A method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap

Abstract

The present invention relates to a method for assisting a photovoltaic panel cleaning vehicle to automatically cross an interval. The method first detects the interval distance between two adjacent photovoltaic panels through a distance detection sensor, and a control system determines whether a crossing condition is met; if so, a telescopic support device performs an extension action; if the crossing condition is not met, the cleaning vehicle stops the crossing preparation and the process ends; during the crossing process, a driving device drives the cleaning vehicle to move forward under the support of the telescopic support device until the vehicle body completely moves to the second photovoltaic panel area, and then the telescopic support device performs a contraction action, and the cleaning vehicle automatically crosses the interval process. The method can achieve the purpose of automatic cleaning and dust removal of photovoltaic panels on the entire roof.

Description

Technical Field

[0001] The invention relates to the technical field of solar photovoltaic panels, and in particular to a method for assisting a photovoltaic panel cleaning vehicle to automatically cross an interval. Background Art

[0002] In recent years, with the implementation of the national low-carbon strategy, rooftop distributed photovoltaics have ushered in rapid development. In the operation of rooftop distributed photovoltaic power stations, the accumulation of floating dust on the surface of photovoltaic panels will lead to a decrease in the power generation efficiency of the components. Rooftop photovoltaic panels are usually laid flat on color steel tiles. Since the color steel tiles have a large area and limited load-bearing capacity, it brings many inconveniences to the cleaning work of operation and maintenance personnel. In response to the dust removal needs of rooftop distributed photovoltaic panels, many intelligent photovoltaic panel cleaning vehicles have appeared on the market. These intelligent photovoltaic panel cleaning vehicles use intelligent driving chassis and electrostatic dust removal devices, which can automatically remove dust and dirt on photovoltaic panels and improve the power generation efficiency of photovoltaic panels. However, since the rooftop photovoltaic panels are arranged in array partitions, there is a 30cm to 50cm wide gap between two adjacent photovoltaic panel areas, which is difficult for ordinary cleaning vehicles to cross, limiting the automatic operation range of the cleaning vehicle.

[0003] Therefore, it is necessary to provide a method to assist photovoltaic panel cleaning vehicles to automatically cross the intervals, help the cleaning vehicles to automatically cross the photovoltaic panel area intervals, and improve the operating range of the cleaning vehicles to solve the problem of automatic cleaning and dust removal of photovoltaic panels on the entire roof. Summary of the invention

[0004] The purpose of the present invention is to provide a method for assisting a photovoltaic panel cleaning vehicle to automatically cross intervals, thereby achieving the purpose of automatically cleaning and dusting the photovoltaic panels on the entire roof.

[0005] To achieve the above object, the present invention provides a method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap, the method comprising the following steps:

[0006] S1. When the cleaning vehicle (10) completes cleaning of the photovoltaic panel zone (1), the cleaning vehicle (10) stops moving, and the distance detection sensor (40) detects the distance (C) between the photovoltaic panel zone (1) and the photovoltaic panel zone (2);

[0007] S2. The control system (50) determines whether the interval distance (C) is less than or equal to the limit value (D) of the auxiliary device;

[0008] If not, the cleaning vehicle (10) stops performing the crossing action and the process ends;

[0009] If yes, proceed to step S3;

[0010] S3. The telescopic support device (20) performs an extension action, wherein the front end of the telescopic support device (20) extends forward along the length direction of the cleaning vehicle (10) to the second photovoltaic panel area (2), and the rear end of the telescopic support device (20) extends backward and remains in the first photovoltaic panel area (1);

[0011] S4. The control system (50) determines whether the front end of the driving device (30) has landed in the photovoltaic panel zone (2);

[0012] If not, the cleaning vehicle (10) continues to move forward a distance (E) and proceeds to step S5;

[0013] If yes, proceed to step S6;

[0014] S5. The control system (50) determines whether the front end of the driving device (30) has landed in the photovoltaic panel zone (2);

[0015] If not, the cleaning vehicle (10) moves backward a distance (E), the front and rear ends of the telescopic support device (20) simultaneously retract toward the middle of the cleaning vehicle (10), the cleaning vehicle (10) stops performing the crossing action, and the process ends;

