# US 12,117,847 B2 · Transfer robot and cleaning system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,117,847 B2 - Document ID: US12117847B2 - Status: Granted - Kind: B2 - Application number: 17/277,419 - Filed: 2019-11-09 - Published: 2022-02-03 - Granted: 2024-10-15 - Earliest claimed: 2018-11-09 - Assignees: Suzhou Radiant Photovoltaic Technology Co., Ltd - Applicants: Suzhou Radiant Photovoltaic Technology Co., Ltd. - Inventors: Changsheng Jiang; Jianxiang Lu; Xianshan Qi; Zhixiang Wang; Jianrong Xu; Fei Xu; Yu Liu; Xiaoli Miu - Web page: https://patentgrep.com/patent/US12117847B2 ## CPC - G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)} - B08B 13/00: Accessories or details of general applicability for machines or apparatus for cleaning - B25J 5/005: {mounted on endless tracks or belts} - B25J 9/1697: {Vision controlled systems} - B25J 18/025: {telescopic} - B66F 9/063: {Automatically guided} - F24S 40/20: Cleaning; Removing snow - G05D 1/0217: {in accordance with energy consumption, time reduction or distance reduction criteria} - G05D 1/0219: {ensuring the processing of the whole working surface} - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - G05D 1/0234: {using optical markers or beacons (optical beacons per se G01S1/70)} - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0261: {using magnetic plots} - G05D 1/0278: {using satellite positioning signals, e.g. GPS} - G05D 1/0297: {by controlling means in a control room} - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/644: Optimisation of travel parameters, e.g. of energy consumption, journey time or distance - G05D 1/648: Performing a task within a working area or space, e.g. cleaning - G05D 1/661: Docking at a base station (delivering or retrieving payloads G05D1/667) - G05D 1/692: involving a plurality of disparate vehicles - G06Q 10/06313: {Resource planning in a project environment} - G06Q 10/06315: {Needs-based resource requirements planning or analysis} - H02S 40/10: Cleaning arrangements - Y02E 10/40: Solar thermal energy, e.g. solar towers - Y02E 10/50: Photovoltaic [PV] energy - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B08B: CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - F24S: SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS (for producing mechanical power from solar energy F03G6/00) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - H02S: GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES (obtaining electrical energy from radioactive sources G21H1/12; light sensitive inorganic semiconductor devices H10F; light sensitive organic semiconductor devices H10K30/00; thermoelectric devices H10N10/00; pyroelectric devices H10N15/00) - Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION ## Abstract Disclosed are a transfer robot (300) and a cleaning system. The transfer robot (300) comprises a vehicle body (310), a transfer device (320), and an angle adjusting device (330). The cleaning system comprises a cleaning area (500), a cleaning robot (200) and the transfer robot (300). The transfer robot (300) serves as a carrying tool for the cleaning robot (200), and transfers the cleaning robot (200) to a channel area (103) among a plurality of solar panel arrays (101), such that the cleaning robot (200) can complete cleaning work on the different solar panel arrays (101). ## Claims ### Claim 1 A transfer robot, comprising: a vehicle body; a transfer device, comprising a transfer stage and a baffle protruding from an edge of the transfer stage, wherein the baffle comprises a left baffle, a rear baffle, and a right baffle that are sequentially connected to one another, and an entrance is defined between a free end of the left baffle and a free end of the right baffle; and an angle adjustment device disposed between the vehicle body and the transfer stage, and configured to adjust an angle of the transfer stage; wherein the transfer device further comprises: a through beam sensor comprising a transmitting end and a receiving end that are disposed oppositely, wherein the transmitting end and the receiving end are disposed on an inner sidewall of the left baffle and an inner sidewall of the right baffle respectively, and the transmitting end and the receiving end are located near the entrance; and/or a distance sensor disposed on an inner sidewall of a middle portion of the rear baffle and disposed opposite to the entrance; wherein the through beam sensor and/or the distance sensor is connected to a processor. ### Claim 2 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer device further comprises: an anti-collision member disposed on the inner sidewall of the left baffle and/or the rear baffle and/or the right baffle. ### Claim 3 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer device comprises: a bridge plate slidably mounted on an upper surface of the transfer stage; and a first telescopic rod comprising an end connected to a lower surface of the transfer stage and another end connected to a lower surface of the bridge plate. ### Claim 4 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer stage is rotatably connected to a top or an upper portion of the vehicle body. ### Claim 5 (depends on 4) The transfer robot as claimed in claim 4, wherein the transfer device comprises: two sliding shaft bases disposed oppositely and protruding from a middle portion of a bottom surface of the transfer stage; two first sliding slots disposed on two opposite surfaces of the two sliding shaft bases respectively; and two rotation axle bases disposed oppositely, protruding from the bottom surface of the transfer stage, and located near an edge of an end of the transfer stage; the angle adjustment device comprises: a sliding shaft comprising two ends slidably mounted in the two first sliding slots respectively; a second telescopic rod comprising an end rotatably connected to a middle portion of the sliding shaft and another end rotatably connected to the