WO2022057346A1 - 一种清扫机器人及清扫方法 - Google Patents

一种清扫机器人及清扫方法 Download PDF

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Publication number
WO2022057346A1
WO2022057346A1 PCT/CN2021/100591 CN2021100591W WO2022057346A1 WO 2022057346 A1 WO2022057346 A1 WO 2022057346A1 CN 2021100591 W CN2021100591 W CN 2021100591W WO 2022057346 A1 WO2022057346 A1 WO 2022057346A1
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WO
WIPO (PCT)
Prior art keywords
cleaning
cleaning robot
driving member
walking
photovoltaic panel
Prior art date
Application number
PCT/CN2021/100591
Other languages
English (en)
French (fr)
Inventor
沈象波
顿向明
陈务军
敬忠良
顿向勇
山磊
卢新城
陈家耕
高颖
周四海
周红波
胡智雄
Original Assignee
苏州翼博特智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州翼博特智能科技有限公司 filed Critical 苏州翼博特智能科技有限公司
Priority to JP2021567862A priority Critical patent/JP7311919B2/ja
Priority to EP21798258.6A priority patent/EP4215284A4/en
Priority to US17/629,355 priority patent/US20220360212A1/en
Publication of WO2022057346A1 publication Critical patent/WO2022057346A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12—Brushes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • B08B1/34—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members rotating about an axis parallel to the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
    • B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
    • F24S40/20—Cleaning; Removing snow
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • the invention relates to the technical field of photovoltaic panel cleaning devices, in particular to a cleaning robot.
  • Photovoltaic power generation requires a huge number of photovoltaic power generation panels to form a solar cell phalanx, especially the solar photovoltaic power plant established in the desert area, its scale is spectacular. With the increase of use time, the photovoltaic panel will inevitably be contaminated with dust, debris, etc., which will affect the power generation efficiency of the photovoltaic panel, so it must be cleaned regularly. Due to the huge number, manual cleaning method is adopted, the working conditions are difficult, the workload is also huge, and it is not suitable for the development of industrial civilization.
  • the inventors of the present invention have developed and designed the present invention with a deep conception and active research on improvement and trial production.
  • the present invention protects a cleaning robot, including:
  • the support mechanism is used to support the cleaning robot
  • the cleaning mechanism is symmetrically arranged at both ends of the support mechanism, and the cleaning mechanism can clean the surface of the photovoltaic panel;
  • the walking mechanism is arranged in the middle of the support mechanism, and the walking mechanism can fix the cleaning robot on the surface of the photovoltaic panel and drive the cleaning robot to move on the surface of the photovoltaic panel;
  • the support mechanism can adjust the cleaning range of the cleaning mechanism, so that the cleaning mechanism has at least a first cleaning range and a second cleaning range, and the first cleaning range and the second cleaning range can be concentric circles .
  • the support mechanism includes:
  • the bracket includes two support rods;
  • a first driving mechanism the first driving mechanism is arranged on the bracket and connected with the cleaning mechanism, and is used for adjusting the cleaning range of the cleaning mechanism.
  • the first drive mechanism includes:
  • a first driving member the main body of the first driving member is connected with the cleaning mechanism, and the output end of the first driving member is connected with the guide rail.
  • the first driving member works, the first driving member
  • the driving member drives the cleaning mechanism to move along the guide rail.
  • the cleaning mechanism includes:
  • the casing has an installation slot
  • the rolling brush is arranged in the installation groove, and the rolling brush can be in contact with the photovoltaic panel;
  • a second driving mechanism is arranged in the casing and connected with the roller brush, and is used to drive the roller brush to rotate.
  • the roller brush rotates, the dust on the surface of the photovoltaic panel is swept away clean up.
  • the second drive mechanism includes:
  • the transmission assembly is connected with the roller brush
  • a second driving member is connected with the transmission assembly, and the second driving member drives the roller brush to rotate through the transmission assembly.
  • the transmission assembly includes a gear set.
  • the cleaning mechanism further includes:
  • the flow guide device is arranged above the roller brush, and is used to guide the dust in the casing out of the casing;
  • a dust collecting device the dust collecting device is arranged on the flow guiding device, and is used for collecting the dust discharged from the casing.
  • the flow guiding device includes:
  • the shroud is provided with an air inlet and an air outlet, the air outlet is located above the roller brush, and the air outlet is located outside the casing;
  • a fan the fan is arranged in the shroud, and is used for generating the power to make the dust flow in the shroud, so that the dust in the casing flows to the outside of the casing.
  • the dust collecting device includes a non-invasive cloth bag with an elastic tightening opening, and the non-destructive cloth bag is sleeved at the air outlet.
  • the running gear includes:
  • the main walking arm is arranged on the support mechanism, and the main walking arm can adjust the walking direction of the cleaning robot;
  • a pair of walking arms which are arranged on the cleaning mechanism, and can keep the balance of the cleaning robot.
  • the main travel arm includes:
  • a third driving member is connected with the first suction cup, and the third driving member can provide a force for the first suction cup, so that the first suction cup is attracted to or away from the photovoltaic panel ;
  • a fourth driving member the main body of the fourth driving member is fixed in the cleaning mechanism, and the output end of the fourth driving member is connected with the suction cup main body through the second transmission assembly, when the fourth driving member is During operation, the cleaning mechanism can rotate around the first suction cup.
  • the auxiliary travel arm includes:
  • a fifth driving member is connected with the second suction cup, and the fifth driving member can provide a force for the second suction cup, so that the second suction cup is attracted to or away from the photovoltaic panel .
  • the third driving member and the fifth driving member comprise vacuum pumps.
  • the cleaning robot further includes:
  • the power supply system is arranged on the control box, and the power supply system supplies power for the cleaning robot;
  • control system the control system is arranged in the control box, and the control system controls the cleaning robot to work.
  • the power supply system includes:
  • the first battery is arranged in the power supply circuit
  • a second battery is provided in the power supply circuit, and the second battery is electrically connected in parallel to the first battery.
  • control box is further provided with a handle.
