Photovoltaic cleaning robot docking station and photovoltaic cleaning robot docking station system

Abstract

The present application provides a photovoltaic cleaning robot docking station and a photovoltaic cleaning robot docking station system. The photovoltaic cleaning robot docking station comprises: a docking station frame, which comprises at least a docking station bottom frame and a docking station top frame located above the docking station bottom frame, a docking space being formed between the docking station bottom frame and the docking station top frame, at least one end of the docking space serving as a docking entrance for a photovoltaic cleaning robot, and in the direction in which the robot enters the docking space, both sides of the docking space having no boundaries; and a charging assembly configured to correspond to a charging receiving module on the photovoltaic cleaning robot. The present invention can be applied to single-brush robots and double-brush robots, and as long as the width of the docking station frame accommodates the mounting of the charging assembly, the docking station can be applied to photovoltaic cleaning robots of any width, without requiring an increase in the width thereof.

Description

Photovoltaic cleaning robot parking apron and photovoltaic cleaning robot parking apron system

[0001] The present application claims priority to the Chinese patent application No. 2024108733729, filed on June 28, 2024, and entitled "Photovoltaic cleaning robot parking apron and photovoltaic cleaning robot parking apron system", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application belongs to the technical field of photovoltaic cleaning robots, and particularly relates to a photovoltaic cleaning robot parking apron and a photovoltaic cleaning robot parking apron system. BACKGROUND

[0003] As a representative of renewable energy, photovoltaic power stations have become an important part of modern energy structure due to their clean and renewable advantages. Photovoltaic panels are exposed to the outside for a long time, which easily accumulates dust and dirt, affecting the power generation efficiency. To solve this problem, photovoltaic cleaning robots have emerged. The working principle of photovoltaic cleaning robots is simple and efficient, and they can autonomously plan cleaning paths. They use specific brushes and other cleaning devices to easily remove dirt from the surface of photovoltaic panels, ensuring efficient power generation of photovoltaic panels.

[0004] Photovoltaic cleaning robots are usually equipped with batteries. In actual working scenarios, in order to charge the photovoltaic cleaning robots, a charging bin needs to be set up, and the photovoltaic cleaning robots need to move to the position of the charging bin for charging. In addition, when the photovoltaic cleaning robot is in a non-cleaning state, it needs to be separated from the surface area of the photovoltaic module and parked separately. Therefore, in the prior art, the robot parking area and the charging requirement are combined, and a charging bin is set up, that is, the charging bin serves as both a charging place and a parking place in a non-working state.

[0005] The charging bin in the prior art includes two types: one is a full-package charging bin, and the other is a half-package charging bin. The full-package charging bin is a box body structure with the upper side, the rear side, and the left and right sides closed. The front side of the box body structure forms a charging bin entrance for the photovoltaic cleaning robot to enter and exit. Common photovoltaic cleaning robots include single-brush robots and double-brush robots. The single-brush robot is provided with a cleaning brush only on the front side of the robot, and the double-brush robot is provided with cleaning brushes on the front and rear sides of the robot. In order to ensure that both types of photovoltaic cleaning robots can enter the parking or charging, the full-package charging bin is usually large in size to ensure that the cleaning brush with a larger size than the robot body can enter.

[0006] The structure of the semi-enclosed charging bin is similar to that of the fully-enclosed charging bin, both of which are box body structures with an entrance on the front side. However, the size of the semi-enclosed charging bin is significantly smaller than that of the fully-enclosed charging bin, so that the semi-enclosed charging bin is only suitable for single-brush robots. When the single-brush robot charges or parks, the side without the cleaning brush of the single-brush robot needs to enter the semi-enclosed charging bin. However, the cleaning brush is relatively long and cannot enter the semi-enclosed charging bin.

[0007] The semi-enclosed charging bin in the prior art cannot meet the needs of double-brush robots, and the application range is relatively narrow. Although the fully-enclosed charging bin can adapt to single-brush robots and double-brush robots, as the size of the cleaning brush becomes longer and longer, the fully-enclosed charging bin cannot be applied to all double-brush robots. In order to use cleaning brushes of various lengths, the fully-enclosed charging bin needs to have a larger width size. However, if the fully-enclosed charging bin with a larger width size is applied to a double-brush robot with a small size, it will cause a waste of resources.

[0008] Therefore, how to make the charging bin applicable to both single-brush robots and double-brush robots without increasing the size is a problem that needs to be solved by those skilled in the art. SUMMARY

[0009] Therefore, the purpose of the present application is to provide a photovoltaic cleaning robot parking apron, which can be applied to both single-brush robots and double-brush robots without increasing the size.

[0010] Another purpose of the present application is to provide a photovoltaic cleaning robot parking apron system with the above-mentioned photovoltaic cleaning robot parking apron.

[0011] In order to achieve the above-mentioned purposes, the present application provides the following technical solutions.

[0012] The first aspect of the present application provides a photovoltaic cleaning robot parking apron, which comprises:

[0013] A parking apron frame, which at least comprises a parking apron chassis and a parking apron top frame located above the parking apron chassis, a parking space is formed between the parking apron chassis and the parking apron top frame, at least one end of the parking space is a parking entrance for a photovoltaic cleaning robot to enter, and the two sides of the parking space are not provided with boundaries in the direction of entering the parking space.

[0014] A charging assembly corresponding to a charging receiving module on the photovoltaic cleaning robot.

[0015] In a possible implementation manner, the charging assembly comprises:

[0016] A charging mounting rack fixed to the parking apron top frame.

[0017] A charging transmission module is arranged on the charging mount and is used to correspond to the charging receiving module on the photovoltaic cleaning robot.

[0018] In a possible implementation, the charging assembly further comprises a brush arranged on the charging mount, and the brush is located on a path of the charging receiving module moving below the charging transmission module.

[0019] In a possible implementation, the brush is mounted to the charging mount through a brush mount, and the brush mount is fixed to the charging mount through a first fastener, a first waist-shaped hole is arranged on the brush mount and used for the first fastener to pass through, and the first waist-shaped hole extends in a direction close to or away from the charging transmission module.

[0020] In a possible implementation, the charging mount is fixed to the apron top mount through a second fastener, and a second waist-shaped hole is arranged on the charging mount and used for the second fastener to pass through, and the second waist-shaped hole extends in a direction close to or away from the apron bottom mount.

[0021] In a possible implementation, the apron bottom mount and the apron top mount are connected through an apron vertical mount, and the apron vertical mount is connected to the apron bottom mount and the apron top mount at an end opposite to the parking entrance.

[0022] In a possible implementation, an electric control box is arranged on the apron top mount, and the electric control box is supported on the apron top mount through an electric control box support strip.

[0023] In a possible implementation, the photovoltaic cleaning robot apron further comprises a protective cover arranged outside the apron top mount.

