltaic panel cleaning robot moves on the photovoltaic panel and encounters gaps between panels or slight undulations, the vehicle body 100 may tilt or rise slightly. Since the cleaning device 300 is connected to the vehicle body 100 via a hinge rather than being rigidly fixed, it can swing freely about the hinge axis independently of the vehicle body 100. This degree of freedom of swing allows the cleaning device 300 to adapt in real time to changes in the gap between its bottom and the photovoltaic panel under the influence of gravity, always maintaining close contact.

[0025] In some embodiments of this application, such as Figure 2 As shown, the walking device 200 includes: Track 210, with protective plate 211 installed on track 210; The elastic support mechanism 220 is disposed inside the track 210 and is used to provide elastic force to the inside of the track 210.

[0026] In this embodiment, by providing an elastic support mechanism 220 on the inner side of the track 210 and supplying it with elastic force, the track 210 can dynamically adapt to various working conditions on the photovoltaic panel surface. When encountering gaps between panels, minor obstacles, or local deformation of the photovoltaic panel due to its own load during operation, the elastic support mechanism 220 can compress or rebound immediately, continuously pressing the inner side of the track 210 against the photovoltaic panel surface. The elastic support mechanism 220 effectively increases the contact area and pressure between the track 210 and the photovoltaic panel, thereby significantly enhancing adhesion and preventing slippage or spinning of the track 210 when climbing slopes or moving quickly. This ensures the stability and traction reliability of the photovoltaic panel cleaning robot on complex photovoltaic panels, enabling continuous and stable cleaning operations.

[0027] In some embodiments of this application, the track 210 employs a composite structure, consisting of an inner toothed belt and an outer rubber tread layer tightly bonded together. The toothed belt has a Shore hardness of 70, and the rubber tread layer has a Shore hardness of 35. The key manufacturing process involves integrally molding the rubber tread layer using a mold, thus completely avoiding the seams inherent in conventional tracks where multiple rubber layers are sewn together with nylon thread. This integrally molded soft tread layer, combined with the high-hardness toothed belt, allows the photovoltaic panel cleaning robot to deform sufficiently to increase the contact area and adhesion when placed on a photovoltaic panel. Actual measurements show that, in conjunction with the elastic support mechanism 220, the photovoltaic panel cleaning robot using this track 210 can adapt to a photovoltaic panel slope of approximately 30° without slipping under waterless conditions, exhibiting significantly higher thermal stability and greater anti-slip performance compared to conventional tracks.

[0028] In some embodiments of this application, such as Figure 3 As shown, the elastic support mechanism 220 includes: Elastic component, the elastic component connects to the vehicle body 100; Follower wheel assembly, which is movably connected to an elastic component.

[0029] In this embodiment, the elastic force generated by the elastic component is directly transmitted to the follower wheel assembly through the movable connection between the elastic component and the follower wheel assembly. When the follower wheel assembly receives the elastic force, it can move or swing relative to the elastic component due to the connection method of the movable connection, so that the follower wheel assembly can always fit against the inner side of the track 210 and adapt to the local undulations of the track 210.

[0030] In some embodiments of this application, such as Figure 3 As shown, the elastic component includes Fastener 221 is connected to vehicle body 100 and has mounting holes. First bearing housing 222, the first bearing housing 222 is disposed on the mounting hole; A spring support shaft 223 is inserted into the first bearing housing 222. One end of the spring support shaft 223 is connected to the follower wheel assembly. A limit part 226 is provided at one end of the spring support shaft 223. Spring 224 is mounted on spring support shaft 223. One end of spring 224 abuts against limiting part 226, and the other end of spring 224 abuts against fixing part 221.

[0031] In this embodiment, the fixing member 221 is connected to the vehicle body 100, providing rigid support for the entire elastic assembly. The first bearing seat 222, mounted on the mounting hole of the fixing member 221, provides precise axial positioning and guidance for the spring support shaft 223, restricting its movement to a direction perpendicular to the photovoltaic panel. One end of the spring support shaft 223 is used to connect to the follower wheel assembly to transmit force, and the limiting part 226 at the other end, together with the fixing member 221, determines the installation space and pre-compression of the spring 224. The spring 224 is sleeved on the spring support shaft 223, with its two ends abutting against the limiting part 226 and the fixing member 221, respectively. When a gap appears under the track 210, the elastic force of the spring 224 is converted into a directional and stable axial thrust through the spring support shaft 223 and the first bearing seat 222, and finally transmitted to the follower wheel assembly. This provides the photovoltaic panel cleaning robot with a continuous, reliable and predictable track 210 contact force, which significantly enhances its passability and traction stability at local deformation or undulation of the photovoltaic panel.