  • a control switch is provided on the handle, and the control switch is electrically connected to the control system for controlling the running mechanism to work.
  • a status indicator light is provided on a symmetrical side wall of the handle, and the status indicator light is electrically connected to the control system.
  • the present invention also provides a cleaning method, using the above cleaning robot, comprising the following steps:
  • the walking mechanism drives the cleaning mechanism to rotate and clean within the first cleaning range; after the first cleaning range is cleaned, the support mechanism adjusts the cleaning mechanism to the second cleaning range, and the walking mechanism drives the cleaning The mechanism rotates and cleans within the second cleaning range;
  • the walking mechanism drives the cleaning robot to walk vertically upward for a certain distance, and then continues to perform the above cleaning action;
  • the cleaning robot When the cleaning robot reaches the side edge of the photovoltaic panel, the cleaning robot starts to walk laterally for a certain distance, and then performs the above cleaning action;
  • the cleaning robot is compact in structure and light in weight, and a single person can operate multiple robots at the same time, which greatly improves the efficiency of on-site cleaning operations.
  • the cleaning and cleaning mechanism adopts double roller brushes, which can clean more cleanly, and cooperate with vacuuming to improve the cleaning effect.
  • Fig. 1 is the overall front view of the cleaning robot of the present invention
  • Fig. 2 is the bottom view of the cleaning robot of the present invention
  • FIG. 3 is a schematic structural diagram of the first drive mechanism of the cleaning robot according to the present invention.
  • FIG. 4 is a schematic structural diagram of the second driving mechanism of the cleaning robot according to the present invention.
  • FIG. 5 is a sectional view of the structure of the cleaning mechanism of the cleaning robot according to the present invention.
  • FIG. 6 is a schematic structural diagram of a cleaning robot dust collecting device according to the present invention.
  • FIG. 7 is a structural cross-sectional view of the cleaning robot of the present invention in a state of a first cleaning range
  • FIG. 8 is a schematic structural diagram of the main walking arm of the cleaning robot according to the present invention.
  • FIG. 9 is a schematic structural diagram of the first suction cup of the cleaning robot according to the present invention.
  • FIG. 10 is a schematic three-dimensional structural diagram of the cleaning robot of the present invention in a second cleaning state
  • Fig. 11 is the working schematic diagram of the cleaning robot of the present invention.
  • FIG. 12 is a block diagram of the overall structure of the cleaning robot control system of the present invention.
  • FIG. 13 is a method flow chart of the cleaning method of the cleaning robot according to the present invention.
  • a cleaning robot is used for cleaning dust and sundries on the surface of photovoltaic panels, including a support mechanism 10, a cleaning mechanism 20 and a walking mechanism 30, wherein the support mechanism 10 is used to support the cleaning robot,
  • the cleaning mechanisms 20 are arranged in pairs.
  • the cleaning mechanisms 20 are symmetrically arranged at both ends of the support mechanism 10.
  • the cleaning mechanisms 20 are used to clean the surface of the photovoltaic panel.
  • the walking mechanism 30 can be arranged on the support mechanism 10 and the cleaning mechanism 20.
  • the purpose is to fix the cleaning robot on the surface of the photovoltaic panel and drive the cleaning robot to move on the surface of the photovoltaic panel; when the cleaning robot is working, the walking mechanism 30 first fixes the cleaning robot on the photovoltaic panel, and the cleaning mechanism 20 starts to clean the photovoltaic panel.
  • the traveling mechanism 30 drives the cleaning mechanism 20 to rotate on the surface of the photovoltaic panel to clean the dust in the first cleaning range.
  • the support mechanism 10 After the cleaning mechanism 20 rotates on the surface of the photovoltaic panel for one circle, the support mechanism 10 starts to adjust the cleaning range of the cleaning mechanism 20, and the cleaning adjustment After completion, the walking mechanism 30 continues to drive the started cleaning mechanism 20 to rotate on the surface of the photovoltaic panel to clean the dust in the second cleaning range; after a cleaning cycle structure, the walking mechanism 30 drives the cleaning robot to move to the next photovoltaic panel. , and then reciprocate in the above-mentioned cleaning method until the cleaning work is over.
  • the cleaning robot of the invention is light in weight and adopts aviation materials; the weight is less than 6 kilograms, which is convenient for operation, and the cleaning robot is used instead of manual cleaning, and the cleaning efficiency is high; Afterwards, the cleaning mechanism can be stored, which saves space and is easy to handle and carry; and the walking mechanism has the characteristics of three-point support, so the cleaning robot has stable operation and strong practicability.
  • the support mechanism includes a bracket 11 and a first drive mechanism 12, wherein the bracket 11 is composed of two first support rods 111a and second support rods 111b arranged in parallel, and the first drive mechanism 12 is slidably disposed on the bracket 11, and the first driving mechanism 12 is connected with the cleaning mechanism 20.
  • the first driving mechanism 12 works, the first driving mechanism 12 can change the position of the cleaning mechanism 20 on the bracket 11, thereby adjusting the cleaning range of the cleaning mechanism 20. as shown in picture 2.
  • the first driving mechanism 12 includes a guide rail 121 and a first driving member 122, wherein the guide rail 121 is preferably a synchronous belt, and the first driving member 122 is preferably a motor.
  • the main body of the motor is installed on the cleaning mechanism 20.
  • the matching teeth of the synchronous belt are connected with the synchronous belt.
  • the motor can drive the cleaning mechanism 20 to move along the synchronous belt, so as to achieve the purpose of changing the position of the cleaning mechanism 20 on the bracket 11, thereby adjusting the cleaning mechanism 20.
  • the cleaning range is shown in Figure 3.
  • both ends of the synchronous belt are fixed on the bracket 11 , and the pulley at the output end of the motor walks on the synchronous belt to drive the movement of the cleaning assembly.
