Fall detection unit and photovoltaic panel cleaning robot

Abstract

This invention provides a drop-proof detection unit and a photovoltaic panel cleaning robot. The drop-proof detection unit includes a substrate, an ultrasonic sensor, a first laser sensor, and a controller. The ultrasonic sensor and the first laser sensor are both mounted on the substrate, and are spaced apart in a first direction. The controller is mounted on the substrate and electrically connected to the ultrasonic sensor and the first laser sensor. This invention's drop-proof detection unit, by simultaneously utilizing both ultrasonic and laser sensors, achieves comprehensive detection of the edges and gaps of photovoltaic panels, effectively avoiding false alarms that may occur with a single sensor. It also reduces work interruptions caused by signal anomalies. This allows the photovoltaic panel cleaning robot to not only avoid falls but also clean multiple photovoltaic panels across gaps, improving cleaning efficiency.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic cleaning equipment technology, and in particular to a fall prevention detection unit and a photovoltaic panel cleaning robot. Background Technology

[0002] When photovoltaic cleaning robots are cleaning photovoltaic panels, they are prone to falling off the edges and onto the ground. Common technologies used to address this include using lidar for boundary detection or combining ultrasonic radar with mechanical structures. However, lidar detection often results in false alarms, affecting the robot's normal operation. Even with a combination of ultrasonic radar and mechanical structures, the problem of the robot falling off the photovoltaic panel edge persists. Utility Model Content

[0003] This invention provides a drop detection unit to solve the problems of radar false alarms and falls in existing photovoltaic cleaning robots, thereby improving the working efficiency of photovoltaic cleaning robots.

[0004] This utility model also provides a photovoltaic panel cleaning robot.

[0005] An embodiment of this utility model discloses a drop detection unit, comprising:

[0006] substrate;

[0007] An ultrasonic sensor, wherein the ultrasonic sensor is disposed on the substrate;

[0008] A first laser sensor is disposed on the substrate, and the first laser sensor and the ultrasonic sensor are arranged at intervals in a first direction.

[0009] A controller is disposed on the substrate and is electrically connected to the ultrasonic sensor and the first laser sensor.

[0010] In some embodiments, the distance between the first laser sensor and the ultrasonic sensor in the first direction is L, and the size of the gap between two adjacent photovoltaic panels in the first direction is M, where L > M.

[0011] In some embodiments, the laser sensor includes a second laser sensor disposed between the ultrasonic sensor and the first laser sensor in the first direction, and spaced apart from the first laser sensor in the second direction, wherein the second direction is orthogonal to the first direction.

[0012] In some embodiments, the laser beam emitted by the first laser sensor forms a first linear beam on the photovoltaic panel, and the laser beam emitted by the second laser sensor forms a second linear beam on the photovoltaic panel, wherein the first linear beam and the second linear beam are orthogonal.

[0013] In some embodiments, the first linear beam extends along the second direction, and the second linear beam extends along the first direction.

[0014] In some embodiments, the ends of the first linear beam and the ends of the second linear beam overlap.

[0015] In some embodiments, the length of the first linear beam or the second linear beam is a, the width is b, M = 0.5a + b + Δ, Δ is ±3mm, and the distance between the first laser sensor and the second laser sensor in the first direction is (0, M).

[0016] In some embodiments, the distance between the first laser sensor and the second laser sensor in the second direction is (0, M).

[0017] In some embodiments, the substrate is provided with a plurality of mounting slots, and the ultrasonic sensor and the first laser sensor can be detachably disposed in the corresponding mounting slots.

[0018] An embodiment of this utility model discloses a photovoltaic panel cleaning robot, comprising:

[0019] The body has a front end in its direction of travel;

[0020] Multiple anti-fall detection units are provided, wherein the anti-fall detection units are as described in any of the above embodiments, the anti-fall detection units are disposed on the body, the first direction is consistent with the traveling direction of the body, and the ultrasonic sensor is arranged near the front of the vehicle relative to the laser sensor.

[0021] The anti-drop detection unit of this utility model combines ultrasonic and light wave detection methods by simultaneously utilizing an ultrasonic sensor and a first laser sensor, achieving comprehensive detection of the edges and gaps of the photovoltaic panel. This greatly improves the accuracy and reliability of the signal and effectively avoids false alarms that may be caused by a single sensor.