[0016] If yes, proceed to step S6;

[0017] S6. The driving device (30) controls the cleaning vehicle (10) to perform a crossing action, wherein the driving device (30) drives the vehicle body to move forward under the support of the telescopic support device (20) until the vehicle body completely reaches the second photovoltaic panel area (2);

[0018] S7. The telescopic support device (20) performs a retracting action, and the front and rear ends of the telescopic support device (20) simultaneously retract toward the middle of the cleaning vehicle (10);

[0019] S8. The cleaning vehicle (10) automatically crosses the interval to complete.

[0020] As a preferred solution, the driving device (30) comprises a left front wheel (31), a right front wheel (35), a left rear wheel (32), and a right rear wheel (37), and step S5 further comprises:

[0021] S5.1. The control system (50) determines whether the left front wheel (31) and the right front wheel (35) have landed in the photovoltaic panel zone 2 (2);

[0022] If not, the cleaning vehicle (10) moves backward a distance (E), the front and rear ends of the telescopic support device (20) simultaneously retract toward the middle of the cleaning vehicle (10), the cleaning vehicle (10) stops performing the crossing action, and the process ends;

[0023] If yes, go to step S6.1;

[0024] S5.2. The control system (50) determines whether the left rear wheel (32) and the right rear wheel (37) have landed in the photovoltaic panel area (1);

[0025] If not, proceed to step S6.1;

[0026] If yes, go to step S6.2;

[0027] S5.3. The control system (50) determines whether the left rear wheel (32) and the right rear wheel (37) leave the photovoltaic panel area (1);

[0028] If not, proceed to step S6.2;

[0029] If yes, go to step S6.3;

[0030] Step S6 also includes:

[0031] S6.1. The tracks and the left front wheel (31) and the right front wheel (35) of the cleaning vehicle (10) simultaneously drive the vehicle body to the photovoltaic panel zone 2 (2) under the support of the telescopic support device (20);

[0032] S6.2. The left front wheel (31), the right front wheel (35), the left rear wheel (32), and the right rear wheel (37) simultaneously drive the vehicle body toward the second photovoltaic panel area (2);

[0033] S6.3. The tracks and the left front wheel (31) and the right front wheel (35) of the cleaning vehicle (10) simultaneously drive the vehicle body to continue to travel a distance (E) toward the second photovoltaic panel area (2) under the support of the telescopic support device (20).

[0034] When the telescopic support device is in the retracted state, the distance between the bottom of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel and the photovoltaic panel is greater than zero. Therefore, when the cleaning vehicle crosses the gap, the left front wheel and the right front wheel land first in the second photovoltaic panel area, and the left rear wheel and the right rear wheel land later in the first photovoltaic panel area. The left front wheel and the right front wheel first drive the cleaning vehicle forward. When the cleaning vehicle completely drives into the gap, the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel drive the cleaning vehicle to the second photovoltaic panel area together; this can ensure that the normal operation of the cleaning vehicle is not affected, and the purpose of automatically crossing the gap can be achieved. In addition, the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel are all driving wheels, which can save the synchronization of complex mechanical structures and have high synchronization.

[0035] As a preferred solution, in steps S5.1 to S5.3, pressure sensors are provided in the left front wheel, right front wheel, left rear wheel and right rear wheel, and whether the left front wheel, right front wheel, left rear wheel and right rear wheel have landed is determined based on whether the pressure sensors output pressure signals.

[0036] The pressure sensor can intuitively determine whether the left front wheel, right front wheel, left rear wheel, and right rear wheel have landed.

[0037] As a preferred solution, the limit value D of the auxiliary device in step 2 is equal to the sum of half of the length B of the cleaning vehicle and the telescopic length A minus the roller diameter d, and the travel distance E in steps 6, 7, and 8 is less than or equal to half of the length B of the cleaning vehicle.

[0038] The setting of limit value D can prevent the cleaning vehicle from falling into it when the interval is too large.

[0039] As a preferred solution, the distance detection sensor in step S1 includes a left front distance detection sensor and a right front distance detection sensor, and the two work alternately.