  • the cleaning mechanism 20 includes a casing 21, a rolling brush 22, and a second driving mechanism 23, wherein the bottom of the casing 21 has a mounting groove 211 for mounting the rolling brushes 22, and the rolling brushes 22 are arranged in pairs,
  • the number of the rolling brushes 22 is preferably two, the rolling brushes 22 are movably installed in the installation groove 211, the second driving mechanism 23 is arranged in the casing 21, and the second driving mechanism 23 is connected with the rolling brushes 22.
  • the second driving mechanism 23 drives the rolling brush 22 to roll to clean the photovoltaic panel. It can be understood that when the roller brush 22 cleans the photovoltaic panel, the bristles on the roller brush 22 are in contact with the photovoltaic panel, as shown in FIG. 2 .
  • the casing 21 is further provided with a buckle 212, and the casing 21 is connected to the first support rod 111a and the second support rod 111b by the elastic deformation of the buckle 212.
  • the casing 21 slides on the first support rod 111 a and the second support rod 111 b through the buckle 212 , the structure is simple, and the installation and disassembly of the casing 21 is convenient, as shown in FIG. 2 and FIG. 10 .
  • the second driving mechanism 23 includes a first transmission assembly 231 and a second driving member 232, wherein the first transmission assembly 231 is preferably a gear set, including a first gear set 2311, a second gear set 2312, and a third gear set 2313 and the fourth gear set 2314, the second driving member 232 is preferably a motor, the output end of the motor is provided with a tooth that can engage with the fourth gear set 2314, the first gear set 2311 is connected to the roller brush 22, and the second gear set 2312 It is meshed with the first gear set 2311, the second gear set 2312 is coaxially installed with the third gear set 2313, the third gear set 2313 is meshed with the fourth gear set 2314, and the fourth gear set 2314 is connected to the latching teeth at the output end of the motor. Meshing connection, when the motor is working, the two roller brushes 22 are rotated in opposite directions through the linkage between each gear set, so as to clean the dust, as shown in FIG. 4 .
  • the above-mentioned cleaning robot further includes a flow guiding device 40 and a dust collecting device 50, wherein, the flow guiding device 40 is arranged above the roller brush 22, and is used for exporting the dust in the casing 21 out of the casing 21,
  • the dust collecting device 50 is disposed on the flow guiding device 40 for collecting the dust discharged from the casing 21 , as shown in FIG. 3 and FIG. 5 .
  • the air guide device 40 includes a guide cover 41 and a fan 42, wherein the air guide cover 41 is provided with an air inlet 411 and an air outlet 412, the air outlet 412 is located above the roller brush 22, and the air outlet 412 is located outside the casing 21;
  • the fan 42 is arranged in the shroud 41 to generate the power to make the dust flow in the shroud 41, so that the dust in the casing 21 flows to the outside of the casing 21; when the fan 42 is working, the dust in the casing 21 flows.
  • the dust flows to the outside of the casing 21 under the action of the fan 42 , as shown in FIG. 5 .
  • the dust collecting device 50 includes a non-woven bag with an elastic tightening opening. Just take it off, and use non-woven bags to collect dust. It has a simple structure, low cost, and convenient on-site operation. It does not take a lot of time to clean the dust box, as shown in Figure 6.
  • the traveling mechanism 30 includes a main traveling arm 31 and an auxiliary traveling arm 32, wherein the main traveling arm 31 is disposed on the support mechanism 10, and the main traveling arm 31 can adjust the walking direction of the cleaning robot; the auxiliary traveling arm 32 is provided with On the cleaning mechanism 20 , the auxiliary walking arm 32 can maintain the balance of the cleaning robot, as shown in FIG. 7 .
  • the main walking arm 31 includes a first suction cup 311 , a third driving member 312 and a fourth driving member 313 , wherein the third driving member 312 is connected with the first suction cup 311 , and the third driving member 312 can be the first suction cup 311 Provide a force to make the first suction cup 311 adsorb or move away from the photovoltaic panel; the main body of the fourth driving member 313 is fixed in the cleaning mechanism 20, and the output end of the fourth driving member 313 is connected to the main body of the first suction cup 311 through the second transmission assembly 314, When the fourth driving member 313 works, the cleaning mechanism 20 can rotate around the first suction cup 311 , as shown in FIGS. 7 and 8 .
  • the auxiliary walking arm 32 includes a second suction cup 321 and a fifth driving member 322.
  • the fifth driving member 322 is connected with the second suction cup 321.
  • the fifth driving member 322 can provide a force for the second suction cup 321, so that the second suction cup 321 can absorb Stay away from the PV panels, as shown in Figure 7.
  • the third driving member 312 and the fifth driving member 322 are both vacuum pumps.
  • the vacuum pump has an inlet hole and an outlet hole, the vacuum pump is connected with two solenoid valves, and the solenoid valves are two-position three-way solenoid valves; the inlet hole of the vacuum pump is connected to the working port and the air supply port of the first solenoid valve. connection, the air outlet of the vacuum pump is connected with the working port of the second solenoid valve, the air supply port and the working port of the first solenoid valve, and the working port of the first solenoid valve and the exhaust port of the second solenoid valve are connected to the suction cup at the same time;
  • the air is normally pumped.
  • the solenoid valves are energized at the same time, the suction cup is pumped, and the suction and blowing are realized through the cooperation between a vacuum pump and two solenoid valves.
  • the first suction cup 311 and the second suction cup 321 absorb the photovoltaic panels.
  • the first suction cups 311 and the second suction cups 321 are kept away from the photovoltaic panels, and the structure is simple and easy to control.
  • the first suction cup 311 is a sealed soft rubber structure.
  • the first suction cup 311 includes a suction cup body 3111 and a fixing bracket 3112 for supporting the suction cup body 3111.
  • the fixing bracket 3112 is provided with a mounting bracket 3112. Hole 31121, when installing, use screws to connect the first suction cup 311 to the main body of the cleaning robot through the installation hole 31121, and it is easy to disassemble; correspondingly, there is an air flow hole 31122 between the installation holes 31121, as shown in Figure 9;
  • the top of the suction cup body 3111 is further provided with a pressure cover 3113, and the pressure cover 3113 is fixed on the fixing bracket 3112.
