CN114256898A

CN114256898A - Photovoltaic cleaning robot, battery charging outfit and charging system

Info

Publication number: CN114256898A
Application number: CN202011015107.5A
Authority: CN
Inventors: 石乐; 王少义; 徐光远; 周鑫; 任春萌
Original assignee: BOE Technology Group Co Ltd; Beijing BOE Energy Technology Co Ltd
Current assignee: BOE Technology Group Co Ltd; Beijing BOE Energy Technology Co Ltd
Priority date: 2020-09-24
Filing date: 2020-09-24
Publication date: 2022-03-29

Abstract

The embodiment of the present disclosure provides a photovoltaic cleaning robot, battery charging outfit and charging system, photovoltaic cleaning robot includes: the wireless charging device comprises a shell, a wireless charging receiver, a first moving assembly, a second moving assembly, a motor, a battery, a cleaning assembly and a controller; the wireless charging receiver comprises a shell, a first moving assembly, a cleaning assembly, a wireless charging receiver and a wireless charging receiver, wherein the first moving assembly and the second moving assembly are respectively arranged at two ends of the shell, the cleaning assembly is arranged between the first moving assembly and the second moving assembly, and the wireless charging receiver is arranged at a first position between the first moving assembly and the second moving assembly; the controller is configured to control the first moving assembly and the second moving assembly to move towards the charging equipment through the motor when the electric quantity of the battery is detected to be lower than the preset electric quantity, and acquire electric energy from the charging equipment through the wireless charging receiver; when the electric quantity of the battery is detected to be higher than the preset electric quantity, the first moving assembly and the second moving assembly are controlled to move towards the direction far away from the charging equipment through the motor, so that the wireless charging receiver is separated from the charging equipment.

Description

Photovoltaic cleaning robot, battery charging outfit and charging system

Technical Field

The utility model relates to a photovoltaic field, in particular to photovoltaic cleaning robot, battery charging outfit and charging system.

Background

With the development of the photovoltaic industry, the intelligent photovoltaic cleaning robot becomes an important composition form of future photovoltaic power generation. At present, the existing cleaning robot mainly adopts a self-carrying photovoltaic panel to supply power, when the self-carrying photovoltaic panel is adopted to provide electric energy for the robot, the photovoltaic panel of the robot can influence the power generation efficiency due to surface dust accumulation, the charging time required by the robot is prolonged, even the robot cannot obtain enough electric quantity to influence the working efficiency, and even the robot stops working completely.

The existing solution is that a strip brush is installed on a main parking frame of a robot, and when the robot enters the main parking frame, the strip brush moves relative to the strip brush fixed on the main parking frame to clean the photovoltaic panel of the robot. However, when a period of time passes, the strip brush is damaged or stains with high viscosity fall from the photovoltaic panel of the robot, the self power generation efficiency of the robot is still affected, and therefore the power of the robot is insufficient; moreover, the photovoltaic panel is limited in self-bearing pressure, and the photovoltaic panel can be damaged due to overlarge cleaning force. The robot adopts the mode of carrying the photovoltaic board by itself, and the self structural design of the robot is limited due to the need of controlling the weight.

Based on weight and photovoltaic board damage problem, a charging mode is provided again, and the mode does not need the robot to carry the photovoltaic board, only needs the robot to aim at the charging socket of the charging equipment with self charging socket can. However, the charging socket is damaged due to long-time contact friction, the maintenance difficulty is increased, the position movement of the robot needs to be accurately controlled during socket connection, and the control cost is high.

Disclosure of Invention

In view of this, the embodiment of the present disclosure provides a photovoltaic cleaning robot, a charging device and a charging system, so as to solve the following problems in the prior art: because charging socket long-time contact friction can lead to damaging, has increased the maintenance degree of difficulty, and socket connection needs the position of accurate control robot to remove, and control cost is higher.

In one aspect, an embodiment of the present disclosure provides a photovoltaic cleaning robot, including: the wireless charging device comprises a shell, a wireless charging receiver, a first moving assembly, a second moving assembly, a motor, a battery, a cleaning assembly and a controller; the first moving assembly and the second moving assembly are respectively arranged at two ends of the shell, the cleaning assembly is arranged between the first moving assembly and the second moving assembly, and the wireless charging receiver is arranged at a first position between the first moving assembly and the second moving assembly; the controller is configured to control the first moving assembly and the second moving assembly to move towards a charging device through the motor when the electric quantity of the battery is detected to be lower than a preset electric quantity, and acquire electric energy from the charging device through the wireless charging receiver; when the electric quantity of the battery is detected to be higher than the preset electric quantity, the first moving assembly and the second moving assembly are controlled to move towards the direction far away from the charging equipment through the motor, so that the wireless charging receiver is separated from the charging equipment.