[0024] The photovoltaic cleaning robot apron provided in the application adopts a frame structure instead of a box structure in the prior art, that is, a parking space is formed between the apron bottom mount and the apron top mount, no other structure is arranged on the side of the apron frame, that is, no boundary is arranged on both sides of the parking space in the direction of entering the parking space, so that when the photovoltaic cleaning robot enters the parking space from the parking entrance, the structure on both sides of the photovoltaic cleaning robot, such as the two ends of the cleaning brush and the side of the robot body, is not limited by the apron frame. The application can be applied to single-brush robots and double-brush robots, and the width of the apron frame only needs to meet the installation of the charging assembly, without increasing the width size, and can be applied to photovoltaic cleaning robots of any width size.

[0025] The second aspect of the application provides a photovoltaic cleaning robot apron system, comprising:

[0026] The photovoltaic cleaning robot parking apron is the photovoltaic cleaning robot parking apron as claimed in any one of the preceding items

[0027] The return apron alignment device is used to guide the photovoltaic cleaning robot to enter a target position of the parking space, so that a charging receiving module on the photovoltaic cleaning robot corresponds to a charging emitting module of the charging assembly.

[0028] In a possible implementation, the return apron alignment device comprises a return apron guiding device and a magnetic navigation sensor arranged on the photovoltaic cleaning robot, and the return apron guiding device comprises:

[0029] A first guiding magnetic element, a guiding path of the first guiding magnetic element being capable of guiding the photovoltaic cleaning robot to move to the target position;

[0030] A second guiding magnetic element arranged on the guiding path of the first guiding magnetic element and used to mark the target position;

[0031] The magnetic navigation sensor is used to detect the magnetic field generated by the first guiding magnetic element and the second guiding magnetic element, so that the photovoltaic cleaning robot can correct the position deviation according to the first guiding magnetic element when moving to the target position, and stop when the magnetic navigation sensor detects the magnetic field of the second guiding magnetic element.

[0032] In a possible implementation, the first guiding magnetic element extends along a first direction, and the second guiding magnetic element extends along a second direction, the first direction being perpendicular to the second direction.

[0033] When the photovoltaic cleaning robot moves to the target position to the magnetic navigation sensor being located above the first guiding magnetic element, the magnetic navigation sensor senses the magnetic field of the first guiding magnetic element, and adjusts the position of the photovoltaic cleaning robot, so that the magnetic navigation sensor is symmetrical along the first guiding magnetic element.

[0034] In a possible implementation, the magnetic navigation sensor has a plurality of sampling points for detecting the magnetic flux, and each sampling point is arranged at intervals.

[0035] When the photovoltaic cleaning robot moves to the target position, the sampling points in the middle region of the magnetic navigation sensor can detect the magnetic flux, and when the sampling points at the most edge cannot collect the magnetic flux, the position of the photovoltaic cleaning robot is adjusted, so that the sampling point in the most middle of the magnetic navigation sensor detects the maximum magnetic flux.

[0036] When all the sampling points of the magnetic navigation sensor can detect the magnetic flux, the photovoltaic cleaning robot is controlled to stop.

[0037] In a possible implementation, the return apron guiding device further comprises a mounting base plate, the first guiding magnetic member and the second guiding magnetic member are both mounted to the mounting base plate, and the mounting base plate is fixed to the apron chassis.

[0038] In a possible implementation, the mounting base plate comprises a base plate body and a bent plate bent downward along an edge of the base plate body, and at least one of the bent plates is provided with a clamping notch;

[0039] At least two chassis longitudinal beams of the apron chassis are embedded in the clamping notch, the chassis longitudinal beams of the apron chassis are connected through a chassis cross beam, the chassis cross beam is attached to the bent plate provided with the clamping notch, and the chassis cross beam is fixed through a cross beam fastener.

[0040] In a possible implementation, the mounting base plate is provided with an anti-skid block for resisting a walking mechanism of the photovoltaic cleaning robot.

[0041] In a possible implementation, the first guiding magnetic member comprises a first magnet, the first magnet is a continuously extended magnetic strip, a plurality of spaced magnetic strips, or a plurality of spaced magnetic nails; and / or,

[0042] The second guiding magnetic member comprises a second magnet, the second magnet is a continuously extended magnetic strip, a plurality of spaced magnetic strips, or a plurality of spaced magnetic nails.

[0043] In a possible implementation, the first guiding magnetic member further comprises a first protective sleeve, and the first magnet is embedded in the first protective sleeve; and / or,

[0044] The second guiding magnetic member further comprises a second protective sleeve, and the second magnet is embedded in the second protective sleeve.

[0045] In a possible implementation, a clamping mechanism for forming a clamping path between the photovoltaic module and the return apron guiding device is further included;

[0046] The clamping mechanism comprises a clamping portion and a fixing portion, and both ends of the clamping portion in the length direction are fixed to the photovoltaic module and the return apron guiding device respectively through the fixing portion;

[0047] An upper surface of the clamping portion forms the clamping path for the walking mechanism of the photovoltaic cleaning robot to walk, both sides of the clamping portion in the width direction are respectively provided with a protruding portion, the protruding portion protrudes from the upper surface of the clamping portion, and the protruding portion is arranged along the length direction of the clamping portion.

[0048] In a possible implementation, the overlapping part comprises two overlapping plates and two connecting plates, two ends of each of the overlapping plates are fixed with the two connecting plates respectively;

[0049] One of the connecting plates is fixed with the edge of the photovoltaic module through the fixing part on the corresponding side, and the other connecting plate is fixed with the edge of the return apron guiding device through the fixing part on the corresponding side;

[0050] The two overlapping plates are arranged side by side and spaced apart, and a hollow area is formed between the two overlapping plates and the two connecting plates.

[0051] The photovoltaic cleaning robot apron system provided in the application has all the technical effects of the photovoltaic cleaning robot apron, and details are not repeated herein. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and those skilled in the art can obtain other drawings according to the provided drawings without creative labor.

[0053] Fig. 1 is a structural schematic diagram of a photovoltaic cleaning robot entering apron system provided by an embodiment of the present application;

[0054] Fig. 2 is a side view of a photovoltaic cleaning robot entering apron system provided by an embodiment of the present application;

[0055] Fig. 3 is a structural schematic diagram of an apron system provided by an embodiment of the present application;

[0056] Fig. 4 is a structural schematic diagram of an apron device without a charging assembly provided by an embodiment of the present application;

[0057] Fig. 5 is a structural schematic diagram of a charging assembly provided by an embodiment of the present application;

[0058] Fig. 6 is a structural schematic diagram of a connection between a return apron guiding device and an apron device provided by an embodiment of the present application;

[0059] Fig. 7 is a structural schematic diagram of a return apron guiding device provided by an embodiment of the present application;

[0060] Fig. 8 is a structural schematic diagram in a return bin process provided by an embodiment of the present application;

[0061] Fig. 9 is a structural schematic diagram after a return bin is in place provided by an embodiment of the present application;

[0062] Fig. 10 is a structural schematic diagram of a return apron guiding device according to another embodiment of the present application;

[0063] Fig. 11 is a structural schematic diagram of a return apron guiding device according to still another embodiment of the present application;

[0064] Fig. 12 is a structural schematic diagram of a lapping mechanism in an installed state according to an embodiment of the present application;

[0065] Fig. 13 is a structural schematic diagram of the back of Fig. 12.