[0022] This dual detection mechanism not only ensures high-precision positioning in various complex environments, but also allows the other sensor to provide supplementary confirmation when one sensor fails to provide effective feedback (such as when encountering gaps or surfaces with low reflectivity), thus ensuring the safe and stable operation of the photovoltaic panel cleaning robot. For example, when a photovoltaic panel cleaning robot with an anti-fall detection unit crosses the gap between two photovoltaic panels, one of the ultrasonic sensor and the first laser sensor detects the gap ahead first, while the other of the ultrasonic sensor and the first laser sensor can still receive a valid signal reflected back from the edge of the photovoltaic panel. This allows the photovoltaic panel cleaning robot to continue moving forward, reducing work interruptions caused by signal anomalies. This enables the photovoltaic panel cleaning robot not only to avoid falling, but also to smoothly cross the gaps between different photovoltaic panels and complete the cleaning work of multiple photovoltaic panels, thereby improving the working efficiency of the photovoltaic panel cleaning robot.

[0023] The photovoltaic panel cleaning robot of this utility model has the advantages of high working efficiency and accurate detection results. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the anti-fall detection unit provided by this utility model in operation.

[0026] Figure 2 This is a schematic diagram of the anti-fall detection unit provided by this utility model.

[0027] Figure label:

[0028] 100. Drop detection unit; 200. Photovoltaic panel;

[0029] 1. Substrate; 2. Ultrasonic sensor;

[0030] 3. Laser sensor; 31. First laser sensor; 32. Second laser sensor;

[0031] 4. Controller; 5. Mounting slot. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] like Figure 1 and Figure 2 As shown, the anti-fall detection unit 100 of this utility model embodiment includes a substrate 1, an ultrasonic sensor 2, a first laser sensor 31, and a controller 4.

[0034] The ultrasonic sensor 2 is mounted on the substrate 1.

[0035] The first laser sensor 31 is disposed on the substrate 1, and the first laser sensor 31 and the ultrasonic sensor 2 are arranged at intervals in the first direction.

[0036] The controller 4 is mounted on the substrate 1 and is electrically connected to the ultrasonic sensor 2 and the first laser sensor 31.

[0037] For example, for ease of description, the technical solution of this application will be described below with the front-back direction as the first direction, where the front-back direction is as follows: Figure 1 As shown.

[0038] Both the first laser sensor 31 and the ultrasonic sensor 2 are fixed on the substrate 1, and both the first laser sensor 31 and the ultrasonic sensor 2 are detachably connected to the substrate 1.

[0039] The ultrasonic sensor 2 determines changes in distance by emitting and receiving ultrasonic waves, thereby identifying whether it is approaching the edge of the photovoltaic panel 200. For example, if the ultrasonic sensor 2 receives a reflected signal, it indicates that the anti-drop detection unit 100 is on the photovoltaic panel 200; if it does not receive a reflected signal, it indicates that the anti-drop detection unit 100 is at the edge of the photovoltaic panel 200.

[0040] The first laser sensor 31 identifies whether it is approaching the edge of the photovoltaic panel 200 by emitting a laser beam and receiving the reflected signal. For example, if the first laser sensor 31 can receive the reflected signal, it indicates that the anti-drop detection unit 100 is on the photovoltaic panel 200; if it does not receive the reflected signal, it indicates that the anti-drop detection unit 100 is at the edge of the photovoltaic panel 200.

[0041] Compared to the ultrasonic sensor 2, the first laser sensor 31 offers higher positioning accuracy and smaller detection error, making it particularly suitable for precise close-range positioning. The first laser sensor 31 can accurately identify the position of object edges and has a good response to materials with high reflectivity (such as the aluminum alloy edging of the photovoltaic panel 200).

[0042] The controller 4 can quickly receive and analyze the detection data from the first laser sensor 31 and the ultrasonic sensor 2, and then send control commands to the control module of the photovoltaic panel cleaning robot in a timely manner based on the detection results, so as to adjust the operating status of the photovoltaic panel 200 cleaning robot.

[0043] The control process of controller 4 is as follows:

[0044] Obtain the first value detected by ultrasonic sensor 2.

[0045] Obtain the second value detected by the first laser sensor 31;

[0046] Perform an OR operation on the first and second values ​​to obtain the result value.

