A cleaning robot for a continuous ridge greenhouse roof of an external sunshade system and a cleaning method

Abstract

This invention relates to a cleaning robot and method for the roof of a multi-span greenhouse with an external shading system. The robot includes a support frame, a drive unit, a cleaning unit, a water supply unit, a power supply unit, and a control system. A track provides the robot's operating path, and the single-sided wheel fixing avoids interference with the external shading system. The single-motor four-wheel drive transmission ensures synchronized rotation of all four wheels, reducing slippage and deviation. Battery power and water pipe traction for water supply reduce the need for a winding device, thus reducing the overall weight. A sunken roller brush, in conjunction with water sprayed from the water pipe in the roller brush support, washes the roof surface. A non-rotating gutter brush cleans the gutters and blind spots under the roller brush, and quickly drains mud and water from the gutters. This cleaning robot can perform cleaning operations on the roof of a multi-span greenhouse with an external shading system.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, specifically to a cleaning robot and cleaning method for the roof of a multi-span greenhouse with an external shading system. Background Technology

[0002] my country's facility agriculture industry has developed steadily, with the area of ​​major greenhouse facilities exceeding 2.1 million hectares and the area of ​​multi-span greenhouses reaching 51,800 hectares. As the years of use increase, dust or moss will accumulate on the greenhouse roof, reducing light inside and affecting crop growth and fruit quality.

[0003] Currently, the cleaning of multi-span greenhouses in China mainly relies on imported equipment. However, imported equipment can only operate on the roofs of multi-span greenhouses without shade nets. For most multi-span greenhouses in China with shade net systems, the support rods of the external shading system occupy the gutter space, making it impossible to use the gutter as a track for the cleaning machine, thus hindering its widespread use. Domestically developed cleaning machines are also primarily designed for multi-span greenhouses without shade net systems. For multi-span greenhouses with external shading systems, there is still no widely applicable cleaning equipment or method. Therefore, a practical and feasible solution is urgently needed to address the roof cleaning problem of multi-span greenhouses with external shading systems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a cleaning robot and cleaning method for the roof of a multi-span greenhouse with an external shading system.

[0005] This invention is achieved through the following technical solution: a cleaning robot for the roof of a multi-span greenhouse with an external shading system, comprising a support frame, a drive unit, and a cleaning device. The support frame includes a straddle support and a walking support fixed to both ends of the straddle support. The drive unit includes wheels mounted on the walking support and a power mechanism for driving the wheels. Wheel tracks adapted to the wheels are fixed to both sides of the roof of the multi-span greenhouse. The cleaning device includes a roller brush support located below the straddle support, a roller brush axially connected to the roller brush support, and a DC geared motor for driving the roller brush to rotate. It also includes a water supply device, which includes roller brush support water pipes located on both sides of the roller brush support and extending along the length of the roller brush. The roller brush support water pipes are connected to a water supply pipe, and multiple water outlets are opened on the roller brush support water pipes.

[0006] In this solution, the power mechanism drives the wheels to rotate, thereby enabling the cleaning robot to walk on the wheel track. The DC geared motor drives the roller brush to rotate and clean the greenhouse roof. Water is supplied during the cleaning process by draining water downward through the water pipe of the roller brush bracket in the water supply device.

[0007] As an optimization, the walking frame is equipped with two wheels. The power mechanism includes a DC motor mounted on the straddle support and a first drive shaft axled on the walking frame. The first drive shaft is connected to the two wheels via a chain drive mechanism. The output shaft of the DC motor is equipped with a reducer, and the output shaft of the reducer is connected to the two first drive shafts via intermediate drive shafts. In this design, the DC motor drives the two first drive shafts to rotate via the reducer, and the first drive shafts are connected to the two wheels via a chain drive mechanism, thereby realizing the rotation of the wheels.

[0008] As an optimization, the intermediate drive shaft is a telescopic shaft. The upper end of the intermediate drive shaft is connected to the output shaft of the reducer via a first universal joint, and the lower end is connected to the first drive shaft via a second universal joint. In this design, both ends of the intermediate drive shaft are connected via universal joints, thus achieving power transmission between different shafts.

[0009] As an optimization, the cleaning device also includes a brush adapted to the gutter. The brush in this design sweeps away the muddy water flowing into the gutter during the cleaning process, ensuring it can be quickly drained from the end of the gutter.