In some embodiments, further comprising: the first limiting assembly is arranged at a second position between the first moving assembly and the second moving assembly and is configured to determine the relative position of the photovoltaic cleaning robot and the charging equipment.

In some embodiments, the first limit component is an electromagnetic switch.

In some embodiments, the controller is further configured to control the first moving assembly and the second moving assembly to be in a braking state according to the limit state of the first limit assembly.

In some embodiments, the number of motors is two, a first motor configured to drive the first moving assembly and a second motor configured to drive the second moving assembly.

In some embodiments, further comprising: a third moving assembly disposed at a third position between the first moving assembly and the second moving assembly.

In some embodiments, the cleaning assembly comprises: a first cleaner disposed between the first moving assembly and the third moving assembly, and a second cleaner disposed between the second moving assembly and the third moving assembly.

In another aspect, an embodiment of the present disclosure provides a charging device configured to charge a photovoltaic cleaning robot according to any embodiment of the present disclosure, including: the charger is arranged at the fourth position of the main body and is configured to be matched with the wireless charging receiver of the photovoltaic cleaning robot so as to provide electric energy for the photovoltaic cleaning robot.

In some embodiments, further comprising: a second stop assembly disposed at a fifth location of the body configured to cooperate with the first stop assembly of the photovoltaic cleaning robot to begin providing electrical energy when mated with the first stop assembly, wherein the fifth location is mated with the second location.

On the other hand, the embodiment of the present disclosure provides a charging system, including: the photovoltaic cleaning robot according to any embodiment of the present invention, and the charging apparatus according to any embodiment of the present invention.

The photovoltaic cleaning robot provided by the embodiment of the disclosure is provided with the wireless charging receiver, when the photovoltaic cleaning robot needs to be charged, the photovoltaic cleaning robot approaches to the charging equipment, the wireless charging receiver receives electric energy from the charging equipment, the whole process does not need socket butt joint, the moving position of the photovoltaic cleaning robot does not need to be accurately controlled, charging can be realized as long as the positions of the wireless charging receiver and the charging equipment are within a certain range, the control process is simple, and the manufacturing cost is low.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a photovoltaic cleaning robot provided in an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a charging system provided in an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a moving assembly provided in an embodiment of the present disclosure;

fig. 4 is a left side view of a charging system provided by an embodiment of the present disclosure.

Reference numerals:

1-housing, 2-wireless charging receiver, 3-first moving assembly, 4-second moving assembly, 5-motor, 6-battery, 7-cleaning assembly, 8-controller, 9-charging device, 10-first limiting assembly, 11-main body, 12-wireless charging transmitter, 13-second limiting assembly, 14-third moving assembly, 101-side panel, 102-first driven wheel sprocket, 103-first tension wheel assembly, 104-driving wheel sprocket, 105-second tension wheel assembly, 106-chain, 107-second driven wheel sprocket, 108-first traveling wheel, 109-second traveling wheel, 110-traveling motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.

Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

To maintain the following description of the embodiments of the present disclosure clear and concise, a detailed description of known functions and known components have been omitted from the present disclosure.

The embodiment of the present disclosure provides a photovoltaic cleaning robot, a structural schematic of which is shown in fig. 1, including:

the wireless charging device comprises a shell 1, a wireless charging receiver 2, a first moving assembly 3, a second moving assembly 4, a motor 5, a battery 6, a cleaning assembly 7 and a controller 8; wherein the content of the first and second substances,

the first moving assembly 3 and the second moving assembly 4 are respectively arranged at two ends of the shell 1, the cleaning assembly 7 is arranged between the first moving assembly 3 and the second moving assembly 4, and the wireless charging receiver 2 is arranged at a first position between the first moving assembly 3 and the second moving assembly 4;

the controller 8 is configured to control the first moving assembly and the second moving assembly to move towards the charging device 9 through the motor 5 when detecting that the electric quantity of the battery 6 is lower than a preset electric quantity, and acquire electric energy from the charging device 9 through the wireless charging receiver 2; when the electric quantity of the battery 6 is detected to be higher than the preset electric quantity, the first moving assembly 3 and the second moving assembly 4 are controlled to move towards the direction away from the charging device 9 through the motor 5, so that the wireless charging receiver 2 is separated from the charging device 9.

In the specific implementation process, in order to better control the positions of the wireless charging receiver and the charging device and to better achieve the effect of accurately and quickly finding the charging position, the photovoltaic cleaning robot may further include a first limiting component 10, which is arranged at a second position between the first moving component and the second moving component and configured to determine the relative position between the photovoltaic cleaning robot and the charging device 9. During specific implementation, the charging equipment can be arranged in a second limiting component matched with the first limiting component and then is matched with the first limiting component for use, so that under the condition that the first limiting component is completely matched with the second limiting component, the situation that the wireless charging receiver of the photovoltaic cleaning robot is aligned with the wireless charging transmitter of the charging equipment is determined. The first limit component can be realized by a person skilled in the art according to actual requirements, for example, the first limit component may be an electromagnetic switch, or may be a buckle, and is not limited herein.