  • pressure cover 3113 pressure can be formed on the surface of the suction cup body 3111, so that the suction force in the suction cup body 3111 is more uniform, thereby It is beneficial for the cleaning robot to walk on the photovoltaic panel more stably, as shown in Figure 7 and Figure 9.
  • the above cleaning robot should also include a control box 60, a power supply system 70 and a control system, wherein the power supply system 70 is arranged on the control box 60, and the power supply system 70 supplies power to the cleaning robot; the control system is arranged in the control box 60, and the control system Control the cleaning robot to work, as shown in Figure 7.
  • the power supply system 70 includes a first battery 71 and a second battery 72, the first battery 71 is provided in the power supply circuit; the second battery 72 is provided in the power supply circuit and is electrically connected to the first battery 71 in parallel Specifically, the second battery 72 is the backup battery of the cleaning robot, and the first battery 71 is the main battery used by the cleaning robot.
  • the first battery 71 is preferentially used for power supply, as shown in FIG. 7 .
  • the main board in the control system may be installed in a slot connection manner.
  • control box 60 is further provided with a handle 80.
  • handle 80 By setting the handle 80, it is convenient for the staff to operate with one hand, and it can be operated conveniently and quickly on the site of use.
  • a control switch 81 is provided on the handle 80, and the control switch 81 is electrically connected with the control system to control the operation of the walking mechanism 30. Specifically, long press the control switch 81 to turn on the cleaning robot, and the cleaning robot starts cleaning. Work, short press the control switch 81, the cleaning robot pauses and starts; in the standby process, long press the button, the cleaning robot first deflates to release the suction of the suction cup, and then the cleaning robot shuts down, as shown in Figure 10.
  • a status indicator light 82 is provided on a symmetrical side wall of the handle 80, and the status indicator light 82 is electrically connected to the control system.
  • the status can clearly know the working status of the cleaning robot.
  • the status indicator 82 is blue, the cleaning robot is in alarm.
  • the status indicator 82 is white, the cleaning robot is in the cleaning end state, which is very intuitive, as shown in Figure 1. shown.
  • the cleaning robot shown in FIG. 1-FIG. 12 does not constitute a limitation on the cleaning robot, and may include more or less components than the one shown, or combine some components, or different Component placement.
  • Fig. 13 is a method flowchart of a cleaning method according to an exemplary embodiment of the present invention.
  • the method can be used in photovoltaic panel cleaning operations and is performed by the cleaning robot shown in Figs. 1-12.
  • the cleaning method can include:
  • step 201 the cleaning robot is placed on the photovoltaic panel to be cleaned, and the walking path of the cleaning robot is kept parallel to the edge of the photovoltaic panel; the walking mechanism, the cleaning mechanism and the supporting mechanism are activated.
  • the cleaning robot starts to clean the dust on the photovoltaic panels that it walks through longitudinally;
  • Step 202 the walking mechanism drives the cleaning mechanism to rotate and clean within the first cleaning range; after the first cleaning range is cleaned, the support mechanism adjusts the cleaning mechanism to the second cleaning range, and the walking mechanism drives The cleaning mechanism rotates and cleans within the second cleaning range;
  • Step 203 after the cleaning of the second cleaning range is completed, after the walking mechanism drives the cleaning robot to walk vertically upward for a certain distance, the cleaning action in step 202 is continued;
  • Step 204 when the cleaning robot reaches the side edge of the photovoltaic panel, the cleaning robot starts to walk a certain distance laterally, and then performs the cleaning action in step 202;
  • step 205 the above actions are repeated until the photovoltaic panel is cleaned.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Thermal Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Cleaning In General (AREA)
  • Photovoltaic Devices (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种清扫机器人及清扫方法，包括：一支撑机构，支撑机构用于支撑清扫机器人；一清扫机构，所述清扫机构对称设置于所述支撑机构两端，且所述清扫机构可对光伏板表面进行清扫；一行走机构，所述行走机构设置于所述支撑机构中部，且行走机构可将所述清扫机器人固定于光伏板表面并驱动所述清扫机器人在光伏板表面移动；其中，所述支撑机构可调节所述清扫机构的清扫范围，使得所述清扫机构至少具有第一清扫范围与第二清扫范围，所述第一清扫范围与所述第二清扫范围可为同心圆。该清扫机器人结构小巧，机器轻，单人可同时操作多台机器人，大大提高了现场清扫作业的效率。

Description

一种清扫机器人及清扫方法 技术领域
本发明涉及光伏板清扫装置技术领域，特别涉及一种清扫机器人.