[0066] The meanings of the various reference numerals in the drawings are as follows: 100 - photovoltaic cleaning robot apron; 110 - apron frame; 111 - apron underframe; 112 - apron top frame; 113 - apron stand; 114 - electric control box support strip; 115 - underframe cross beam; 116 - wire bundling buckle; 120 - electric control box; 130 - charging assembly; 131 - charging mounting bracket; 1311 - second waist-shaped hole; 132 - charging emission module; 133 - row brush; 134 - row brush bracket; 1341 - first waist-shaped hole; 200 - return apron guiding device; 210 - mounting bottom plate; 211 - bottom plate body; 2111 - clamping notch; 2112 - clamping groove; 212 - bent plate; 220 - anti-slip stop block; 230 - first guiding magnetic element; 240 - second guiding magnetic element; 300 - photovoltaic cleaning robot; 310 - charging receiving module; 320 - magnetic navigation sensor; 400 - photovoltaic assembly; 500 - lapping mechanism; 510 - lapping plate; 520 - connecting plate; 530 - fixed portion. DETAILED DESCRIPTION

[0067] The core of the present application is to provide a photovoltaic cleaning robot apron that can be applied to both single-brush robots and double-brush robots without needing to be large in size;

[0068] Another core of the present application is to provide a photovoltaic cleaning robot apron system having the above-mentioned photovoltaic cleaning robot apron.

[0069] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0070] No matter the semi-enclosed charging cabin or the fully-enclosed charging cabin is a box structure, if the charging cabin is designed to be large in width, although it can meet the access of photovoltaic cleaning robots of various widths, but for the use of photovoltaic cleaning robots of small width, the design of large charging cabin causes waste of materials; if the charging cabin is designed to be small in width, the adaptive photovoltaic cleaning robots are less, and the applicability is poor.

[0071] Based on this, the embodiment of the present application discloses a photovoltaic cleaning robot parking apron, which can be applied to photovoltaic cleaning robots of various sizes without being large in size, and improves the application range. As shown in FIGS. 1-4, the photovoltaic cleaning robot parking apron 100 disclosed by the embodiment of the present application comprises a parking apron frame 110 and a charging assembly 130.

[0072] The parking apron frame 110 at least comprises a parking apron chassis 111 and a parking apron top frame 112 located above the parking apron chassis 111, and a parking space is formed between the parking apron chassis 111 and the parking apron top frame 112. It should be noted that the height of the parking space should be able to ensure the access of the photovoltaic cleaning robot 300.

[0073] At least one end of the parking space is a parking entrance for the photovoltaic cleaning robot 300 to enter, and the photovoltaic cleaning robot 300 enters the parking space through the parking entrance. It can be understood by those skilled in the art that the photovoltaic cleaning robot 300 does not need to enter the parking space completely, as long as part of the structure can enter and charging can be completed.

[0074] In the direction of entering the parking space, the two sides of the parking space are not provided with boundaries, that is, in the process of the photovoltaic cleaning robot 300 entering the parking space through the parking entrance, the photovoltaic cleaning robot 300 will not be limited by the structures on both sides of the parking space, and the largest cleaning brush in the width direction of the photovoltaic cleaning robot 300 is between the parking apron chassis 111 and the parking apron top frame 112 and extends outside the parking apron chassis 111 and the parking apron top frame 112 (as shown in FIG. 1).

[0075] The charging assembly 130 is used to correspond to the charging receiving module 310 on the photovoltaic cleaning robot 300, and can be arranged on the parking apron frame 110, or can be arranged at other positions according to requirements, and is not limited to being fixed on the parking apron frame 110, for example, the charging assembly 130 can be fixed on the corresponding position of the parking space through some connecting structures. In order to facilitate understanding, the charging assembly 130 is arranged on the parking apron frame 110 in the embodiment, and specifically, the charging assembly 130 can be hung on the parking apron top frame 112, so that the photovoltaic cleaning robot 300 can be charged after entering the parking space.

[0076] The photovoltaic cleaning robot parking apron 100 disclosed by the embodiments of the present application adopts a frame structure instead of the box body structure in the prior art, that is, a parking space is formed between the parking apron chassis 111 and the parking apron top frame 112, and no other structure is arranged on the side of the parking apron frame 110, that is, no boundary is arranged on both sides of the parking space in the direction of entering the parking space, so that when the photovoltaic cleaning robot 300 enters the parking space from the parking entrance, the structure on both sides of the photovoltaic cleaning robot 300, such as the two ends of the cleaning brush and the side of the robot body, is not limited by the parking apron frame 110. The present application can be applied to single-brush robots and double-brush robots, and the width of the parking apron frame 110 only needs to meet the installation of the charging assembly 130, without the need to increase the width size, that is, it can be applied to photovoltaic cleaning robots 300 of any width size. The photovoltaic cleaning robot parking apron 100 will not change greatly with the change of the structure and modeling of the photovoltaic cleaning robot 300, and can form an independent standardized product instead of an accessory structure of the photovoltaic cleaning robot 300.

[0077] As shown in FIGS. 3 and 5, in an embodiment of the present application, the charging assembly 130 includes a charging mounting bracket 131 and a charging transmission module 132. The charging mounting bracket 131 is fixed to the parking apron top frame 112, and the charging transmission module 132 is arranged on the charging mounting bracket 131 and corresponds to the charging receiving module 310 on the photovoltaic cleaning robot 300.

[0078] The parking apron top frame 112 can be composed of a plurality of top frame longitudinal beams and top frame transverse beams connecting the top frame longitudinal beams. The charging mounting bracket 131 can be a U-shaped plate bracket, and the two vertical plates of the U-shaped plate bracket can be fixed to two of the top frame longitudinal beams, and the charging transmission module 132 can be fixed to the horizontal plate of the U-shaped plate bracket.

[0079] Since the photovoltaic cleaning robot 300 is used outdoors for a long time, dust and stains will accumulate on the outside of the photovoltaic cleaning robot 300, and the charging receiving module 310 is located at the top of the photovoltaic cleaning robot 300, so dust and stains will also accumulate on the charging receiving module 310, which will inevitably affect the induction between the charging receiving module 310 and the charging transmission module 132, and ultimately affect the charging efficiency, and even cause the photovoltaic cleaning robot 300 to be unable to charge.

[0080] In this embodiment, in order to reduce the influence of charging caused by the accumulation of dust stains on the charging receiving module 310, the charging assembly 130 can further include a brush 133 arranged on the charging mounting frame 131, and the brush 133 is located on the path of the charging receiving module 310 moving to the lower side of the charging emitting module 132. That is, when the photovoltaic cleaning robot 300 enters the charging space, the charging receiving module 310 will first pass through the brush 133 before moving to the lower side of the charging emitting module 132, and the brush 133 extends to the lower side of the charging emitting module 132, so that the charging receiving module 310 can be brushed by the brush 133 when passing through the brush 133, and the brush 133 can brush off the dust attached to the upper surface of the charging receiving module 310, thereby reducing the problem of affecting charging caused by dust accumulation.