[0032] In some embodiments of this application, such as Figure 3 As shown, the follower wheel assembly includes: The connecting shaft 225 and the spring support shaft 223 are provided with a connecting part 227 at one end. The connecting part 227 is provided with a limit hole, and the connecting shaft 225 passes through the limit hole. A first fixing plate 229, on which a second bearing seat 228 is provided; The second fixing plate 230 is provided with a third bearing seat, and the connecting shaft 225 passes through the second bearing seat 228 and the third bearing seat; At least one follower wheel 231 is installed between the first fixed plate 229 and the second fixed plate 230.

[0033] In this embodiment, the connecting shaft 225 passes through the limiting hole of the spring support shaft 223, realizing direct force transmission with the elastic component. The first fixing plate 229 and the second fixing plate 230 support the connecting shaft 225 together through their respective second bearing seats 228 and third bearing seats, forming a stable and parallel support structure, thereby ensuring the structural rigidity of the mounting position of the follower wheel 231. The follower wheel 231, installed between these support structures, can rotate freely around the connecting shaft 225. When the elastic force is transmitted to the component through the connecting shaft 225, the follower wheel 231, under the stable constraint of the first fixing plate 229 and the second fixing plate 230, converts the axial force into a uniform radial pressure on its wheel surface, which directly acts on the inner side of the track 210. At the same time, the parallel arrangement of the first fixing plate 229 and the second fixing plate 230 ensures that the pressure is evenly distributed in the width direction of the track 210, preventing local stress concentration.

[0034] In some embodiments of this application, such as Figure 2 As shown, it also includes: Image acquisition device 400 is mounted on the top of vehicle body 100.

[0035] In this embodiment, the image acquisition device 400 uses a high-definition camera, which can continuously acquire image information of the photovoltaic panel surface in front of and around the photovoltaic panel cleaning robot. The image data acquired by the image acquisition device 400 provides direct visual input for the navigation and control system of the photovoltaic panel cleaning robot, enabling it to identify the boundaries, feature references, and surface contamination of the photovoltaic panel. This provides a perceptual basis for subsequent functions such as autonomous path planning, attitude calibration, cleaning operation scheduling, and precise return to hangar 500.

[0036] In some embodiments of this application, such as Figure 4 As shown, the cleaning device 300 includes: Motor 310 and coupling 330; The drive wheel 340 is connected to the motor 310 via a coupling 330. Driven pulley 350 is connected to driving pulley 340 via a transmission belt; Roller brush 320, roller brush 320 is connected to driven wheel 350.

[0037] In this embodiment, the rotational power output by the motor 310 is transmitted sequentially to the drive wheel 340 via the coupling 330, and then to the driven wheel 350 via the transmission belt, ultimately driving the roller brush 320 to rotate. The coupling 330 absorbs and compensates for installation deviations and vibrations between the motor 310 and the drive wheel 340, ensuring sufficient driving force for the roller brush 320 while improving adaptability to installation errors and operational stability, thereby enhancing the reliability and service life of the photovoltaic panel cleaning robot.

[0038] In some embodiments of this application, it also includes: The first detection unit is disposed on the cleaning device 300. The first detection unit is used to detect whether the two ends and the sides of the cleaning device 300 reach the edge of the photovoltaic panel. The second detection unit is mounted on the walking device 200 and is used to detect whether both ends of the cleaning device 300 have reached the edge of the photovoltaic panel. The third detection unit is located on the hinge assembly and is used to detect the downward movement of the cleaning device 300. The control unit is electrically connected to the first detection unit, the second detection unit, and the third detection unit, respectively.

[0039] In this embodiment, by setting a first detection unit for detecting whether the two ends of the cleaning device 300 reach the edge of the photovoltaic panel, a second detection unit for detecting whether the two ends of the walking device 200 reach the edge of the photovoltaic panel, and a third detection unit for detecting the falling motion of the cleaning device 300, the photovoltaic panel cleaning robot can perform distributed detection. The control unit can comprehensively process multi-dimensional detection signals from the cleaning device 300, the walking device 200, and the articulated components, enabling the photovoltaic panel cleaning robot to be effectively detected in different stages and at different locations when the cleaning device 300 is about to cross the boundary, the walking device 200 is about to be suspended, or the cleaning device 300 is about to fall. This provides the photovoltaic panel cleaning robot with multi-layered, three-dimensional, and coordinated safety protection, significantly improving the reliability and fall prevention safety of the photovoltaic panel cleaning robot under complex boundary conditions, and providing good protection.

[0040] In some embodiments of this application, such as Figure 5 As shown, the first detection unit includes: The first sensor 120 is disposed at one end of the cleaning device 300 and is electrically connected to the control unit. The second sensor 130 is disposed at the other end of the cleaning device 300 and is electrically connected to the control unit. The third sensor 140 is disposed on one side of the cleaning device 300 and is electrically connected to the control unit.