vehicle body; and a rotation axle comprising a middle portion connected to an end of the top or the upper portion of the vehicle body and two ends rotatably mounted on the two rotation axle bases respectively. ### Claim 6 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer robot further comprises: a tilt angle sensor configured to measure an included angle between the transfer stage and a level plane; the tilt angle sensor disposed on the transfer stage lower surface and connected to a processor. ### Claim 7 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer robot further comprises: a positioning device configured to obtain a real-time location of the vehicle body; the positioning device disposed on an internal or an external of the vehicle body and connected to a processor. ### Claim 8 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer robot further comprises: an electronic compass configured to obtain a real-time moving direction of the vehicle body; the electronic compass disposed on an internal or an external of the vehicle body and connected to a processor. ### Claim 9 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer robot further comprises: an image sensor disposed on a front end and/or a rear end and/or a left side and/or a right side of the vehicle body and connected to a processor; and/or, an illumination device disposed on the front end and/or the rear end and/or the left side and/or the right side of the vehicle body and connected to a processor. ### Claim 10 (depends on 1) The transfer robot as claimed in claim 1, wherein the transfer robot further comprises: an obstacle avoidance sensor disposed on a front end and/or a rear end and/or a left side and/or a right side of the vehicle body and connected to a processor. ### Claim 11 A transfer robot, comprising: a vehicle body; a transfer device, comprising a transfer stage; an angle adjustment device disposed between the vehicle body and the transfer stage, and configured to adjust an angle of the transfer stage; a height adjustment device mounted on a top or an upper portion of the vehicle body; wherein the transfer stage is rotatably connected to a top of the height adjustment device, and the height adjustment device comprises: a frame, wherein the transfer device is rotatably connected to an end of the frame; a first mounting bracket comprising an upper end slidably connected to the frame and a lower end rotatably connected to a top or an upper half portion of the vehicle body; a second mounting bracket comprising an upper end rotatably connected to the frame and a lower end slidably connected to the top or the upper half portion of the vehicle body; and a pivot pin extending through a middle portion of the first mounting bracket and a middle portion of the second mounting bracket, wherein the second mounting bracket is rotatably connected to the first mounting bracket through the pivot pin. ### Claim 12 (depends on 11) The transfer robot as claimed in claim 11, wherein the transfer device comprises: two sliding shaft bases disposed oppositely and protruding from a middle portion of a bottom surface of the transfer stage; two first sliding slots disposed on two opposite surfaces of the two sliding shaft bases respectively; and two rotation axle bases disposed oppositely, protruding from the bottom surface of the transfer stage, and located near an edge of an end of the transfer stage; the angle adjustment device comprises: a sliding shaft comprising two ends slidably mounted in the two first sliding slots respectively; a telescopic rod mounting bracket disposed below the frame and connected to the frame; a second telescopic rod comprising an end rotatably connected to a middle portion of the sliding shaft and another end rotatably connected to the telescopic rod mounting bracket; and a rotation axle comprising a middle portion connected to an end of a top of the frame and two ends rotatably mounted on the two rotation axle bases respectively. ### Claim 13 (depends on 11) The transfer robot as claimed in claim 11, wherein the height adjustment device comprises: two first rails that are disposed oppositely mounted on the frame; two second rails that are disposed oppositely mounted on a top or an upper half portion of the vehicle body; two second sliding slots disposed on two opposite surfaces of the two first rails respectively; and two third sliding slots disposed on two opposite surfaces of the two second rails respectively; the first mounting bracket comprises: two first connection rods paralleling each other; and two first pulleys disposed on ends of the two first connection rods respectively and slidably mounted in the two second sliding slots respectively; the second mounting bracket comprises: two the second connection rods paralleling each other; and two second pulleys disposed on ends of the two the second connection rods respectively and slidably mounted in the two third sliding slots respectively. ### Claim 14 (depends on 11) The transfer robot as claimed in claim 11, wherein the height adjustment device further comprises: a third telescopic rod comprising an end rotatably connected to the first mounting bracket or the second mounting bracket and another end rotatably connected to the vehicle body. ### Claim 15 A transfer robot, comprising: a vehicle body; a transfer device, comprising a transfer stage; an angle adjustment device disposed between the vehicle body and the transfer stage, and configured to adjust an angle of the transfer stage; a first telescopic rod controller configured to adjust a length of a first telescopic rod; and/or, a second telescopic rod controller configured to adjust a length of a second telescopic rod; and/or, a third telescopic rod controller configured to adjust a length of a third telescopic rod; and a processor connected to the first telescopic rod controller and/or the second telescopic rod controller and/or the third telescopic rod controller.