[0081] The charging receiving module 310 and the charging emitting module 132 can realize charging through wireless connection. When the charging receiving module 310 moves to the lower side of the charging emitting module 132, there is a preset distance between the two in the vertical direction, which can avoid collision between the two and also complete the wireless connection between the two and complete charging.

[0082] In a specific embodiment of the present application, the brush 133 is installed on the charging mounting frame 131 through a brush holder 134, and the brush holder 134 is fixed to the charging mounting frame 131 through a first fastener. The brush holder 134 is provided with a first waist-shaped hole 1341 through which the first fastener passes. The extension direction of the first waist-shaped hole 1341 is the direction close to and away from the charging emitting module 132. According to the position of the first fastener fixed to the first waist-shaped hole 1341, the position of the brush holder 134 can be changed, and then the position of the brush 133 can be changed, so that the operator can adjust the distance between the brush 133 and the charging emitting module 132 within a certain range according to the needs.

[0083] After the photovoltaic cleaning robot 300 is used for a long time, the walking mechanism components such as the track and the driving wheel will inevitably be worn out. After the walking mechanism is worn out, the height of the photovoltaic cleaning robot 300 will inevitably be reduced, which will also cause the height of the charging receiving module 310 to be reduced, resulting in an increase in the distance between the charging receiving module 310 and the charging emitting module 132, so that the wireless charging function cannot work normally.

[0084] Based on this, in order to overcome the above technical problems, the charging mounting frame 131 is fixed to the apron top frame 112 by the second fastener, and the second waist-shaped hole 1311 is arranged on the charging mounting frame 131 for the second fastener to pass through, and the extension direction of the second waist-shaped hole 1311 is the direction close to and away from the apron bottom frame 111. According to the position of the second fastener fixed to the second waist-shaped hole 1311, the position of the charging mounting frame 131 can be changed, and then the height of the brush row 133 is changed, so that the operator can adjust the distance between the brush row 133 and the charging receiving module 310 within a certain range according to the needs. The wireless charging function of the photovoltaic cleaning robot 300 can work normally in the entire life cycle of the photovoltaic cleaning robot 300, and is not affected by the settlement of the photovoltaic cleaning robot 300 caused by the wear of the walking mechanism components such as the track and the driving wheel.

[0085] As shown in FIG. 4, the apron bottom frame 111 and the apron top frame 112 are connected through the apron vertical frame 113, and the apron vertical frame 113 is connected to the ends of the apron bottom frame 111 and the apron top frame 112 opposite to the parking entrance, that is, the apron vertical frame 113 is located at the rear of the apron frame 110. It should be noted that the apron bottom frame 111, the apron top frame 112 and the apron vertical frame 113 can be all made of angle steel by welding or splicing through fasteners.

[0086] The apron top frame 112 is provided with an electric control box 120, and the electric control box 120 is supported on the apron top frame 112 through an electric control box support strip 114. Specifically, the vertical frame longitudinal beams of the apron vertical frame 113 are provided with vertical frame transverse beams, the vertical frame transverse beams are of an angle steel structure, one side of the bottom of the electric control box 120 is supported through the vertical frame transverse beams, and the other side of the bottom is supported through the electric control box support strip 114. The electric control box support strip 114 can be of a U-shaped structure, or other structures, as long as it can support the electric control box 120.

[0087] Since the apron top frame 112 is provided with the electric control box 120 and the charging assembly 130, in order to protect them, a protective cover is arranged outside the apron top frame 112. In addition to preventing other structures from damaging the electric control box 120 and the charging assembly 130, the protective cover can also achieve the effect of preventing rain, so as to avoid rainwater, dust and the like from entering the electric control box 120 and the charging assembly 130, and affecting the use of the charging function.

[0088] The application further discloses a photovoltaic cleaning robot apron system, which comprises the photovoltaic cleaning robot apron and a warehouse returning alignment device disclosed in the above embodiments. The warehouse returning alignment device is used for guiding the photovoltaic cleaning robot 300 to enter the target position of the parking space, so that the charging receiving module 310 on the photovoltaic cleaning robot 300 corresponds to the charging emitting module 132 of the charging assembly 130.

[0089] The photovoltaic cleaning robot parking apron system disclosed in the embodiment has all the technical effects of the photovoltaic cleaning robot parking apron, and thus will not be described here again.

[0090] As shown in FIGS. 7-9, in the embodiment, the returning apron alignment device includes a returning apron guiding device 200 arranged at the parking entrance side of the parking apron frame 110 and a magnetic navigation sensor 320 arranged on the photovoltaic cleaning robot 300. The returning apron guiding device 200 includes a first guiding magnetic member 230 and a second guiding magnetic member 240.

[0091] The guiding path of the first guiding magnetic member 230 can enable the photovoltaic cleaning robot 300 to move to the target position. The first guiding magnetic member 230 functions to enable the photovoltaic cleaning robot 300 to move along the first guiding magnetic member 230 and maintain a corresponding positional relationship with the first guiding magnetic member 230 during movement of the photovoltaic cleaning robot 300 to the target position, thereby preventing deviation from the first guiding magnetic member 230 during movement.

[0092] The second guiding magnetic member 240 is arranged on the guiding path of the first guiding magnetic member 230 and is used to mark the target position. The photovoltaic cleaning robot 300 marks the position at which the photovoltaic cleaning robot 300 stops during movement along the first guiding magnetic member 230 to the target position (hereinafter referred to as the target position) of the parking space. The photovoltaic cleaning robot 300 stops when the magnetic navigation sensor 320 can sense the second guiding magnetic member 240, and at this time, the photovoltaic cleaning robot 300 is at the target position.

[0093] The magnetic navigation sensor 320 is used to detect the magnetic field generated by the first guiding magnetic member 230 and the second guiding magnetic member 240, so that the photovoltaic cleaning robot 300 can correct positional deviation according to the first guiding magnetic member 230 when moving to the target position. That is, when the magnetic navigation sensor 320 deviates from the first guiding magnetic member 230, the detected magnetic field will change, and thus the position and walking direction of the photovoltaic cleaning robot 300 can be adjusted based thereon to ensure that the photovoltaic cleaning robot 300 always moves along the extension direction of the first guiding magnetic member 230. The photovoltaic cleaning robot 300 stops when moving to the position at which the magnetic navigation sensor 320 detects the magnetic field of the second guiding magnetic member 240, and at this time, the photovoltaic cleaning robot 300 is at the target position.

[0094] The embodiment sets the magnetic navigation sensor 320 on the photovoltaic cleaning robot 300 and sets the landing pad guiding device 200 on the path of the photovoltaic cleaning robot 300 to the target position. The movement of the photovoltaic cleaning robot 300 is guided by the inductive relationship between the magnetic navigation sensor 320 and the first guiding magnetic element 230 and the second guiding magnetic element 240 of the landing pad guiding device 200, so as to ensure that the photovoltaic cleaning robot 300 stops at the target position.