[0040] Setting the left front distance detection sensor and the right front distance detection sensor at the same time can prevent one of them from being damaged and affecting the crossing process of the cleaning vehicle; in addition, the two distance detection sensors work alternately to avoid mutual interference between their signals.

[0041] As a preferred solution, the control system described in step S2 and step S5 is embedded in the control program of the cleaning vehicle, and all signal reception, logic judgment and control command sending are completed by the control program of the cleaning vehicle.

[0042] The control system of the auxiliary device is embedded in the control program of the cleaning vehicle, and the control program of the cleaning vehicle issues instructions uniformly to avoid interference between multiple control programs and affect the execution of the cleaning vehicle crossing the interval.

[0043] The advantages of the present invention are:

[0044] The method first detects the distance of the interval area through a distance detection sensor and determines whether the crossing condition is met; if it is met, the telescopic support device performs an extension action, and the driving device drives the cleaning vehicle to move forward until the vehicle body completely drives to the second photovoltaic panel area, and then the telescopic support device performs a contraction action, and the cleaning vehicle automatically crosses the interval process. The purpose of automatic cleaning and dust removal of photovoltaic panels on the entire roof can be achieved through this method. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flow chart of the present invention spanning intervals;

[0046] Figure 2 is a logic diagram of the present invention;

[0047] Figure 3 It is a plan view schematically showing the spanning interval of the present invention;

[0048] Figure 4 It is a three-dimensional structural diagram of the auxiliary device in a retracted state;

[0049] Figure 5A three-dimensional structural diagram of the auxiliary device in a retracted state installed on the cleaning vehicle;

[0050] Figure 6 This is a plan view of the auxiliary device installed on the cleaning vehicle in an extended state;

[0051] The components in the figure are numbered as follows:

[0052] Cleaning vehicle 10, photovoltaic panel zone 1, photovoltaic panel zone 2, distance detection sensor 40, left front distance detection sensor 41, right front distance detection sensor 42, control system 50, telescopic support device 20, driving device 30;

[0053] Telescopic length A, cleaning vehicle length B, interval distance C, limit value D, travel distance E, roller diameter d;

[0054] Left telescopic support device 20a: left telescopic frame body 22, left front telescopic frame 21, left rear telescopic frame 23;

[0055] Left driving device 30a: left front wheel 31, left front wheel support rod 34, left rear wheel 32, left rear wheel support rod 33;

[0056] Right telescopic support device 20b: right telescopic frame body 26, right front telescopic frame 25, right rear telescopic frame 27;

[0057] Right drive device 30 b: right front wheel 35 , right front wheel support rod 36 , right rear wheel 37 , right rear wheel support rod 38 . DETAILED DESCRIPTION

[0058] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the present invention are further described below in conjunction with the accompanying drawings and through specific implementation methods. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, not all.

[0059] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] The present invention relates to a method for assisting a photovoltaic panel cleaning vehicle to automatically cross an interval. The auxiliary device used in the method includes a left telescopic support device 20a, a right telescopic support device 20b, a left drive device 30a, a right drive device 30b, a distance detection sensor 40, and a control system 50.

[0062] The left telescopic support device 20a includes a left telescopic frame body 22, a left front telescopic frame 21, and a left rear telescopic frame 23. The right telescopic support device 20b includes a right telescopic frame body 26, a right front telescopic frame 25, and a right rear telescopic frame 27. The left telescopic frame body 22 and the right telescopic frame body 26 are symmetrically installed on the left and right sides of the cleaning vehicle 10, respectively. The left front telescopic frame 21 and the left rear telescopic frame 23 are respectively telescopically arranged in the cavity of the left telescopic frame body 22, and the right front telescopic frame 25 and the right rear telescopic frame 27 are respectively telescopically arranged in the cavity of the right telescopic frame body 26.