[0010] As an optimization, the brush includes a long-bristled brush and a short-bristled brush. The long-bristled brush is inserted into the gutter, and the short-bristled brush is attached to the top surface of the greenhouse roof near the gutter. In this design, the long-bristled brush is inserted into the gutter to clean the inside of the gutter, while the short-bristled brush cleans the blind spots under the roller brush.

[0011] As an optimization, the wheel track includes an open-top channel steel, which is fixed to the side of the external sunshade system support rod. In this design, the channel steel is fixed to the side of the external sunshade system support rod, thus achieving wheel track fixation.

[0012] As an optimization, two cleaning devices are provided, each adapted to one of the two sloping sides of the greenhouse roof. In this design, two cleaning devices are provided to clean the upper two sides of the roof of the multi-span greenhouse.

[0013] As an optimization, the upper end of the roller brush bracket is connected to the bracket via an adjustable upper cantilever that can extend and retract vertically, and the lower end of the roller brush bracket is connected to the bracket via an adjustable lower cantilever that can extend and retract vertically. In this design, the vertical extension and retraction of the adjustable upper cantilever and the vertical extension and retraction of the lower cantilever allow for adjustment of the roller brush bracket's tilt angle to accommodate different ceiling angles.

[0014] As an optimization, a power supply device is also included, comprising a battery compartment and batteries installed within the compartment. Two battery compartments are arranged symmetrically on either side of the center of the straddle support. In this design, the batteries power the cleaning robot, and their distributed arrangement on both sides increases battery space while maintaining structural balance.

[0015] A method for cleaning the roof of a multi-span greenhouse with an external shading system includes the following steps:

[0016] a. Install the wheel track for the cleaning robot to walk on the side of the support rod of the external sunshade system;

[0017] b. The cleaning robot starts from the transfer platform, walks on the wheel track, is powered by batteries, pulls the water supply pipe to supply water, uses the rotating roller brush in the sunken roller brush device to wash the roof surface, water is sprayed from the roller brush bracket water pipe on both sides of the roller brush to rinse, and the brush cleans the blind cleaning area under the roller brush and the gutter through the brush, and pushes the mud and water to be quickly discharged from the gutter.

[0018] c. After the cleaning robot reaches the end of the wheel track, it stops and returns to the starting point to perform the cleaning operation until it returns to the transfer platform.

[0019] d. After the cleaning robot completes the row-changing operation, the row-changing platform will begin the cleaning process for the other row of greenhouse roofs until the operation is completed.

[0020] The beneficial effects of this invention are as follows: This invention provides a cleaning robot and cleaning method for the roof of a multi-span greenhouse with an external shading system. The robot's running path is provided by a matching track. The single-sided wheel fixing method avoids interference with the external shading system. The single-motor four-wheel drive transmission method ensures the synchronous rotation of the four wheels, reducing slippage and deviation. The use of battery power and water pipe traction for water supply reduces the need for a winding device, thus reducing the overall weight. The sunken roller brush, in conjunction with the water sprayed from the roller brush bracket, washes the roof surface. The non-rotating gutter brush cleans the gutters and the blind spots under the roller brush, and pushes the mud and water out of the gutters quickly. This cleaning robot can perform cleaning operations on the roof of a multi-span greenhouse with an external shading system. Attached Figure Description

[0021] Figure 1 This is a top-view schematic diagram illustrating the overall effect of the invention;

[0022] Figure 2 This is a frontal view of the overall effect of the invention;

[0023] Figure 3 This is a schematic diagram of the auxiliary track for the present invention;

[0024] Figure 4 This is a top view of the present invention;

[0025] Figure 5 This is a schematic diagram of part of the driving device and cleaning device of the present invention;

[0026] Figure 6 This is a partial schematic diagram of the middle part of the present invention;

[0027] Figure 7 This is a partial schematic diagram of one side of the present invention;

[0028] As shown in the figure:

[0029] 1. Gutter, 2. Support rod, 3. Channel steel, 4. Triangular plate, 5. Auxiliary bracket, 6. Traveling bracket, 7. Riding bracket, 8. DC motor, 9. Reducer, 10. First universal joint, 11. Intermediate drive shaft, 12. Second universal joint, 13. First drive shaft, 14. First seated bearing, 15. Second seated bearing, 16. Double row sprocket, 17. First chain, 18. First sprocket, 19. Second chain, 20. Second sprocket, 21. Second drive shaft, 22. Third seated bearing, 23. Fourth seated bearing, 24. First wheel, 25. Third drive shaft 26. Shaft, 27. Fifth bearing seat, 28. Sixth bearing seat, 29. Second wheel, 30. Roller brush, 31. Roller brush bracket, 32. Seventh bearing seat, 33. Upper adjusting cantilever, 34. Lower adjusting cantilever, 35. DC geared motor, 36. Knob, 37. Upper mounting plate of roller brush bracket, 38. Lower mounting plate of roller brush bracket, 39. Gutter brush mounting bracket, 40. Brush, 41. Water pipe fixing device, 42. Rigid water pipe, 43. Five-way connector, 44. Water pipe connector of roller brush bracket, 45. Battery compartment, 46. Controller, 47. Touch screen, 48. Driver. Detailed Implementation