Correspondingly, the controller can be further configured to control the first moving assembly and the second moving assembly to be in a braking state according to the limiting state of the first limiting assembly, namely after the first limiting assembly determines the alignment position and achieves the limiting function, the controller also needs to control the states of the first moving assembly and the second moving assembly to be in the braking state, so that the photovoltaic cleaning robot is further stabilized, and the charging efficiency is guaranteed.

The number of the motors can be one or two, and the two motors have better control effect relative to one motor, namely the first motor is configured to drive the first moving assembly, and the second motor is configured to drive the second moving assembly.

In order to enable the photovoltaic cleaning robot to have better moving and supporting effects, the photovoltaic cleaning robot may further include a third moving assembly 14 disposed at a third position between the first moving assembly and the second moving assembly, where the third position may be, for example, a midpoint of the first moving assembly and the second moving assembly, and this arrangement not only plays a role in supporting the housing, but also ensures that the photovoltaic cleaning robot has better moving effects. In a specific implementation, the third moving assembly may be a driving wheel driven by a motor, or may be a driven wheel not driven by any motor, that is, as long as the first moving assembly and the second moving assembly are driven by the motor to move, the third moving assembly moves along with the third moving assembly.

In the case where three moving assemblies are provided, the cleaning assembly may also be adapted accordingly, and may for example include two cleaners, a first cleaner disposed between the first moving assembly and the third moving assembly and a second cleaner disposed between the second moving assembly and the third moving assembly. The existing cleaning assembly usually adopts an integrated form, namely only one cleaner is arranged on one bearing and is controlled by a single drive; according to the arrangement mode of the embodiment of the disclosure, one cleaner is split into two parts, and when the cleaner is specifically implemented, each cleaner is independently controlled by one drive, and then whether each cleaner works or not can be independently controlled. Of course, in the case where the third moving member is provided, a form of a bearing and a drive may be adopted, and it is only necessary to provide the cleaner on the bearing in two parts. The arrangement of the cleaner will not be described in detail here, and can be set arbitrarily by a person skilled in the art.

The embodiment of the present disclosure further provides a charging device, configured to charge the photovoltaic cleaning robot in the above embodiment, where the charging device includes:

the photovoltaic cleaning robot charger comprises a main body 11 and a wireless charging emitter 12, wherein a charger is arranged at the fourth position of the main body and is configured to be matched with the wireless charging receiver of the photovoltaic cleaning robot so as to provide electric energy for the photovoltaic cleaning robot.

For use with the photovoltaic cleaning robot, the charging device may further include a second limit stop assembly 13 disposed at a fifth location of the main body, configured to cooperate with the first limit stop assembly of the photovoltaic cleaning robot to start providing electrical energy when mated with the first limit stop assembly, wherein the fifth location is mated with the second location. In the process, under the condition that the first limiting component and the second limiting component are completely matched, it is determined that the wireless charging receiver of the photovoltaic cleaning robot is already in a position alignment state with the wireless charging transmitter of the charging device, that is, the charging device can be informed that charging can be started.

The disclosed embodiment also provides a charging system, which includes the photovoltaic cleaning robot and the charging device in the above embodiments, and the system structure of the charging system is schematically shown in fig. 2, where the housing 1 should be located at the outermost side to wrap other components, and of course, the disclosed embodiment only schematically shows a part of the housing in the drawings for clearly showing the positions of the various components, and does not limit the embodiment. During the concrete implementation, wireless charging receiver can set up in the casing outside to convenient the change, of course, also can set up in the casing inboard, helps protecting wireless charging receiver. The photovoltaic cleaning robot is on the photovoltaic board, and when it finds the electric quantity is not enough, moves to the battery charging outfit that is located one side.

As shown in fig. 2, in the system, the photovoltaic cleaning robot includes 3 moving components, wherein a detailed view of any moving component is shown in fig. 3, including an edge panel 101, a first driven wheel sprocket 102, a first tension wheel assembly 103, a driving wheel sprocket 104, a second tension wheel assembly 105, a chain 106, a second driven wheel sprocket 107, a first walking wheel 108, and a second walking wheel 109. Fig. 2 also shows a walking motor 110 connected to the driving wheel sprocket 104, where the walking motor 110 may be the same as the motor 5, or may be a different device, for example, the motor 5 is a general control motor, and the walking motor 110 is a slave control motor, and the embodiments of the present disclosure are not limited thereto, and in particular, the motor 5 may control the movement of the moving component, and may also control the operation of the cleaning component, and the number of the motors 5 is not limited in the embodiments of the present disclosure. The above-mentioned moving assembly can be implemented by those skilled in the art by using any existing moving assembly, and the moving assembly shown in fig. 3 is only an example and does not constitute a limitation to the embodiments of the present disclosure.