[0041] In this embodiment, by setting the first sensor 120, the second sensor 130, and the third sensor 140 at both ends and one side of the cleaning device 300, the first detection unit can perform multi-point detection on the edge of the photovoltaic panel from both ends of the axial direction and one side of the cleaning device 300. This improves the coverage and reliability of boundary detection. Especially when the cleaning device 300 approaches the edge of the photovoltaic panel in a non-forward direction, it can provide more comprehensive position information, reduce the risk of missed detection or misjudgment leading to the robot crossing the boundary, and thus enhance the safety protection capability of the photovoltaic panel cleaning robot.

[0042] In some embodiments of this application, the first sensor 120, the second sensor 130, and the third sensor 140 can all be diffuse reflection type photoelectric sensors, and are all electrically connected to the main controller in the control unit through shielded wires to transmit switching signals in real time. When the cleaning device 300 moves normally on the photovoltaic panel, it maintains a high level when it detects the surface of the photovoltaic panel. Once it moves to the edge of the panel, where the reflective surface in front of it is lost, the output flips to a low level, resulting in good detection performance.

[0043] In some embodiments of this application, such as Figure 5 As shown, the second detection unit includes: The fourth sensor 150 is disposed at one end of the walking device 200 and is electrically connected to the control unit. The fifth sensor 160 is located at the other end of the walking device 200 and is electrically connected to the control unit.

[0044] In this embodiment, by respectively setting the fourth sensor 150 and the fifth sensor 160 at both ends of the walking device 200 along the traveling direction, it is possible to detect whether the grounding part of the walking device 200 has reached the boundary of the photovoltaic panel. When the first detection unit and the third detection unit at the cleaning device 300 and its hinge assembly fail to trigger normally, or when the photovoltaic panel cleaning robot approaches the boundary in a specific posture, the second detection unit can directly detect the emergency situation that the walking device 200 is about to cross the boundary through the fourth sensor 150 or the fifth sensor 160, ensuring that an emergency stop can still be triggered in extreme cases, and preventing the whole machine from falling to the greatest extent.

[0045] In some embodiments of this application, both the fourth sensor 150 and the fifth sensor 160 can be waterproof photoelectric sensors or contact-type limit switches. The fourth sensor 150 is mounted on the foremost structural component of the traveling device 200 in the direction of travel, with its sensing part flush with or slightly ahead of the ground contact edge of the foremost track 210 or tire of the traveling device 200. The fifth sensor 160 is mounted in the same manner at the corresponding position at the rear end of the traveling device 200. Both the fourth sensor 150 and the fifth sensor 160 are electrically connected to the control unit via cables to monitor the presence status of the photovoltaic panel in front of their respective ends in real time.

[0046] In some embodiments of this application, such as Figures 6 to 9 As shown, the hinge assembly includes: The first mounting component 180 is disposed on the vehicle body 100, and the first mounting component 180 is provided with a tilting shaft 181 and a limiting shaft 182; The second mounting component 190 is disposed on the cleaning device 300. The second mounting component 190 is provided with a flip shaft groove 191 and a limiting shaft groove 192. The flip shaft groove 191 is used to engage with the flip shaft 181, and the limiting shaft groove 192 corresponds to the limiting shaft 182 to limit the downward stroke of the cleaning device 300.

[0047] In this embodiment, the first mounting member 180 and its flipping shaft 181 and limiting shaft 182, which are mounted on the vehicle body 100, cooperate with the second mounting member 190 and its flipping shaft groove 191 and limiting shaft groove 192, which are mounted on the cleaning device 300, to form a hinged assembly with both quick assembly / disassembly and mechanical limiting functions. The snap-fit ​​engagement of the flipping shaft 181 and the flipping shaft groove 191 allows the cleaning device 300 to be easily installed and separated from the vehicle body 100, enabling rapid maintenance and replacement of the cleaning device 300. At the same time, the corresponding engagement of the limiting shaft 182 and the limiting shaft groove 192 provides a definite mechanical stop point for the swing of the cleaning device 300, thereby limiting the downward stroke of the cleaning device 300 due to detachment from the photovoltaic panel support to a safe, preset range.

[0048] In some embodiments of this application, such as Figures 7 to 9 As shown, the third detection unit includes: The sixth sensor 170 is disposed on the first mounting component 180 and is electrically connected to the control unit. Trigger 171 is disposed on the second mounting member 190. When the cleaning device 300 falls to the preset position, trigger 171 triggers the sixth sensor 170 to generate a detection signal to indicate the falling action.