[0063] The distance detection sensor 40 includes a left front ultrasonic distance detection sensor 41 and a right front ultrasonic distance detection sensor 42. The left front ultrasonic distance detection sensor 41 is arranged at the front end of the left telescopic frame body 22, and the right front ultrasonic distance detection sensor 42 is arranged at the front end of the right telescopic frame body 26. The left front ultrasonic distance detector 41 and the right front ultrasonic distance detector 42 are used to detect the distance C of the interval area of ​​the entire photovoltaic panel. The detection method is: the detector sends an ultrasonic pulse signal to the front, and when the pulse signal encounters the side wall of the photovoltaic panel area 2 opposite to the interval, it will be reflected back, and the detector can receive the reflected sound wave signal; when the pulse signal encounters the panel of the photovoltaic panel area 2, mirror reflection will occur, and the detector cannot receive the reflected sound wave signal. Therefore, the detection distance is C=V*T / 2, where T is the time interval from the detector transmitting to receiving the sound wave signal, V is the speed of sound, and the distance between the photovoltaic panels is C. To avoid signal interference, the left and right ultrasonic distance detectors work alternately.

[0064] The control system 50 is embedded in the control program of the cleaning vehicle 10 , and all signal reception, logic judgment and control command sending are completed by the control program of the cleaning vehicle 10 .

[0065] The left drive device 30a includes a left front wheel 31, a left front wheel support rod 23, a left rear wheel 32, and a left rear wheel support rod 33; the right drive device 30b includes a right front wheel 35, a right front wheel support rod 53, a right rear wheel 37, and a right rear wheel support rod 63; the left front wheel support rod 23 is vertically installed below the front end of the left front telescopic frame 21, the left front wheel 31 is installed below the left front wheel support rod 23, the left rear wheel support rod 33 is vertically installed below the rear end of the left rear telescopic frame 23, the left rear wheel 32 is installed below the left rear wheel support rod 33, the right front wheel support rod 53 is vertically installed below the front end of the right front telescopic frame 25, the right front wheel 35 is installed below the right front wheel support rod 53, the right rear wheel support rod 63 is vertically installed below the rear end of the right rear telescopic frame 27, and the right rear wheel 37 is installed below the right rear wheel support rod 63.

[0066] Among them, the left front wheel 31, the right front wheel 35, the left rear wheel 32, and the right rear wheel 37 are all built with low-speed DC motors, and the wheel axle is the motor shaft. The motor controls the synchronization of the four rollers to provide auxiliary driving power when the cleaning vehicle crosses the interval. The tires are made of rubber material to increase the friction between the photovoltaic components. All rollers are fixed forward, with a roller diameter of d and a distance of 0.5 cm from the ground. They do not affect the movement and steering of the cleaning vehicle at ordinary times, and can play a role in supporting the vehicle body and guiding when the cleaning vehicle crosses the interval.

[0067] The left front wheel support rod 23, the right front wheel support rod 53, the left rear wheel support rod 33, and the right rear wheel support rod 63 are all equipped with pressure sensors, and the pressure signal output by the pressure sensor is used as a judgment signal for whether the roller has landed. Normally, when the roller leaves the ground, the pressure sensor has no signal output. When the vehicle body crosses the gap, the vehicle body is partially or completely suspended in the air, the support rod is compressed, causing the vehicle body height to drop, the roller lands, the support rod bears the upward support force of the roller, and the pressure sensor outputs a pressure signal.

[0068] The telescopic length A of the auxiliary device, the length B of the cleaning vehicle, the distance C of the interval, the limit D, the diameter d of the roller, and the travel distance E are set; then the auxiliary device crosses the interval distance limit D = A + B / 2-d, C ≤ D. The travel distance E ≤ B / 2.

[0069] In this embodiment, the telescopic length A=50 cm, the cleaning vehicle length B=50 cm, the spacing area distance C=60 cm, the roller diameter d=8 cm, the limit value D=A+B / 2-d=67 cm, and the travel distance E=20 cm.