As shown in fig. 2, the main body of the charging device is in the form of a bracket, and the wireless charging transmitter is disposed on the bracket and corresponds to the wireless charging receiver of the photovoltaic cleaning robot. As shown in fig. 4, which is a left side view of fig. 2 in a charging state, after the photovoltaic cleaning robot is completely matched with the charging device, the charging device starts charging the photovoltaic cleaning robot. Wherein the first and second stop assemblies are matched in position.

The first position, the second position and the third position of the embodiment of the present disclosure are preferably different positions as shown in fig. 2, and the fourth position and the fifth position may be respectively matched with the first position and the second position.

The existing contact charging mode has high requirement on the butt joint precision of the robot and the charging device, an auxiliary positioning device needs to be added, and the cost is increased; after long-time contact friction, the contact surface is abraded, so that the contact is unstable and even charging cannot be carried out; and impurities such as dust easily fall into the contact area when the battery is outdoors, so that the contact is unstable and even the battery cannot be charged. The cleaning robot capable of automatically and wirelessly charging does not need to be provided with the photovoltaic panel to charge the cleaning robot, the problem that the robot is affected by dust falling when the photovoltaic panel supplies energy to the robot and generates electricity is solved, and the advantages of reducing the weight of the robot, improving the positioning precision and the like are achieved.

Moreover, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments based on the disclosure with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.

The above description is intended to be illustrative and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the foregoing detailed description, various features may be grouped together to streamline the disclosure. This should not be interpreted as an intention that a disclosed feature not claimed is essential to any claim. Rather, the subject matter of the present disclosure may lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that these embodiments may be combined with each other in various combinations or permutations. The scope of the disclosure should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.

Claims

1. A photovoltaic cleaning robot, comprising:

the wireless charging device comprises a shell, a wireless charging receiver, a first moving assembly, a second moving assembly, a motor, a battery, a cleaning assembly and a controller; wherein the content of the first and second substances,

the first moving assembly and the second moving assembly are respectively arranged at two ends of the shell, the cleaning assembly is arranged between the first moving assembly and the second moving assembly, and the wireless charging receiver is arranged at a first position between the first moving assembly and the second moving assembly;

the controller is configured to control the first moving assembly and the second moving assembly to move towards a charging device through the motor when the electric quantity of the battery is detected to be lower than a preset electric quantity, and acquire electric energy from the charging device through the wireless charging receiver; when the electric quantity of the battery is detected to be higher than the preset electric quantity, the first moving assembly and the second moving assembly are controlled to move towards the direction far away from the charging equipment through the motor, so that the wireless charging receiver is separated from the charging equipment.

2. The photovoltaic cleaning robot of claim 1, further comprising: the first limiting assembly is arranged at a second position between the first moving assembly and the second moving assembly and is configured to determine the relative position of the photovoltaic cleaning robot and the charging equipment.

3. The photovoltaic cleaning robot of claim 2, wherein the first limit component is an electromagnetic switch.

4. A photovoltaic cleaning robot as claimed in claim 2,

the controller is further configured to control the first moving assembly and the second moving assembly to be in a braking state according to the limiting state of the first limiting assembly.

5. A photovoltaic cleaning robot according to any of claims 1 to 4, wherein the number of motors is two, a first motor being configured to drive the first moving assembly and a second motor being configured to drive the second moving assembly.

6. A photovoltaic cleaning robot as claimed in any one of claims 1 to 4, further comprising:

a third moving assembly disposed at a third position between the first moving assembly and the second moving assembly.

7. The photovoltaic cleaning robot of claim 6, wherein the cleaning assembly comprises:

a first cleaner disposed between the first moving assembly and the third moving assembly, and a second cleaner disposed between the second moving assembly and the third moving assembly.

8. A charging device configured to charge the photovoltaic cleaning robot of any one of claims 1 to 7, comprising:

the charger is arranged at the fourth position of the main body and is configured to be matched with the wireless charging receiver of the photovoltaic cleaning robot so as to provide electric energy for the photovoltaic cleaning robot.

9. The charging device of claim 8, further comprising: a second stop assembly disposed at a fifth location of the body configured to cooperate with the first stop assembly of the photovoltaic cleaning robot to begin providing electrical energy when mated with the first stop assembly, wherein the fifth location is mated with the second location.

10. An electrical charging system, comprising:

the photovoltaic cleaning robot of any one of claims 1 to 7, and the charging device of claim 8 or 9.