[0047] The photovoltaic panel cleaning robot is controlled to either move or stop based on whether the result value is a preset value.

[0048] For example, when the ultrasonic sensor 2 detects an obstacle or edge in front, the first value will reflect the abnormal state, while the first laser sensor 31 generates a second value by detecting the reflected signal on the surface or edge of the photovoltaic panel 200. If either sensor detects a normal signal, the result of the calculation is the preset value, indicating that the photovoltaic panel cleaning robot is in a safe area and can continue to move.

[0049] Conversely, if neither sensor detects a valid signal, or if the calculated value does not meet the preset value, the robot is deemed to be at risk of falling, and is immediately stopped. This control method not only improves the robot's adaptability to complex environments but also effectively avoids safety hazards caused by false alarms or malfunctions of a single sensor, ensuring safer and more stable operation while performing cleaning tasks, and simultaneously improving overall work efficiency and equipment reliability.

[0050] In related technologies, common methods include using lidar for boundary detection or combining ultrasonic radar with mechanical structures for detection. However, when using lidar for detection, false alarms often occur, affecting the normal operation of the photovoltaic panel cleaning robot. Even when using a detection scheme combining ultrasonic radar with mechanical structures, the photovoltaic panel cleaning robot still experiences the problem of falling off the edge of the photovoltaic panel.

[0051] The anti-drop detection unit 100 of this utility model combines ultrasonic and light wave detection methods by simultaneously utilizing ultrasonic sensor 2 and first laser sensor 31, achieving comprehensive detection of the edges and gaps of photovoltaic panel 200, greatly improving the accuracy and reliability of the signal, and effectively avoiding false alarms that may be caused by a single sensor.

[0052] This dual detection mechanism not only ensures high-precision positioning in various complex environments, but also allows for supplementary confirmation by another sensor when one sensor fails to provide effective feedback (such as encountering gaps or surfaces with low reflectivity), thereby ensuring the safe and stable operation of the photovoltaic panel cleaning robot. For example, when the photovoltaic panel cleaning robot with the anti-fall detection unit 100 crosses the gap between two photovoltaic panels 200, one of the ultrasonic sensor 2 and the first laser sensor 31 detects the gap ahead first, while the other of the ultrasonic sensor 2 and the first laser sensor 31 can still receive the effective signal reflected back from the edge of the photovoltaic panel 200, thus allowing the photovoltaic panel cleaning robot to continue moving forward, reducing work interruptions caused by signal abnormalities. This enables the photovoltaic panel cleaning robot not only to avoid falling, but also to smoothly cross the gaps between different photovoltaic panels 200, completing the cleaning work of multiple photovoltaic panels 200, thereby improving the working efficiency of the photovoltaic panel cleaning robot.

[0053] Therefore, the anti-fall detection unit 100 of this utility model embodiment has the advantages of high working efficiency and accurate detection results.

[0054] Optionally, the ultrasonic sensor 2 is located in front of the first laser sensor 31. When the photovoltaic panel cleaning robot approaches the edge of the photovoltaic panel 200 or crosses the gap between two photovoltaic panels 200, the ultrasonic sensor 2 first detects the situation in front and immediately issues an early warning once a potential fall risk is detected. The first laser sensor 31 further confirms the edge position with its high precision. The two work together to enable the photovoltaic panel cleaning robot to pass smoothly through the edge of the photovoltaic panel 200 and complete the cleaning task, which significantly improves the work efficiency and safety.

[0055] In some embodiments, the first laser sensor 31 and the ultrasonic sensor 2 are arranged opposite to each other and spaced apart in a first direction, the distance between the first laser sensor 31 and the ultrasonic sensor 2 in the first direction is L, and the size of the gap between two adjacent photovoltaic panels 200 in the first direction is M, where L > M.

[0056] For example, the first laser sensor 31 and the ultrasonic sensor 2 are arranged opposite each other and spaced apart in the front-back direction, and the size of the gap between them in the front-back direction is L. The size of the gap between two adjacent photovoltaic panels 200 in the front-back direction is M, where L > M.

[0057] If L < M, then when the anti-fall detection unit 100 passes through the gap between the photovoltaic panels 200, the first laser sensor 31 and the ultrasonic sensor 2 are both in the gap for a certain period of time, and both will lose effective echo signals at the same time, thus causing the anti-fall detection unit 100 to stop.