[0095] Taking the target position as the charging position as an example, when the photovoltaic cleaning robot 300 returns to the photovoltaic cleaning robot landing pad, the magnetic navigation sensor 320 senses the magnetic field when the photovoltaic cleaning robot 300 moves above the first guiding magnetic element 230. As the photovoltaic cleaning robot 300 continues to move, the magnetic navigation sensor 320 controls the position and direction deviation of the photovoltaic cleaning robot 300 to be corrected, and finally stops the photovoltaic cleaning robot 300 after the magnetic navigation sensor 320 senses the magnetic field of the second guiding magnetic element 240.

[0096] The embodiment adopts a non-contact correction alignment method, which can effectively avoid the problems such as wear and loosening caused by contact. In addition, the magnetic element itself is corrosion-proof, and the embodiment has no risk of damage due to corrosion. After long-term use, the alignment accuracy will not be affected due to wear, loosening and corrosion, and the shortcomings and deficiencies of the contact alignment method in the prior art are completely avoided.

[0097] In an embodiment of the present application, the first guiding magnetic element 230 extends along a first direction, and the second guiding magnetic element 240 extends along a second direction. The first direction is perpendicular to the second direction. In actual application, the direction of entering and exiting the photovoltaic cleaning robot landing pad can be designed as the first direction, and the width direction of the entrance of the photovoltaic cleaning robot landing pad can be designed as the second direction.

[0098] When the photovoltaic cleaning robot 300 moves to the target position, it moves to the target position by relying on its traditional navigation method before moving to the position where the landing pad guiding device 200 is located. During the movement of the photovoltaic cleaning robot 300 to the target position, the magnetic navigation sensor 320 is located above the first guiding magnetic element 230, and the magnetic navigation sensor 320 can sense the magnetic field of the first guiding magnetic element 230 at this time. Then the photovoltaic cleaning robot 300 relies on the magnetic navigation sensor 320 to correct the position, adjusts the position of the photovoltaic cleaning robot 300 by using the magnetic field detected by the magnetic navigation sensor 320, so that the magnetic navigation sensor 320 is symmetrical along the first guiding magnetic element 230.

[0099] Those skilled in the art can understand that the magnetic navigation sensor 320 has a plurality of sampling points for detecting magnetic flux, and each sampling point is arranged at intervals. When the magnetic navigation sensor 320 moves above the first guide magnetic member 230, because each sampling point of the magnetic navigation sensor 320 is at different positions, the distance from the first guide magnetic member 230 is also different, so the magnetic flux detected by each sampling point is also different, and thus the positional relationship between the magnetic navigation sensor 320 and the first guide magnetic member 230 can be determined according to the magnetic flux detected by different sampling points, and then the positional relationship between the photovoltaic cleaning robot 300 and the first guide magnetic member 230 is obtained.

[0100] The first guide magnetic member 230 extends along a first direction, and the second guide magnetic member 240 extends along a second direction. When the photovoltaic cleaning robot 300 moves to the target position and moves to the position where the magnetic navigation sensor 320 is above the first guide magnetic member 230, the arrangement direction of each sampling point of the magnetic navigation sensor 320 is intersected with the first direction, and preferably perpendicular to the first direction. That is, the preferred way is that the photovoltaic cleaning robot 300 enters the flat returning guide device 200 in a state that the arrangement direction of each sampling point of the magnetic navigation sensor 320 is perpendicular to the first direction.

[0101] Those skilled in the art can understand that when the magnetic navigation sensor 320 is above the first guide magnetic member 230, the arrangement direction of each sampling point of the magnetic navigation sensor 320 is intersected with the first direction. The photovoltaic cleaning robot 300 can move to the target position according to its conventional navigation mode, although it is more difficult to achieve that when the magnetic navigation sensor 320 is above the first guide magnetic member 230, the arrangement direction of each sampling point of the magnetic navigation sensor 320 is perpendicular to the first direction and is equally divided by the first guide magnetic member 230, but it is still relatively easy for the photovoltaic cleaning robot 300 to move to the position where the arrangement direction of each sampling point of the magnetic navigation sensor 320 is intersected with the first direction by using its conventional navigation mode.

[0102] When the photovoltaic cleaning robot 300 moves to the target position, if the sampling points in the middle region of the magnetic navigation sensor 320 can detect the magnetic flux, while the sampling points at the edge cannot detect the magnetic flux, it indicates that the magnetic navigation sensor 320 has moved above the first guide magnetic piece 230. This is because the extension direction of the first guide magnetic piece 230 is parallel to the direction of entering the photovoltaic cleaning robot parking lot, and when the photovoltaic cleaning robot 300 returns to the photovoltaic cleaning robot parking lot, it must enter the photovoltaic cleaning robot parking lot along this direction. The sampling points of the magnetic navigation sensor 320 are arranged along the width direction of the photovoltaic cleaning robot 300, which makes the distances of the sampling points to the first guide magnetic piece 230 different. If the path of the photovoltaic cleaning robot 300 returning to the photovoltaic cleaning robot parking lot is correct, the sampling points in the middle region of the magnetic navigation sensor 320 can detect the magnetic flux of the first guide magnetic piece 230, while the sampling points at the edge cannot detect the magnetic flux due to the too long distance to the first guide magnetic piece 230.

[0103] The position of the photovoltaic cleaning robot 300 is adjusted so that the sampling point in the middle of the magnetic navigation sensor 320 detects the maximum magnetic flux, so that the photovoltaic cleaning robot 300 can enter the target position in an aligned posture, and ensure that the charging receiving module 310 on the photovoltaic cleaning robot 300 is opposite to the charging transmitting module 132 in the photovoltaic cleaning robot parking lot. It should be noted that even if some deviation exists and the sampling point in the middle of the magnetic navigation sensor 320 cannot detect the maximum magnetic flux, as long as the sampling points closer to the middle of the magnetic navigation sensor 320 can detect larger magnetic flux, the position of the magnetic navigation sensor 320 and the first guide magnetic piece 230 can be basically centered, and finally even if the charging receiving module 310 on the photovoltaic cleaning robot 300 cannot be opposite to the charging transmitting module 132 in the photovoltaic cleaning robot parking lot, as long as a basic corresponding relationship can be ensured, the charging function can be realized.

[0104] When all the sampling points of the magnetic navigation sensor 320 can detect the magnetic flux, it indicates that the magnetic navigation sensor 320 has moved to the position of the second guide magnetic piece 240, and the photovoltaic cleaning robot 300 is controlled to stop at this time. Since the extension direction of the second guide magnetic piece 240 is perpendicular to the first guide magnetic piece 230, when the photovoltaic cleaning robot 300 is guided to the target position by the first guide magnetic piece 230, the position relationship of the sampling points of the magnetic navigation sensor 320 and the first guide magnetic piece 230 is corrected, so that the arrangement direction of the sampling points is perpendicular to the first guide magnetic piece 230, that is, parallel to the extension direction of the second guide magnetic piece 240.

[0105] When each sampling point of the magnetic navigation sensor 320 moves above the second guide magnetic member 240 in a parallel posture with the second guide magnetic member 240, each sampling point of the magnetic navigation sensor 320 can detect a magnetic field, at this time, the photovoltaic cleaning robot 300 has moved to the target position, the photovoltaic cleaning robot 300 can be controlled to stop moving, and then the charging receiving module 310 on the photovoltaic cleaning robot 300 is in a corresponding state with the charging transmitting module 132 in the photovoltaic cleaning robot parking apron.