背景技术
随着能源危机的恶化和环保意识的增强，人们对洁净能源的关注日益增强，而太阳能电池作为目前成熟的洁净能源运用已成为能源领域的研究热点。太阳能电池是利用光伏电池板将太阳辐射的光子通过半导体物质转变为电能。
光伏发电需要数量巨大的光伏发电板构成太阳能电池方阵，特别是在沙漠地带建立的太阳能光伏电厂，其规模蔚为壮观。随着使用时间的增加，光伏板不可避免的会沾染灰尘、杂物等，影响光伏板的发电效率，因此必须定时清扫。因数量巨大，采用人工清扫的方法，工作条件艰苦，工作量亦巨大，且与工业文明的发展不相适应。
有鉴于此，本发明的发明人为了解决上述问题，而深入构思，且积极研究改良试做而开发设计出本发明。
发明内容
基于此，有必要提供一种清扫机器人，采用轻量化的机器，一个人可以操作3台以上机器的工作模式，清扫效率大大提高。
本发明保护一种清扫机器人，包括：
一支撑机构，所述支撑机构用于支撑所述清扫机器人；
一清扫机构，所述清扫机构对称设置于所述支撑机构两端，且，所述清扫机构可对光伏板表面进行清扫；
一行走机构，所述行走机构设置于所述支撑机构中部，且，所述行走机构可将所述清扫机器人固定于光伏板表面并驱动所述清扫机器人在光伏板表面移动；
其中，所述支撑机构可调节所述清扫机构的清扫范围，使得所述清扫机构至少具有第一清扫范围与第二清扫范围，所述第一清扫范围与所述第二清扫范围可为同心圆。
在一些实施例中，所述支撑机构包括：
一支架，所述支架包括两根支撑杆；
一第一驱动机构，所述第一驱动机构设置于所述支架上并与所述清扫机构连接，用于调节所述清扫机构的清扫范围。
在一些实施例中，所述第一驱动机构包括：
一导轨；
一第一驱动件，所述第一驱动件主体与所述清扫机构连接，且所述第一驱动件输出端与所述导轨配合连接，当所述第一驱动件工作时，所述第一驱动件带动所述清扫机构沿着所述导轨运动。
在一些实施例中，所述清扫机构包括：
一机壳，所述机壳具有一安装槽；
一滚刷，所述滚刷设置于所述安装槽内，且，所述滚刷可与光伏板接触；
一第二驱动机构，所述第二驱动机构设置于所述机壳内并与所述滚刷连接，用于驱动所述滚刷转动，所述滚刷转动时，光伏板表面的灰尘得扫清扫。
在一些实施例中，所述第二驱动机构包括：
一传动组件，所述传动组件与所述滚刷连接；
一第二驱动件，所述第二驱动件与所述传动组件连接，所述第二驱动件通过传动组件驱动所述滚刷转动。
在一些实施例中，所述传动组件包括齿轮组。
在一些实施例中，所述滚刷至少设置两个，两个所述滚刷转动方向相反。
在一些实施例中，所述清扫机构还包括：
一导流装置，所述导流装置设置于所述滚刷上方，用于将所述机壳内的灰尘导出所述机壳外；
一集尘装置，所述集尘装置设置于所述导流装置上，用于收集从所述机壳内排除的灰尘。
在一些实施例中，所述导流装置包括：
一导流罩，所述导流罩上设置有进风口与出风口，所述出风口位于所述滚刷上方，所述出风口位于所述机壳外部；
一风机，所述风机设置于导流罩内，用于在所述导流罩内产生使得灰尘流动的动力，使得所述机壳内的灰尘流动至所述机壳外部。
在一些实施例中，所述集尘装置包括具有弹性收紧口的无妨布袋，所述无妨布袋套接于所述出风口处。
在一些实施例中，所述行走机构包括：
一主行走臂，所述主行走臂设置于所述支撑机构上，且，所述主行走臂可调整所述清扫机器人的行走方向；
一副行走臂，所述副行走臂设置于所述清扫机构上，且，所述副行走臂可保持所述清扫机器人的平衡。
在一些实施例中，所述主行走臂包括：
一第一吸盘；
一第三驱动件，所述第三驱动件与所述第一吸盘连接，且，所述第三驱动件可为所述第一吸盘提供作用力，使得所述第一吸盘吸附或远离光伏板；一第四驱动件，所述第四驱动件主体固定于所述清扫机构内，所述第四驱动件的输出端通过第二传动组件与所述吸盘主体连接，当所述第四驱动件工作时，所述清扫机构可绕所述第一吸盘进行转动。
在一些实施例中，所述副行走臂包括：
一第二吸盘；
一第五驱动件，所述第五驱动件与所述第二吸盘连接，且，所述第五驱动件可为所述第二吸盘提供作用力，使得所述第二吸盘吸附或远离光伏板。
在一些实施例中，所述第三驱动件与第五驱动件包括真空泵。
在一些实施例中，所述清扫机器人还包括：
一控制箱；
一供电系统，所述供电系统设置于所述控制箱上，且，所述供电系统为所述清扫机器人供电；
一控制系统，所述控制系统设置于所述控制箱内，且，所述控制系统控制所述清扫机器人工作。
在一些实施例中，所述供电系统包括：
一第一蓄电池，所述第一蓄电池被设置在供电电路中；
一第二蓄电池，所述第二蓄电池被设置在供电电路中，且，所述第二蓄电池并联地电连接至所述第一蓄电池。
在一些实施例中，所述控制箱上还设置有把手。
在一些实施例中，所述把手上设置有控制开关，所述控制开关与所述控制系统电性连接，用于控制行走机构工作。
在一些实施例中，所述把手一对称侧壁上设置有状态指示灯，所述状态指示灯与所述控制系统电性连接。
本发明还提供一种清扫方法，使用上述清扫机器人，包括如下步骤：
将所述清洁机器人放置于待清洁的光伏板上，且所述清扫机器人的行走路径与光伏板的边缘保持平行；启动所述行走机构、所述清扫机构以及所述支撑机构，所述清扫机器人开始在纵向行走经过的光伏板上进行灰尘清扫；
所述行走机构驱动所述清扫机构在第一清扫范围内旋转清扫；第一清扫范围清扫完毕后，所述支撑机构将所述清扫机构调节至第二清扫范围，所述行走机构驱动所述清扫机构在第二清扫范围内旋转清扫；
第二清扫范围清扫完毕后，所述行走机构驱动所述清扫机器人向上纵向行走一定距离后，继续执行上述清扫动作；
当所述清扫机器人到达光伏板的侧边边缘时，所述清扫机器人开始横向行走一定距离后，再执行上述清扫动作；
重复上述动作。
实施本发明的一种清扫机器人至少具有以下有益效果：