[0058] By setting L to be greater than M, when the anti-fall detection unit 100 passes through the gap between the photovoltaic panels 200, at least one of the first laser sensor 31 and the ultrasonic sensor 2 remains on the photovoltaic panel 200 outside the gap, thereby being able to provide a normal signal so that the photovoltaic panel cleaning robot can operate normally.

[0059] The anti-fall detection unit 100 of this utility model not only effectively avoids the problem of false alarms caused by simultaneous loss of signal, but also significantly improves the reliability and operating efficiency of the photovoltaic panel cleaning robot.

[0060] In some embodiments, the laser sensor 3 includes a second laser sensor 32, which is disposed between the ultrasonic sensor 2 and the first laser sensor 31 in a first direction, and is arranged at intervals from the first laser sensor 31 in a second direction, wherein the second direction is orthogonal to the first direction.

[0061] For example, for ease of description, the technical solution of this application will be described below with the left and right directions as the second direction, where the left and right directions are as follows: Figure 1 As shown.

[0062] The ultrasonic sensor 2 is positioned in front of the first laser sensor 31.

[0063] In the front-to-back direction, the second laser sensor 32 is positioned between the ultrasonic sensor 2 and the first laser sensor 31, and in the left-to-right direction, the second laser sensor 32 is spaced apart from the first laser sensor 31. In other words, the second laser sensor 32 is positioned to the left front of the first laser sensor 31, that is, to the left rear of the ultrasonic sensor 2. Alternatively, the second laser sensor 32 is positioned to the right front of the first laser sensor 31, that is, to the right rear of the ultrasonic sensor 2.

[0064] The second laser sensor 32 is electrically connected to the controller 4, thereby enabling the controller 4 to receive the detection data from the second laser sensor 32.

[0065] By utilizing the second laser sensor 32 for compensation detection, not only is the overall coverage and detection accuracy of the anti-fall detection unit 100 enhanced, but redundant information can also be provided in different directions. This ensures that when one sensor encounters an obstacle or loses a signal, other sensors can promptly supplement it, avoiding misjudgment caused by blind spots in a single direction. This further improves the safety and stability of the photovoltaic panel cleaning robot as it traverses the gaps and edges of photovoltaic panels 200 in complex environments. As a result, the photovoltaic panel cleaning robot can efficiently and accurately complete cleaning tasks in varied working environments, while reducing work interruptions caused by detection failures, thus improving operational efficiency and equipment reliability.

[0066] In some embodiments, the laser beam emitted by the first laser sensor 31 forms a first linear beam on the photovoltaic panel 200, and the laser beam emitted by the second laser sensor 32 forms a second linear beam on the photovoltaic panel 200, wherein the first linear beam and the second linear beam are orthogonal.

[0067] The anti-fall detection unit 100 of this utility model arranges the first linear beam and the second linear beam vertically, so that the first linear beam and the second linear beam can complement each other, thereby enabling accurate detection in multiple directions and increasing the detection area.

[0068] If the first and second linear beams are set to be parallel, it may result in the inability to fully scan the metal frame of the photovoltaic panel 200, thereby generating abnormal echo signals when crossing gaps or edges. Especially when encountering low reflectivity surfaces or gaps, the parallel arrangement may miss key detection points, making it difficult for the anti-fall detection unit 100 to accurately determine whether it is truly close to the edge or gap, thus affecting the normal operation of the photovoltaic panel cleaning robot.

[0069] More seriously, if the ultrasonic sensor 2 happens to enter the gap at the same time, the three detection methods (two laser sensors 3 plus one ultrasonic sensor 2) will simultaneously generate abnormal signals, causing the photovoltaic panel cleaning robot to mistakenly believe that there is a risk of falling and trigger an accidental shutdown. This will not only interrupt the cleaning operation, but may also require manual intervention to restore the workflow, greatly reducing the efficiency of the operation and the reliability of the equipment. Therefore, the use of a vertically arranged first linear beam and a second linear beam, combined with the use of ultrasonic sensor 2, can effectively avoid the above problems and ensure that the photovoltaic panel cleaning robot can safely and stably complete the cleaning task under various conditions.

[0070] In some embodiments, the first linear beam extends along a second direction, and the second linear beam extends along a first direction. For example, the first linear beam extends in a left-right direction, and the second linear beam extends in a front-back direction.