[0106] As shown in FIG. 7, the first guide magnetic member 230 can extend to the middle of the second guide magnetic member 240, so that the first guide magnetic member 230 and the second guide magnetic member 240 form a T-shaped structure. It should be noted that the length of the second guide magnetic member 240 can be less than the length of the first guide magnetic member 230, as long as the length of the second guide magnetic member 240 can meet the requirement that when each sampling point of the magnetic navigation sensor 320 moves above the second guide magnetic member 240 in a parallel posture with the second guide magnetic member 240, each sampling point of the magnetic navigation sensor 320 can detect a magnetic field. The length of the first guide magnetic member 230 can be designed according to requirements, as long as the length of the first guide magnetic member 230 can meet the requirement that the photovoltaic cleaning robot 300 can correct the position by using the first guide magnetic member 230 before moving to the target position.

[0107] Further, the parking apron guiding device 200 further comprises a mounting bottom plate 210, and the first guide magnetic member 230 and the second guide magnetic member 240 are both mounted to the mounting bottom plate 210. In the embodiment, the first guide magnetic member 230 and the second guide magnetic member 240 are mounted to the mounting bottom plate 210, and the first guide magnetic member 230 and the second guide magnetic member 240 can be installed to the corresponding positions by the mounting bottom plate 210, thereby improving the installation efficiency on site.

[0108] As shown in FIG. 6, in the embodiment, the mounting bottom plate 210 comprises a bottom plate body 211 and a bent plate 212 bent downward along the edge of the bottom plate body 211, and at least one bent plate 212 is provided with a clamping notch 2111. At least two bottom frame longitudinal beams of the parking apron chassis 111 are embedded in the clamping notch 2111, and the bottom frame longitudinal beam can be an angle steel, and the vertical plate of the angle steel is embedded in the clamping notch 2111, so as to mount the mounting bottom plate 210 on the parking apron chassis 111, and by the cooperation of the bottom frame longitudinal beam of the parking apron chassis 111 and the clamping notch 2111, the left and right movement of the mounting bottom plate 210 can be limited.

[0109] The chassis longitudinal beams of the parking apron chassis 111 are connected by the chassis cross beams 115, which are attached to the bent plate 212 with the clamping notches 2111 and fixed by the cross beam fasteners. In this embodiment, the chassis cross beams 115 are used to fix the mounting plate 210 in addition to connecting two chassis longitudinal beams to make the parking apron chassis 111 have a more stable structure, so as to limit the forward and backward movement of the mounting plate 210, i.e., limit the movement of the mounting plate 210 along the extension direction of the chassis longitudinal beams. The position of the chassis cross beams 115 on the chassis longitudinal beams determines the position of the parking apron guiding device 200, and the position of the parking apron guiding device 200 determines the stopping position of the photovoltaic cleaning robot 300, so the position of the chassis cross beams 115 can be adjusted according to the installation position of the charging emitting module 132, so that the charging receiving module 310 on the photovoltaic cleaning robot 300 can correspond to the charging emitting module 132 when the photovoltaic cleaning robot 300 stops.

[0110] As shown in FIG. 7, in an embodiment of the present application, the mounting plate 210 is provided with anti-skid blocks 220 for resisting the walking mechanism of the photovoltaic cleaning robot 300. When the photovoltaic cleaning robot 300 moves to the target position, the walking mechanism of the photovoltaic cleaning robot 300 is blocked by the anti-skid blocks 220 at the rear side in the advancing direction, so as to avoid the photovoltaic cleaning robot 300 from retreating during the charging process and affecting the effective charging. The photovoltaic cleaning robot 300 moves forward, and the movement of the photovoltaic cleaning robot 300 in the forward and backward directions can be limited by the structure of the photovoltaic cleaning robot parking apron (for example, the parking apron stand 113), so that the photovoltaic cleaning robot 300 can be limited to move in the powerless state in the forward and backward directions when the photovoltaic cleaning robot 300 moves to the target position, and the charging receiving module 310 on the photovoltaic cleaning robot 300 and the charging emitting module 132 in the photovoltaic cleaning robot parking apron are always in the corresponding state.

[0111] Further, the first guiding magnetic member 230 includes a first magnet, which can be a continuously extended magnetic strip as shown in FIG. 7, a plurality of spaced magnetic strips as shown in FIG. 10, or a plurality of spaced magnetic nails as shown in FIG. 11, and the embodiments of the present application do not limit the structure of the first magnet.

[0112] Similarly, the second guiding magnetic member 240 includes a second magnet, which can be a continuously extended magnetic strip as shown in FIG. 7, a plurality of spaced magnetic strips as shown in FIG. 10, or a plurality of spaced magnetic nails as shown in FIG. 11, and the embodiments of the present application do not limit the structure of the second magnet.

[0113] It should be noted that the first magnet and the second magnet can have the same structure or different structures. For example, the first magnet and the second magnet can each have a continuously extending magnetic strip or a plurality of spaced magnetic strips, or each have a plurality of spaced magnetic nails. Of course, when the first magnet has a continuously extending magnetic strip, the second magnet can have a plurality of spaced magnetic strips or a plurality of spaced magnetic nails, and other different structures are not exemplified.

[0114] In order to protect the first magnet and the second magnet, in the embodiment, the first guide magnetic member 230 further includes a first protective sleeve, the first magnet is embedded in the first protective sleeve, and the first protective sleeve is fixed on the mounting base plate 210 by a fastener. Specifically, a fixing lug for penetrating the fastener can be arranged at a corresponding position of the first protective sleeve, and the fixing lug is pressed on the mounting base plate 210 by the fastener to fix the first protective sleeve.

[0115] Similarly, the second guide magnetic member 240 further includes a second protective sleeve, and the second magnet is embedded in the second protective sleeve. The second protective sleeve is fixed on the mounting base plate 210 by a fastener. Specifically, a fixing lug for penetrating the fastener can be arranged at a corresponding position of the second protective sleeve, and the fixing lug is pressed on the mounting base plate 210 by the fastener to fix the second protective sleeve.

[0116] Since the return bin alignment device disclosed in the embodiment utilizes the magnetic induction relationship between the magnetic navigation sensor 320 and the first guide magnetic member 230 and the second guide magnetic member 240 to correct the position, the position of the magnetic navigation sensor 320 on the photovoltaic cleaning robot 300 will affect the position of the photovoltaic cleaning robot 300.

[0117] Once the installation position of the magnetic navigation sensor 320 on the photovoltaic cleaning robot 300 deviates, or the installation position of the return flat guide device 200 deviates, the position of the photovoltaic cleaning robot 300 will be affected. Adjusting the installation position of the return flat guide device 200 is troublesome, and the installer needs to re-drill and install, which is time-consuming and laborious.