该种清扫机器人结构小巧，机器轻，单人可同时操作多台机器人，大大提高了现场清扫作业的效率；且通过支撑机构与行走机构之间的相互配合，使得清扫机器人可在光伏板表面自动清扫，清扫机构采用双滚刷，能够清扫更加干净，配合吸尘，提高了清扫效果，同时双滚刷也能保持平衡，有利于清扫机器人稳定工作。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明清扫机器人整体正视图；
图2为本发明清扫机器人仰视图；
图3为本发明清扫机器人第一驱动机构结构示意图；
图4为本发明清扫机器人第二驱动机构结构示意图；
图5为本发明清扫机器人清扫机构结构剖视图；
图6为本发明清扫机器人集尘装置结构示意图；
图7为本发明清扫机器人处于第一清扫范围状态结构剖视图；
图8为本发明清扫机器人主行走臂结构示意图；
图9为本发明清扫机器人第一吸盘结构示意图；
图10为本发明清扫机器人处于第二清扫状态立体结构示意图；
图11为本发明清扫机器人工作示意图；
图12为本发明清扫机器人控制系统总体结构框图；
图13为本发明清扫机器人清扫方法的方法流程图。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中的“和/或”包括三个方案，以A和/或B为例，包括A技术方案、B技术方案，以及A和B同时满足的技术方案；另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
如图1-图10所示，一种清扫机器人，用于清扫光伏板表面的灰尘和杂物，包括支撑机构10、清扫机构20以及行走机构30，其中，支撑机构10用于支撑清扫机器人，清扫机构20成对设置，清扫机构20对称设置在支撑机构10两端，清扫机构20用于对光伏板表面进行清扫，行走机构30可设置在支撑机构10与清扫机构20上，行走机构30用于将清扫机器人固定于光伏板表面并驱动清扫机器人在光伏板表面移动；当清扫机器人工作时，行走机构30先清扫机器人固定在光伏板上，清扫机构20启动，开始清扫光伏板，此时，行走机构30驱动清扫机构20在光伏板表面旋转，对第一清扫范围内的灰尘进行清扫，清扫机构20在光伏板表面旋转一圈后，支撑机构10开始调节清扫机构20的清扫范围，清扫调节完毕后，行走机构30继续驱动启动后的清扫机构20在光伏板表面旋转，对第二清扫范围内的灰尘进行清扫；一个清扫循环结构后，行走机构30驱动清扫机器人移动至下一块光伏板上，再以上述清扫方式往复循环，直至清扫工作结束。
本发明的清扫机器人重量轻，采用航空材料；重量小于6公斤，方便操作，使用清扫机器人代替人工清扫，清扫效率高，且清扫机构具有不同的清扫范围，作业时，可扩大清扫范围；作业完毕后，可将清扫机构收纳，节约空间，便于搬运与携带；且行走机构具有三点支撑的特点，清扫机器人作业稳定，实用性强。
在一些实施例中，支撑机构包括支架11、第一驱动机构12，其中，支架11由两根平行设置的第一支撑杆111a与第二支撑杆111b组成，第一驱动机构12滑动设置于支架11上，且第一驱动机构12与清扫机构20连接，当第一驱动机构12工作时，第一驱动机构12可改变清扫机构20在支架11上的位置，从而调节清扫机构20的清扫范围，如图2所示。
进一步的，第一驱动机构12包括导轨121、第一驱动件122，其中，导轨121优选为同步带，第一驱动件122优选为电机，电机主体安装在清扫机构20上，电机的输出端的与同步带匹配的卡齿与同步带相卡合连接，当电机启动时，电机可带动清扫机构20沿着同步带移动，达到改变清扫机构20在支架11上的位置的目的，从而调节清扫机构20的清扫范围，如图3所示。
更进一步的，同步带两端固定在支架11上，电机输出端的带轮在同步带上行走，带动清扫组件的移动。
在一些实施例中，清扫机构20包括机壳21、滚刷22、以及第二驱动机构23，其中，机壳21底部具有用于安装滚刷22的安装槽211，滚刷22成对设置，滚刷22的个数优选为两个，滚刷22活动安装于安装槽211内，第二驱动机构23设置于机壳21内，且第二驱动机构23与滚刷22连接，当第二驱动机构23工作时，第二驱动机构23带动滚刷22滚动，清扫光伏板。可以理解的是，滚刷22清扫光伏板时，滚刷22上的刷毛与光伏板接触，如图2所示。
优选的，为了便于机壳21的安装与拆卸，机壳21上还设置有卡扣212，机壳21利用卡扣212的弹性变形，扣合连接在第一支撑杆111a与第二支撑杆111b上，机壳21通过卡扣212在第一支撑杆111a与第二支撑杆111b上滑动，结构简单，且便于机壳21的安装与拆卸，如图2和图10所示。
进一步的，第二驱动机构23包括第一传动组件231、第二驱动件232，其中，第一传动组件231优选为齿轮组，包括第一齿轮组2311、第二齿轮组2312、第三齿轮组2313以及第四齿轮组2314，第二驱动件232优选为电机，电机输出端设置有可与第四齿轮组2314啮合的卡齿，第一齿轮组2311与滚刷22连接，第二齿轮组2312与第一齿轮组2311啮合连接，且第二齿轮组2312与第三齿轮组2313同轴安装，第三齿轮组2313与第四齿轮组2314啮合连接，第四齿轮组2314与电机输出端的卡齿啮合连接，当电机工作时，通过各个齿轮组之间的联动，实现两个滚刷22向相反方向的旋转，来进行灰尘的清扫，如图4所示。
在一些实施例中，上述的清扫机器人还包括导流装置40与集尘装置50，其中，导流装置40设置于滚刷22上方，用于将机壳21内的灰尘导出机壳21外，集尘装置50设置于导流装置40上，用于收集从机壳21内排除的灰尘，如图3和图5所示。
具体的，导流装置40包括导流罩41、风机42，其中导流罩41上设置有进风口411与出风口412，出风口412位于滚刷22上方，出风口412位于机壳21外部；风机42设置于导流罩41内，用于在导流罩41内产生使得灰尘流动的动力，使得机壳21内的灰尘流动至机壳21外部；当风机42工作时，机壳21内的灰尘在风机42的作用下流动至机壳21外部，如图5所示。