[0071] In some embodiments, the ends of the first linear beam and the ends of the second linear beam overlap.

[0072] The anti-fall detection unit 100 of this embodiment of the invention enables the detection ranges of the first laser sensor 31 and the first laser sensor 31 to form an overlapping area at the intersection point, thereby further enhancing the coverage capability of the photovoltaic panel 200 surface and edges. Especially when detecting the edge of the photovoltaic panel 200 or crossing gaps, the overlapping area can provide higher positioning accuracy and signal reliability, avoiding detection blind spots or misjudgments caused by a single beam failing to completely cover key positions. In addition, the existence of the overlapping area can also provide redundant information for the system in complex environments. When the signal of one sensor is interfered with or the reflection conditions are poor, the signal of the other sensor can still be effectively fed back through the overlapping area, ensuring that the photovoltaic panel cleaning robot can accurately determine its own position and maintain safe and stable operation.

[0073] In some embodiments, the length of the first linear beam or the second linear beam is a, the width is b, M = 0.5a + b + Δ, Δ is ±3mm, and the distance between the first laser sensor 31 and the second laser sensor 32 in the first direction is (0, M).

[0074] For example, the length of the first or second linear beam is a and the width is b, while the size M of the gap between two adjacent photovoltaic panels 200 in the front-to-back direction is set to M=0.5a+b+Δ, where Δ is a tolerance range of ±3mm. This design ensures that the laser sensor 3 can effectively cover the key areas of the photovoltaic panel 200 and adapt to the small errors that may occur in actual installation.

[0075] Meanwhile, the distance between the first laser sensor 31 and the second laser sensor 32 in the front-to-back direction is controlled within the range of (0, M]. This arrangement not only avoids the occurrence of detection blind spots due to excessive spacing between the two in the front-to-back direction, but also prevents the risk of losing effective echo signals when the two sensors enter the gap position at the same time due to excessive spacing. This ensures that at least one sensor can always receive a normal feedback signal, maintaining the safety and stability of the photovoltaic panel cleaning robot when crossing the gap or edge of the photovoltaic panel 200, thereby improving the reliability and operating efficiency of the photovoltaic panel cleaning robot.

[0076] In some embodiments, the distance between the first laser sensor 31 and the second laser sensor 32 in the second direction is (0, M). The distance between the first laser sensor 31 and the second laser sensor 32 in the left-right direction is controlled within the range of (0, M). This arrangement not only avoids the occurrence of detection blind spots due to excessive spacing between the two in the front-back direction, but also prevents the risk of losing effective echo signals when both sensors simultaneously enter the gap position due to insufficient spacing. This ensures that at least one sensor can always receive a normal feedback signal, maintaining the safety and stability of the photovoltaic panel cleaning robot when crossing the gap or edge of the photovoltaic panel 200, thereby improving the reliability and operating efficiency of the photovoltaic panel cleaning robot.

[0077] In some embodiments, the substrate 1 is provided with a plurality of mounting slots 5, and the ultrasonic sensor 2 and the first laser sensor 31 can be detachably disposed in the corresponding mounting slots 5.

[0078] For example, both the ultrasonic sensor 2 and the first laser sensor 31 are fixed in the mounting groove 5 by bolts or by snap-fit. The second laser sensor 32 can also be detachably mounted in the mounting groove 5.

[0079] In this embodiment of the invention, the anti-fall detection unit 100, including the ultrasonic sensor 2, the first laser sensor 31, and the second laser sensor 32, can all be detachably installed in their respective mounting slots 5. This not only facilitates installation, replacement, and maintenance but also improves the flexibility and scalability of the anti-fall detection unit 100. For example, if a sensor malfunctions, it can be quickly removed from the mounting slot 5 and replaced, thereby reducing downtime and improving overall operational efficiency. Furthermore, the multiple mounting slots 5 allow for flexible adjustment of the sensor's position or number according to actual needs, adapting to different detection scenarios and photovoltaic panel 200 layouts, further enhancing the system's applicability and reliability.

[0080] The photovoltaic panel cleaning robot of this utility model includes a main body and multiple anti-fall detection units.

[0081] The vehicle body has a front end in its direction of travel.