[0118] In this embodiment, the magnetic navigation sensor 320 is arranged on the photovoltaic cleaning robot 300 through a sliding assembly, and the sliding direction of the sliding assembly is the width direction of the photovoltaic cleaning robot 300. The sliding assembly can be used to adjust the magnetic navigation sensor 320 in the width direction of the photovoltaic cleaning robot 300. After adjusting to the appropriate position, the magnetic navigation sensor 320 is locked through the locking member. The sliding assembly can include a sliding rail and a sliding block. The sliding rail extends in the width direction of the photovoltaic cleaning robot 300, and the sliding block is in sliding cooperation with the sliding rail and is fixed on the magnetic navigation sensor 320. The locking member (for example, a locking top screw) is arranged on the sliding block and is in threaded cooperation with the threaded hole on the sliding block. By rotating the locking top screw, the end of the locking top screw can be tightly pressed on the sliding rail, so as to limit the sliding of the sliding block and achieve the locking purpose. It should be noted that the magnetic navigation sensor 320 can also be directly fixed on the photovoltaic cleaning robot 300.

[0119] In order to avoid the obstruction of the photovoltaic module, the photovoltaic cleaning robot parking apron 100 and the return apron guiding device 200 are usually arranged outside the photovoltaic module. In order to ensure that the photovoltaic cleaning robot 300 can walk on the photovoltaic module to the photovoltaic cleaning robot parking apron 100, a lap joint mechanism needs to be arranged to connect the photovoltaic module and the return apron guiding device 200.

[0120] As shown in FIGS. 12 and 13, in this embodiment, the lap joint mechanism 500 is used to form a lap joint path for the walking mechanism of the photovoltaic cleaning robot 300 to walk between the photovoltaic module 400 and the return apron guiding device 200. The lap joint mechanism 500 includes a lap joint portion and a fixed portion 530. The two ends of the length direction of the lap joint portion are respectively fixed with the photovoltaic module 400 and the return apron guiding device 200 through the fixed portion 530.

[0121] The upper surface of the lap joint portion forms the lap joint path, and the photovoltaic cleaning robot 300 can move from the photovoltaic module 400 to the return apron guiding device 200 through the lap joint path. Of course, it can also move from the return apron guiding device 200 to the photovoltaic module 400 through the lap joint path.

[0122] The two sides of the width direction of the lap joint portion are respectively provided with a protruding portion. The protruding portion protrudes from the upper surface of the lap joint portion, and the protruding portion is arranged along the length direction of the lap joint portion. During the movement of the photovoltaic cleaning robot 300 along the lap joint path, the protruding portions respectively limit the tracks of the photovoltaic cleaning robot 300 from both sides, prevent the tracks from sliding on the surface of the lap joint path, and ensure the stability of the movement of the photovoltaic cleaning robot 300 on the lap joint portion.

[0123] Further, the clamping part includes two clamping plates 510 and two connecting plates 520, two ends of each clamping plate 510 are fixed with the two connecting plates 520 respectively; one of the connecting plates 520 is fixed with the edge of the photovoltaic module 400 through the corresponding fixed part 530, and the other connecting plate 520 is fixed with the edge of the return flat guiding device 200 through the corresponding fixed part 530.

[0124] The two clamping plates 510 are arranged side by side and spaced apart, and a hollow area is formed between the two clamping plates 510 and the two connecting plates 520. That is, the clamping plate 510 and the connecting plate 520 form a frame structure similar to a back-to-back character, and a hollow area is formed in the middle. In this way, the overall weight of the clamping part 10 can be simplified, thereby effectively reducing the cost.

[0125] The connecting plate 520 is directly fixed with the photovoltaic module 400 / return flat guiding device 200 through the fixed part 530, and then the connecting plate 520 is fixed with the clamping plate 510. Compared with the scheme of fixing the clamping part 10 as a whole with the photovoltaic module 400, the connecting plate 520 is small in size, and the operation of fixing the connecting plate 520 with the photovoltaic module 400 through the fixed part 530 is facilitated, thereby effectively reducing the difficulty of on-site construction.

[0126] The end of the clamping plate 510 can be clamped on the upper surface of the connecting plate 520 and fixed through a fastener. When the clamping plate 510 and the connecting plate 520 are in a clamped and fixed state, the protruding part on the clamping plate 510 can be clamped on the protruding part of the connecting plate 520. In this way, the structural strength at the connection between the clamping plate 510 and the connecting plate 520 can be ensured, and the installation and positioning between the clamping plate 510 and the connecting plate 520 can be realized, thereby facilitating the improvement of installation efficiency.

[0127] The fixed part 530 can be connected with the connecting plate 520 through a fastener, and a clamping groove (such as the clamping groove 2112 on the return flat guiding device 200 shown in FIG. 7) is arranged on the photovoltaic module 400 and the return flat guiding device 200. The fixed part 530 is provided with a clamping hook, and the clamping hook of the fixed part 530 is clamped on the clamping groove 2112 on the photovoltaic module 400 / the return flat guiding device 200, thereby realizing the quick installation of the clamping mechanism 500 with the photovoltaic module 400 and the return flat guiding device 200.

[0128] As shown in the present application and claims, unless the context clearly indicates otherwise, the words "comprise", "comprising", "include", "including" and the like are to be construed in an inclusive sense, as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to". Similarly, the words "comprises", "comprising", "includes", "including" and the like can mean "including, but not limited to".

[0129] In the description of the present application, unless otherwise explicitly defined, the words "arrange", "install", "connect" and the like should be interpreted broadly, and the specific meaning of the above words in the present application can be determined by the skilled in the art in combination with the specific content of the technical solution.

[0130] The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be mutually referred to.

[0131] The principles and implementation manners of the present application are described by using specific examples in the present specification. The above description of the embodiments is only for the purpose of helping to understand the method of the present application and its core idea. It should be noted that, for those skilled in the art, without departing from the principles of the present application, some improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A photovoltaic cleaning robot landing pad, characterized in that, include: The helipad frame (110) includes at least a helipad base frame (111) and a helipad top frame (112) located above the helipad base frame (111). A parking space is formed between the helipad base frame (111) and the helipad top frame (112). At least one end of the parking space is a parking entrance for the photovoltaic cleaning robot (300) to enter. There are no boundaries on either side of the parking space along the direction of entering the parking space. A charging component (130) is provided to correspond to a charging receiver module (310) on a photovoltaic cleaning robot (300).

2. The photovoltaic cleaning robot landing pad according to claim 1, characterized in that, The charging assembly (130) includes: A charging mounting bracket (131) is fixed to the roof frame (112) of the helipad; A charging transmitter module (132) is disposed on the charging mounting bracket (131) and is used to correspond to the charging receiver module (310) on the photovoltaic cleaning robot (300).

3. The photovoltaic cleaning robot landing pad according to claim 2, characterized in that, The charging assembly (130) also includes a brush (133) disposed on the charging mounting bracket (131), and the brush (133) is located on the path of the charging receiving module (310) moving to the area below the charging transmitting module (132).

4. The photovoltaic cleaning robot landing pad according to claim 3, characterized in that, The brush (133) is mounted to the charging mounting bracket (131) via the brush holder (134), and the brush holder (134) is fixed to the charging mounting bracket (131) by a first fastener. The brush holder (134) has a first waist-shaped hole (1341) through which the first fastener passes. The extension direction of the first waist-shaped hole (1341) is towards and away from the charging transmitter module (132).