集尘装置50包括具有弹性收紧口的无妨布袋，无妨布袋套接于出风口412处，出风口412流出的灰尘堆积在无纺布袋内，光伏板清扫作业完成后，将无纺布袋取下即可，使用无纺布袋收集灰尘，结构简单，成本低，现场实际操作方便，不用花很多时间来清理尘盒，如图6所示。
在一些实施例中，行走机构30包括主行走臂31与副行走臂32，其中，主行走臂31设置于支撑机构10上，主行走臂31可调整清扫机器人的行走方向；副行走臂32设置于清扫机构20上，副行走臂32可保持清扫机器人的平衡，如图7所示。
具体的，主行走臂31包括第一吸盘311、第三驱动件312以及第四驱动件313，其中，第三驱动件312与第一吸盘311连接，第三驱动件312可为第一吸盘311提供作用力，使得第一吸盘311吸附或远离光伏板；第四驱动件313主体固定于清扫机构20内，第四驱动件313的输出端通过第二传动组件314与第一吸盘311主体连接，当第四驱动件313工作时，清扫机构20可绕第一吸盘311进行转动，如图7和图8所示。
副行走臂32包括第二吸盘321和第五驱动件322，第五驱动件322与第二吸盘321连接，第五驱动件322可为第二吸盘321提供作用力，使得第二吸盘321吸附或远离光伏板，如图7所示。
本实施例中，第三驱动件312与第五驱动件322均为真空泵。
进一步的，真空泵具有一个进气孔与一个出气孔，真空泵与两个电磁阀连接，电磁阀是两位三通的电磁阀；真空泵的进气孔与第一电磁阀的工作口、供气口连接，真空泵的出气口与第二电磁阀的工作口、供气口以及第一电磁阀的工作口连接，第一电磁阀的工作口与第二电磁阀的排气口同时连接吸盘；
两个电磁阀不通电时，正常抽气，当电磁阀同时通电时，对吸盘进行抽气，通过一个真空泵和两个电磁阀之间的相互配合实现吸气和吹气，吸气时，第一吸盘311和第二吸盘321吸附光伏板，吹气时，第一吸盘311和第二吸盘321远离光伏板，结构简单，便于控制。
更进一步的，第一吸盘311，第一吸盘311为密封的软胶结构，具体的，第一吸盘311包括吸盘本体3111以及用于支撑吸盘本体3111的固定支架3112，固定支架3112上设置有安装孔31121，安装时，使用螺丝穿过安装孔31121将第一吸盘311与清扫机器人主体连接即可，拆卸方便；相应的，安装孔31121之间设置有气流孔31122，如图9所示；
作为优选的，吸盘本体3111顶部还设置有压盖3113，压盖3113固定在固定支架3112上，通过设置压盖3113可以吸盘本体3111表面形成压力，使得吸盘本体3111内的吸附力更加均匀，从而有利于清扫机器人更加稳定在光伏板上行走，如图7和图9所示。
当然，上述清扫机器人还应包括控制箱60、供电系统70以及控制系统，其中，供电系统70设置于控制箱60上，供电系统70为清扫机器人供电；控制系统设置于控制箱60内，控制系统控制清扫机器人工作，如图7所示。
进一步的，供电系统70包括第一蓄电池71和第二蓄电池72，第一蓄电池71被设置在供电电路中；第二蓄电池72被设置在所述供电电路中并且并联地电连接至第一蓄电池71；具体的，第二蓄电池72为清扫机器人的备用电池，第一蓄电池71为清扫机器人主要使用电池，通过电源管理芯片管理，优先使用第一蓄电池71进行供电，如图7所示。
可选的，为了便于控制系统的维护，控制系统中的主板可采用插槽连接方式进行安装。
在一些实施例中，所述控制箱60上还设置有把手80，通过设置把手80，便于工作人员单手操作，能够在使用现场方便快捷操作。
进一步的，所述把手80上设置有控制开关81，所述控制开关81与所述控制系统电性连接，用于控制行走机构30工作，具体的，长按控制开关81开机，清扫机器人开始清扫工作，短按控制开关81，清扫机器人暂停和启动；在待机过程中，长按按键，清扫机器人先泄气释放吸盘吸力，然后清扫机器人关机，如图10所示。
可选的，所述把手80一对称侧壁上设置有状态指示灯82，所述状态指示灯82与所述控制系统电性连接，当在野外工作场景，工作人员通过状态指示灯82的指示状态能够比较清晰的知道清扫机器人的工作状态，当状态指示灯82为蓝色时，清扫机器人处于报警了，当状态指示灯82为白色时，清扫机器人处于清扫结束状态，非常直观，如图1所示。
本领域技术人员可以理解，图1-图12中所示出的清扫机器人并不构成对清扫机器人的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。
图13为本发明一示例性实施例示出的清扫方法的方法流程图，该方法可以用于光伏板清扫作业中，由图1-图12所示的清扫机器人执行，该清扫方法可以包括：
步骤201，将所述清洁机器人放置于待清洁的光伏板上，且所述清扫机器人的行走路径与光伏板的边缘保持平行；启动所述行走机构、所述清扫机构以及所述支撑机构，所述清扫机器人开始在纵向行走经过的光伏板上进行灰尘清扫；
步骤202，所述行走机构驱动所述清扫机构在第一清扫范围内旋转清扫；第一清扫范围清扫完毕后，所述支撑机构将所述清扫机构调节至第二清扫范围，所述行走机构驱动所述清扫机构在第二清扫范围内旋转清扫；
步骤203，第二清扫范围清扫完毕后，所述行走机构驱动所述清扫机器人向上纵向行走一定距离后，继续执行步骤202中的清扫动作；
步骤204，当所述清扫机器人到达光伏板的侧边边缘时，所述清扫机器人开始横向行走一定距离后，再执行步骤202中的清扫动作；
步骤205，重复上述动作，直至光伏板清扫完毕。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内.