[0070] The method comprises the following steps:

[0071] S1. When the cleaning vehicle 10 completes cleaning of the photovoltaic panel zone 1, the cleaning vehicle 10 stops moving forward, and the distance detection sensor 40 detects the interval distance C = 60CM from the photovoltaic panel zone 1 to the photovoltaic panel zone 2;

[0072] S2. The control system 50 determines whether the interval distance C = 60CM is less than or equal to the limit value D = 67CM of the auxiliary device;

[0073] S3. If no, the cleaning vehicle 10 stops performing the crossing action and the process ends;

[0074] S4. If yes, the telescopic support device 20 performs the extension action, the left front telescopic frame 21 and the right front telescopic frame 25 are simultaneously extended forward 50 cm along the length direction of the cleaning vehicle 10 to the photovoltaic panel second zone 2, and the left rear telescopic frame 23 and the right rear telescopic frame 27 are simultaneously extended backward 50 cm along the length direction of the cleaning vehicle 10 and remain in the photovoltaic panel first zone 1;

[0075] S5. The control system 50 determines whether the front end of the driving device 30 lands in the photovoltaic panel zone 2, and whether the rear end of the driving device 30 lands in the photovoltaic panel zone 1;

[0076] Step S5 also includes:

[0077] S5.1. The control system 50 determines whether the left front wheel 31 and the right front wheel 35 have landed in the photovoltaic panel second zone 2. When the pressure signal output by the pressure sensor in the left front wheel support rod 23 and the right front wheel support rod 53 is detected, it indicates that the left front wheel 31 and the right front wheel 35 have landed; if not, proceed to steps S6 and S7 in sequence; if yes, proceed to step S8.1;

[0078] S5.2. The control system 50 determines whether the left rear wheel 32 and the right rear wheel 37 have landed in the photovoltaic panel area 1. When the vehicle body travels to the middle of the interval, the vehicle body is completely suspended. If the pressure signal output by the pressure sensor in the left rear wheel support rod 33 and the right rear wheel support rod 63 is detected, it indicates that the left rear wheel 32 and the right rear wheel 37 have landed; if not, proceed to step S8.1; if yes, proceed to step S8.2;

[0079] S5.3. The control system 50 determines whether the left rear wheel 32 and the right rear wheel 37 have left the photovoltaic panel area 1. When it is detected that the pressure signal output by the pressure sensor in the left rear wheel support rod 33 and the right rear wheel support rod 63 becomes zero, it indicates that the left rear wheel 32 and the right rear wheel 37 have been suspended, that is, they have left the photovoltaic panel area 1; if not, proceed to step S8.2; if yes, proceed to step S8.3;

[0080] S6. If no, the cleaning vehicle 10 continues to move forward for a distance E = 20CM, the cleaning vehicle 10 stops moving forward, and returns to step S5 to determine;

[0081] S7. If not, the cleaning vehicle 10 moves backwards by a distance E = 20CM, the front and rear ends of the telescopic support device 20 simultaneously shrink toward the middle of the cleaning vehicle 10, the cleaning vehicle 10 stops performing the crossing action, and the process ends;

[0082] S8. If yes, the driving device 30 controls the cleaning vehicle 10 to perform the crossing action, and the driving device 30 drives the vehicle body to move forward under the support of the telescopic support device 20 until the vehicle body is fully moved to the photovoltaic panel zone 2;

[0083] Step S8 also includes:

[0084] S8.1. The tracks of the cleaning vehicle 10 and the left front wheel 31 and the right front wheel 35 simultaneously drive the vehicle body to the photovoltaic panel zone 2 under the support of the left front telescopic frame 21 and the right front telescopic frame 25;

[0085] S8.2. The left front wheel 31, the right front wheel 35, the left rear wheel 32, and the right rear wheel 37 simultaneously drive the vehicle body to move toward the photovoltaic panel second zone 2 under the support of the left front telescopic frame 21, the right front telescopic frame 25, the left rear telescopic frame 23, and the right rear telescopic frame 27;

[0086] S8.3. The tracks and the left front wheel 31 and the right front wheel 35 of the cleaning vehicle 10 simultaneously drive the vehicle body to continue to travel to the photovoltaic panel area 2 by a distance of E = 20CM under the support of the left front telescopic frame 21 and the right front telescopic frame 25, so that the vehicle body is completely driven to the photovoltaic panel area 2;

[0087] S9. The telescopic support device 20 performs a retraction action, and the left front telescopic frame 21, the right front telescopic frame 25, the left rear telescopic frame 23, and the right rear telescopic frame 27 simultaneously retract toward the middle of the cleaning vehicle 10, and the left front telescopic frame 21 and the left rear telescopic frame 23 retract into the cavity of the left telescopic frame body 22, and the right front telescopic frame 25 and the right rear telescopic frame 27 retract into the cavity of the right telescopic frame body 26;

[0088] S10. The cleaning vehicle 10 automatically crosses the interval and is completed.