5. The photovoltaic cleaning robot landing pad according to claim 2, characterized in that, The charging mounting bracket (131) is fixed to the helipad top frame (112) by a second fastener, and the charging mounting bracket (131) is provided with a second waist-shaped hole (1311) through which the second fastener passes. The extension direction of the second waist-shaped hole (1311) is towards and away from the helipad base frame (111).

6. The photovoltaic cleaning robot landing pad according to any one of claims 1-5, characterized in that, The helipad underframe (111) and the helipad topframe (112) are connected by a helipad support frame (113), which is connected to the end of the helipad underframe (111) and the helipad topframe (112) opposite to the parking entrance.

7. The photovoltaic cleaning robot landing pad according to any one of claims 1-5, characterized in that, An electrical control box (120) is installed on the roof frame (112) of the helipad, and the electrical control box (120) is supported on the roof frame (112) by an electrical control box support strip (114).

8. The photovoltaic cleaning robot landing pad according to any one of claims 1-5, characterized in that, It also includes a protective cover installed on the outside of the roof frame (112) of the helipad.

9. A photovoltaic cleaning robot landing pad system, characterized in that, include: The photovoltaic cleaning robot landing pad (100) is the photovoltaic cleaning robot landing pad (100) as described in any one of claims 1-8; The return alignment device is used to guide the photovoltaic cleaning robot (300) into the target position of the parking space so that the charging receiving module (310) on the photovoltaic cleaning robot (300) corresponds to the charging transmitting module (132) of the charging component (130).

10. The photovoltaic cleaning robot landing pad system according to claim 9, characterized in that, The return alignment device includes a return guidance device (200) installed on the parking entrance side of the parking apron frame (110) and a magnetic navigation sensor (320) installed on the photovoltaic cleaning robot (300). The return guidance device (200) includes: A first guiding magnetic element (230) is provided, and the guiding path of the first guiding magnetic element (230) enables the photovoltaic cleaning robot (300) to move to the target position; The second guiding magnetic element (240) is disposed on the guiding path of the first guiding magnetic element (230) and is used to mark the target position; The magnetic navigation sensor (320) is used to detect the magnetic fields generated by the first guiding magnetic element (230) and the second guiding magnetic element (240), so that the photovoltaic cleaning robot (300) can correct the position deviation according to the first guiding magnetic element (230) when moving towards the target position, and stop when the magnetic navigation sensor (320) detects the magnetic field of the second guiding magnetic element (240).

11. The photovoltaic cleaning robot landing pad system according to claim 10, characterized in that, The first guiding magnetic element (230) extends along a first direction, and the second guiding magnetic element (240) extends along a second direction, wherein the first direction is perpendicular to the second direction; When the photovoltaic cleaning robot (300) moves toward the target position and the magnetic navigation sensor (320) is above the first guiding magnetic element (230), the magnetic navigation sensor (320) senses the magnetic field of the first guiding magnetic element (230) and adjusts the position of the photovoltaic cleaning robot (300) so that the magnetic navigation sensor (320) is symmetrical along the first guiding magnetic element (230).

12. The photovoltaic cleaning robot landing pad system according to claim 11, characterized in that, The magnetic navigation sensor (320) has multiple sampling points for detecting magnetic flux, and the sampling points are arranged at intervals. When the photovoltaic cleaning robot (300) moves toward the target position, magnetic flux can be detected at the sampling point in the middle region of the magnetic navigation sensor (320), but magnetic flux cannot be collected at the sampling point at the outermost edge. The position of the photovoltaic cleaning robot (300) is adjusted so that the magnetic flux detected at the sampling point in the middle of the magnetic navigation sensor (320) is maximized. When magnetic flux can be detected at all sampling points of the magnetic navigation sensor (320), the photovoltaic cleaning robot (300) is controlled to stop.

13. The photovoltaic cleaning robot landing pad system according to claim 10, characterized in that, The return-to-ground guiding device (200) further includes a mounting base plate (210), the first guiding magnetic element (230) and the second guiding magnetic element (240) are both mounted on the mounting base plate (210), and the mounting base plate (210) is fixed to the apron underframe (111).

14. The photovoltaic cleaning robot landing pad system according to claim 13, characterized in that, The mounting base plate (210) includes a base plate body (211) and a bent plate (212) bent downward along the edge of the base plate body (211), wherein at least one of the bent plates (212) has a snap-fit ​​notch (2111). At least two longitudinal beams of the apron underframe (111) are embedded in the snap-fit ​​notch (2111), the longitudinal beams of the apron underframe (111) are connected by a crossbeam (115), the crossbeam (115) is attached to the bent plate (212) having the snap-fit ​​notch (2111) and is fixed by the crossbeam fastener.

15. The photovoltaic cleaning robot landing pad system according to claim 13, characterized in that, The mounting base plate (210) is provided with anti-slip blocks (220) for resisting the walking mechanism of the photovoltaic cleaning robot (300).

16. The photovoltaic cleaning robot landing pad system according to claim 10, characterized in that, The first guiding magnetic element (230) includes a first magnet, which is a continuously extending magnetic strip, a plurality of spaced magnetic strips, or a plurality of spaced magnetic nails; and / or, The second guiding magnetic element (240) includes a second magnet, which is a continuously extending magnetic strip, a plurality of spaced magnetic strips, or a plurality of spaced magnetic nails.

17. The photovoltaic cleaning robot landing pad system according to claim 16, characterized in that, The first guiding magnetic element (230) further includes a first protective sleeve, in which the first magnet is embedded; and / or, The second guiding magnetic element (240) also includes a second protective sleeve, in which the second magnet is embedded.

18. The photovoltaic cleaning robot landing pad system according to claim 10, characterized in that, It also includes an overlap mechanism (500) for forming an overlap path between the photovoltaic module (400) and the return-to-ground guide device (200) for the walking mechanism of the photovoltaic cleaning robot (300) to travel; The overlapping mechanism (500) includes an overlapping part and a fixing part (530). The two ends of the overlapping part in the length direction are fixed to the photovoltaic module (400) and the return-to-ground guiding device (200) respectively by the fixing part (530). The upper surface of the overlapping portion forms the overlapping path, and the two sides of the overlapping portion in the width direction are respectively provided with protrusions. The protrusions protrude from the upper surface of the overlapping portion and are arranged along the length direction of the overlapping portion.

19. The photovoltaic cleaning robot landing pad system according to claim 18, characterized in that, The overlapping part includes two overlapping plates (510) and two connecting plates (520), and the two ends of each overlapping plate (510) are respectively fixed to the two connecting plates (520); One of the connecting plates (520) is fixed to the edge of the photovoltaic module (400) by the fixing part (530) on the corresponding side, and the other connecting plate (520) is fixed to the edge of the return leveling guide device (200) by the fixing part (530) on the corresponding side; The two overlapping plates (510) are arranged side by side with a gap, and a hollow area is formed between the two overlapping plates (510) and the two connecting plates (520).

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