[0082] The anti-fall detection unit is the anti-fall detection unit of any of the above embodiments. The anti-fall detection unit is disposed on the body, and the first direction is consistent with the traveling direction of the body. The ultrasonic sensor 2 is arranged near the front of the vehicle relative to the laser sensor 3.

[0083] For example, the photovoltaic panel cleaning robot of this utility model embodiment includes a body and a plurality of anti-fall detection units, wherein the body has a front end in its direction of travel, and the anti-fall detection units adopt the design of any of the above embodiments. Each anti-fall detection unit is installed on the body, and the first direction is consistent with the direction of travel of the body, that is, the photovoltaic panel cleaning robot travels in the front-back direction.

[0084] The ultrasonic sensor 2 is positioned near the front of the vehicle relative to the laser sensor 3, that is, the ultrasonic sensor 2 is located in front of the laser sensor 3.

[0085] This layout allows the ultrasonic sensor 2 to first detect potential obstacles or edges in front of the photovoltaic panel cleaning robot, providing an initial safety warning. When encountering the edge or gap of the photovoltaic panel 200, the ultrasonic sensor 2 can promptly send a signal, while the laser sensor 3 located behind it further confirms the edge position and provides accurate distance information, ensuring that the photovoltaic panel cleaning robot can operate safely and stably when crossing gaps or approaching edges. By placing the ultrasonic sensor 2 closer to the front of the vehicle, not only is the response speed to changes in the environment in front improved, but the detection accuracy and reliability of the overall system are also enhanced. This provides more comprehensive protection for the photovoltaic panel cleaning robot when performing cleaning tasks, effectively avoiding the risks caused by the failure or false alarm of a single sensor, thereby improving the overall operating efficiency and safety of the equipment.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A fall detection unit, characterized by, include: substrate(1); An ultrasonic sensor (2) is disposed on the substrate (1); A first laser sensor (31) is disposed on the substrate (1), and the first laser sensor (31) and the ultrasonic sensor (2) are arranged at a distance in a first direction; The controller (4) is disposed on the substrate and is electrically connected to the ultrasonic sensor (2) and the first laser sensor (31).

2. The fall detection unit according to claim 1, characterized in that The distance between the first laser sensor (31) and the ultrasonic sensor (2) in the first direction is L, and the size of the gap between two adjacent photovoltaic panels in the first direction is M, where L > M.

3. The drop detection unit according to claim 2, characterized in that, The laser sensor (3) includes a second laser sensor (32). In the first direction, the second laser sensor (32) is disposed between the ultrasonic sensor (2) and the first laser sensor (31). In the second direction, the second laser sensor (32) and the first laser sensor (31) are arranged at intervals. The second direction is orthogonal to the first direction.

4. The drop detection unit according to claim 3, characterized in that, The laser beam emitted by the first laser sensor (31) forms a first linear beam on the photovoltaic panel, and the laser beam emitted by the second laser sensor (32) forms a second linear beam on the photovoltaic panel. The first linear beam and the second linear beam are orthogonal.

5. The drop detection unit according to claim 4, characterized in that, The first linear beam extends along the second direction, and the second linear beam extends along the first direction.

6. The drop detection unit according to claim 4 or 5, characterized in that, The ends of the first linear beam and the ends of the second linear beam overlap.

7. The drop detection unit according to claim 4, characterized in that, The length of the first linear beam or the second linear beam is a, the width is b, M=0.5a+b+Δ, Δ is ±3mm, and the distance between the first laser sensor (31) and the second laser sensor (32) in the first direction is (0, M).

8. The drop detection unit according to claim 7, characterized in that, The distance between the first laser sensor (31) and the second laser sensor (32) in the second direction is (0, M).

9. The drop detection unit according to claim 1, characterized in that, The substrate is provided with multiple mounting slots, and the ultrasonic sensor (2) and the first laser sensor (31) can be detachably installed in the corresponding mounting slots.

10. A photovoltaic panel cleaning robot, characterized in that, include: The body has a front end in its direction of travel; Multiple anti-fall detection units, wherein the anti-fall detection unit is the anti-fall detection unit according to any one of claims 1-9, the anti-fall detection unit is disposed on the body, the first direction is consistent with the traveling direction of the body, and the ultrasonic sensor (2) is arranged adjacent to the front of the vehicle relative to the laser sensor (3).

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