[0089] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap, characterized in that: The method comprises the following steps: S1. When the cleaning vehicle finishes cleaning the photovoltaic panel area 1, the cleaning vehicle stops moving forward, and the distance detection sensor detects the distance between the photovoltaic panel area 1 and the photovoltaic panel area 2; S2. The control system determines whether the interval distance is less than or equal to the limit of the auxiliary device; If not, the cleaning vehicle stops executing the crossing action and the process ends; If yes, proceed to step S3; S3. The telescopic support device performs an extension action, the front end of the telescopic support device extends forward along the length direction of the cleaning vehicle to the second photovoltaic panel area, and the rear end of the telescopic support device extends backward and remains in the first photovoltaic panel area; S4. The control system determines whether the front end of the driving device has landed in the second area of ​​the photovoltaic panel; If not, the cleaning vehicle continues to move forward a distance E and enters step S5; If yes, the tracks and the left and right front wheels of the cleaning vehicle simultaneously drive the vehicle body to move toward the second photovoltaic panel area under the support of the telescopic support device, and then enter step S6; S5. The control system determines again whether the front end of the driving device has landed in the second area of ​​the photovoltaic panel; step S5 specifically includes the following steps: S5.

1. The control system determines whether the left front wheel and the right front wheel have landed in the second photovoltaic panel area; If not, the cleaning vehicle moves backwards a distance E, and the front and rear ends of the telescopic support device simultaneously retract toward the middle of the cleaning vehicle, and the cleaning vehicle stops performing the crossing action, and the process ends; If yes, proceed to step S5.2; S5.

2. The driving device drives the vehicle body to move forward under the support of the telescopic support device, and the control system determines whether the left rear wheel and the right rear wheel land in the photovoltaic panel area; If not, the tracks and the left and right front wheels of the cleaning vehicle simultaneously drive the vehicle body forward under the support of the telescopic support device, and then enter step S5.3; If yes, go directly to step S5.3; S5.

3. The driving device drives the vehicle body to continue to move forward under the support of the telescopic support device, and the control system determines whether the left rear wheel and the right rear wheel leave the photovoltaic panel area; If not, the left front wheel, right front wheel, left rear wheel and right rear wheel simultaneously drive the vehicle body towards the second photovoltaic panel area; If yes, the tracks and the left and right front wheels of the cleaning vehicle simultaneously drive the vehicle body to continue to travel a distance E to the second photovoltaic panel area under the support of the telescopic support device; S6. The telescopic support device performs a retracting action, and the front and rear ends of the telescopic support device simultaneously retract toward the middle of the cleaning vehicle; S7. The cleaning vehicle automatically crosses the interval to complete.

2. The method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap according to claim 1, characterized in that: In steps S5.1 to S5.3, pressure sensors are installed in the left front wheel, right front wheel, left rear wheel and right rear wheel, and whether the left front wheel, right front wheel, left rear wheel and right rear wheel have landed is determined based on whether the pressure sensors output pressure signals.

3. The method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap according to claim 2, characterized in that: The limit value of the auxiliary device is equal to the sum of half the length of the cleaning vehicle and the telescopic length minus the roller diameter, and the travel distance E of the cleaning vehicle is less than or equal to half the length of the cleaning vehicle.

4. The method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap according to claim 1, characterized in that: The distance detection sensor in step S1 includes a left front distance detection sensor and a right front distance detection sensor, which work alternately.

5. The method for assisting a photovoltaic panel cleaning vehicle to automatically cross a gap according to claim 1, characterized in that: The control system described in step S2 and step S5 is embedded in the control program of the cleaning vehicle, and all signal reception, logic judgment and control command sending are completed by the control program of the cleaning vehicle.

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