[0049] In this embodiment, by setting the sixth sensor 170 on the first mounting member 180 and correspondingly setting the trigger member 171 on the second mounting member 190, highly reliable fall detection is achieved. When the cleaning device 300 swings around the hinge point and falls under the action of gravity, the second mounting member 190 is displaced relative to the first mounting member 180; once the cleaning device 300 falls to the preset position determined by the limiting shaft 182 and the limiting shaft groove 192, the relative position between the trigger member 171 and the sixth sensor 170 reaches the trigger threshold, so that the sixth sensor 170 is reliably triggered and generates a clear detection signal.

[0050] In addition, embodiments of this application provide a photovoltaic panel cleaning system, such as... Figure 10 As shown, it includes: Such as the photovoltaic panel cleaning robot mentioned above; The hangar 500 is equipped with a positioning device 510 and a charging device 520. The positioning device 510 is used to send a signal to provide a positioning reference for the photovoltaic panel cleaning robot, and the charging device 520 is used to charge the photovoltaic panel cleaning robot.

[0051] The photovoltaic panel cleaning system provided in this application embodiment can realize all the processes implemented in the above embodiments and achieve the same beneficial effects. To avoid repetition, it will not be described again here.

[0052] In some embodiments of this application, the positioning device 510 includes an RTK positioning base station antenna disposed on the top of the tank body, and the charging device 520 includes a wireless charging transmitter module disposed inside the tank body.

[0053] In this embodiment, the RTK positioning base station antenna continuously transmits positioning signals, which, in conjunction with the positioning module built into the photovoltaic panel cleaning robot, can provide centimeter-level real-time positioning for the photovoltaic panel cleaning robot within the photovoltaic power station area. The wireless charging transmitter module is installed inside the hangar. When the photovoltaic panel cleaning robot enters the hangar 500 and stops in the correct position, the wireless charging receiver 110 of the photovoltaic panel cleaning robot aligns with the wireless charging transmitter module, and contactless charging can begin, realizing automatic energy replenishment.

[0054] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A photovoltaic panel cleaning robot, characterized in that, include: Vehicle body; A walking device, which is mounted on the vehicle body, is used to drive the vehicle body to move on the photovoltaic panel; At least one cleaning device is hinged to the vehicle body, allowing the cleaning device to swing and maintain contact with the photovoltaic panel by its own weight.

2. The photovoltaic panel cleaning robot according to claim 1, characterized in that, The walking device includes: track; An elastic support mechanism is disposed on the inner side of the track and is used to provide elastic force to the inner side of the track.

3. The photovoltaic panel cleaning robot according to claim 2, characterized in that, The elastic support mechanism includes: An elastic component, the elastic component being connected to the vehicle body; A follower wheel assembly, which is movably connected to the elastic component.

4. The photovoltaic panel cleaning robot according to claim 3, characterized in that, The elastic component includes A fastener, which connects to the vehicle body, and has mounting holes; A first bearing housing is disposed on the mounting hole; A spring support shaft is provided, which passes through the first bearing seat. One end of the spring support shaft is connected to the follower wheel assembly, and a limit part is provided at one end of the spring support shaft. A spring is disposed on the spring support shaft, one end of the spring abuts against the limiting part, and the other end of the spring abuts against the fixing member.

5. The photovoltaic panel cleaning robot according to claim 4, characterized in that, The follower wheel assembly includes: A connecting shaft is provided at one end of the spring support shaft, and a limiting hole is provided on the connecting part, through which the connecting shaft passes; A first fixing plate, wherein a second bearing seat is provided on the first fixing plate; A second fixing plate is provided with a third bearing seat, and the connecting shaft passes through the second bearing seat and the third bearing seat; At least one follower wheel is mounted between the first fixed plate and the second fixed plate.

6. The photovoltaic panel cleaning robot of claim 1, wherein, Also includes: An image acquisition device is mounted on the vehicle body.

7. The photovoltaic panel cleaning robot according to claim 6, characterized in that: The image acquisition device is installed on the top of the vehicle body.

8. The photovoltaic panel cleaning robot of claim 1, wherein, The cleaning device includes: Electric motor; A roller brush, which is driven by a motor.

9. The photovoltaic panel cleaning robot according to claim 8, characterized in that, The cleaning device also includes: Couplings; The motor is connected to the drive wheel via the coupling. The driven wheel is connected to the driving wheel via a transmission belt, and the driven wheel is connected to the roller brush.

10. A photovoltaic panel cleaning system characterized in that, include: The photovoltaic panel cleaning robot as described in any one of claims 1 to 9; The hangar is equipped with a positioning device and a charging device. The positioning device is used to send a signal to provide a positioning reference for the photovoltaic panel cleaning robot, and the charging device is used to charge the photovoltaic panel cleaning robot.

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