Claims (20)

  1. 一种清扫机器人，用于清扫光伏板，其特征在于，包括：一支撑机构，所述支撑机构用于支撑所述清扫机器人；一清扫机构，所述清扫机构对称设置于所述支撑机构两端，且，所述清扫机构可对光伏板表面进行清扫；一行走机构，所述行走机构设置于所述支撑机构中部，且，所述行走机构可将所述清扫机器人固定于光伏板表面并驱动所述清扫机器人在光伏板表面移动；其中，所述支撑机构可调节所述清扫机构的清扫范围，使得所述清扫机构至少具有第一清扫范围与第二清扫范围，所述第一清扫范围与所述第二清扫范围可为同心圆。
  2. 如权利要求1所述的清扫机器人，其特征在于，所述支撑机构包括：一支架，所述支架包括两根支撑杆；一第一驱动机构，所述第一驱动机构设置于所述支架上并与所述清扫机构连接，用于调节所述清扫机构的清扫范围。
  3. 如权利要求2所述的清扫机器人，其特征在于，所述第一驱动机构包括：一导轨；一第一驱动件，所述第一驱动件主体与所述清扫机构连接，且所述第一驱动件输出端与所述导轨配合连接，当所述第一驱动件工作时，所述第一驱动件带动所述清扫机构沿着所述导轨运动。
  4. 如权利要求1所述的清扫机器人，其特征在于，所述清扫机构包括：一机壳，所述机壳具有一安装槽；一滚刷，所述滚刷设置于所述安装槽内，且，所述滚刷可与光伏板接触；一第二驱动机构，所述第二驱动机构设置于所述机壳内并与所述滚刷连接，用于驱动所述滚刷转动，所述滚刷转动时，光伏板表面的灰尘得扫清扫。
  5. 如权利要求4所述的清扫机器人，其特征在于，所述第二驱动机构包括：一传动组件，所述传动组件与所述滚刷连接；一第二驱动件，所述第二驱动件与所述传动组件连接，所述第二驱动件通过传动组件驱动所述滚刷转动。
  6. 如权利要求5所述的清扫机器人，其特征在于，所述传动组件包括齿轮组。
  7. 如权利要求6所述的清扫机器人，其特征在于，所述滚刷至少设置两个，两个所述滚刷转动方向相反。
  8. 如权利要求4所述的清扫机器人，其特征在于，所述清扫机构还包括：一导流装置，所述导流装置设置于所述滚刷上方，用于将所述机壳内的灰尘导出所述机壳外；一集尘装置，所述集尘装置设置于所述导流装置上，用于收集从所述机壳内排除的灰尘。
  9. 如权利要求8所述的清扫机器人，其特征在于，所述导流装置包括：一导流罩，所述导流罩上设置有进风口与出风口，所述出风口位于所述滚刷上方，所述出风口位于所述机壳外部；一风机，所述风机设置于导流罩内，用于在所述导流罩内产生使得灰尘流动的动力，使得所述机壳内的灰尘流动至所述机壳外部。
  10. 如权利要求9所述的清扫机器人，其特征在于，所述集尘装置包括具有弹性收紧口的无妨布袋，所述无妨布袋套接于所述出风口处。
  11. 如权利要求1所述的清扫机器人，其特征在于，所述行走机构包括：一主行走臂，所述主行走臂设置于所述支撑机构上，且，所述主行走臂可调整所述清扫机器人的行走方向；一副行走臂，所述副行走臂设置于所述清扫机构上，且，所述副行走臂可保持所述清扫机器人的平衡。
  12. 如权利要求11所述的清扫机器人，其特征在于，所述主行走臂包括：一第一吸盘；一第三驱动件，所述第三驱动件与所述第一吸盘连接，且，所述第三驱动件可为所述第一吸盘提供作用力，使得所述第一吸盘吸附或远离光伏板；一第四驱动件，所述第四驱动件主体固定于所述清扫机构内，所述第四驱动件的输出端通过第二传动组件与所述吸盘主体连接，当所述第四驱动件工作时，所述清扫机构可绕所述第一吸盘进行转动。
  13. 如权利要求12所述的清扫机器人，其特征在于，所述副行走臂包括：一第二吸盘；一第五驱动件，所述第五驱动件与所述第二吸盘连接，且，所述第五驱动件可为所述第二吸盘提供作用力，使得所述第二吸盘吸附或远离光伏板。
  14. 如权利要求13所述的清扫机器人，其特征在于，所述第三驱动件与第五驱动件包括真空泵。
  15. 如权利要求1所述的清扫机器人，其特征在于，所述清扫机器人还包括：一控制箱；一供电系统，所述供电系统设置于所述控制箱上，且，所述供电系统为所述清扫机器人供电；一控制系统，所述控制系统设置于所述控制箱内，且，所述控制系统控制所述清扫机器人工作。
  16. 如权利要求15所述的清扫机器人，其特征在于，所述供电系统包括：一第一蓄电池，所述第一蓄电池被设置在供电电路中；一第二蓄电池，所述第二蓄电池被设置在供电电路中，且，所述第二蓄电池并联地电连接至所述第一蓄电池。
  17. 如权利要求15所述的清扫机器人，其特征在于，所述控制箱上还设置有把手。
  18. 如权利要求17所述的清扫机器人，其特征在于，所述把手上设置有控制开关，所述控制开关与所述控制系统电性连接，用于控制行走机构工作。
  19. 如权利要求17所述的清扫机器人，其特征在于，所述把手一对称侧壁上设置有状态指示灯，所述状态指示灯与所述控制系统电性连接。
  20. 一种清扫方法，用于清扫光伏板，使用如权利要求1-19任意一项所述的清扫机器人，其特征在于，包括如下步骤：将所述清洁机器人放置于待清洁的光伏板上，且所述清扫机器人的行走路径与光伏板的边缘保持平行；启动所述行走机构、所述清扫机构以及所述支撑机构，所述清扫机器人开始在纵向行走经过的光伏板上进行灰尘清扫；所述行走机构驱动所述清扫机构在第一清扫范围内旋转清扫；第一清扫范围清扫完毕后，所述支撑机构将所述清扫机构调节至第二清扫范围，所述行走机构驱动所述清扫机构在第二清扫范围内旋转清扫；第二清扫范围清扫完毕后，所述行走机构驱动所述清扫机器人向上纵向行走一定距离后，继续执行上述清扫动作；当所述清扫机器人到达光伏板的侧边边缘时，所述清扫机器人开始横向行走一定距离后，再执行上述清扫动作；重复上述动作。
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