[0030] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0031] like Figures 1-7 As shown, the present invention discloses a multi-span greenhouse roof cleaning robot with an external shading system, comprising a support frame, a drive unit, a cleaning unit, a water supply unit, a power supply unit, and a control system.

[0032] The top of the multi-span greenhouse is fixed with wheel tracks on both sides, which are adapted to the wheels. The wheel tracks include channel steel 3 with an upper opening. The channel steel 3 is fixed to the side of the external shading system support rod 2. Since the roof of the multi-span greenhouse includes multiple connected roofs, gutters 1 are set on both sides of the roof. The support rod 2 is the column that supports the external shading system. Channel steel 3 is symmetrically installed on both sides of the external shading system support rod 2 in the gutters 1. The channel steel 3 is fixed to the support rod 2. All channel steels are installed on the same plane, which serves as the track for the cleaning robot to run on, so as to avoid the cleaning robot colliding with the support rod due to insufficient space when walking in the gutters with external shading support rods.

[0033] A triangular plate 4 is used to reinforce the connection between the support rod 2 and the channel steel 3, and the support rod 2 is fixedly connected to the channel steel 3 and the triangular plate 4. An auxiliary bracket 5 is installed in the gutter, located in the middle of two adjacent support rods, and fixedly connected to the gutter and the channel steel to support the bottom of the channel steel and increase the strength of the channel steel track.

[0034] The support includes a straddle support 7 and a traveling support 6 fixed to both ends of the straddle support 7. The straddle support 7 is used to connect the traveling supports 6 on the left and right sides. The traveling supports 6 are fixed to the straddle support 7. The straddle support 7 is in the shape of a herringbone, so as to match the shape of the canopy.

[0035] The driving device includes wheels mounted on the walking bracket 6 and a power mechanism for driving the wheels to move. The walking bracket 6 is equipped with two wheels, and the two wheels on each walking bracket 6 are coplanar and arranged back and forth along the walking direction. Therefore, this application achieves movement through four wheels.

[0036] The power mechanism includes a DC motor 8 mounted on the straddle bracket 7 and a first transmission shaft 13 connected to the walking bracket 6. The output shaft of the DC motor 8 is equipped with a reducer 9. The DC motor 8 is fixed to the input flange of the reducer 9 by an adapter plate. The lower side of the reducer 9 is fixed to the fixing plate in the middle of the straddle bracket 7 by bolts.

[0037] The first drive shaft 13 is connected to two wheels via a chain drive mechanism. Since each walking bracket 6 is equipped with two wheels, the two wheels in this embodiment are the first wheel 24 and the second wheel 28.

[0038] like Figure 5 As shown, a double-row sprocket 16 is fixedly connected to the first drive shaft 13. The first drive shaft 13 is mounted in the middle of the traveling bracket by a first seated bearing 14 and a second seated bearing 15. The double-row sprocket 16 is connected to the first sprocket 18 and the second sprocket 20 by a first chain 17 and a second chain 19, respectively. The first sprocket 18 is fixedly connected to the second drive shaft 21. The second drive shaft 21 is mounted on the traveling bracket 6 by a third seated bearing 22 and a fourth seated bearing 23. The second drive shaft 21 is fixedly connected to the first wheel 24, driving the first wheel 24 to rotate.

[0039] The second sprocket 20 is fixedly connected to the third drive shaft 25. The third drive shaft 25 is mounted on the walking bracket 6 through the fifth bearing 26 and the sixth bearing 27. The third drive shaft 25 is fixedly connected to the second wheel 28 and drives the second wheel 28 to rotate.

[0040] The reducer 9 has a dual-output shaft structure. The output shafts of the reducer 9 are respectively connected to two first transmission shafts 13 via an intermediate transmission shaft 11. The intermediate transmission shaft 11 is a telescopic shaft. The upper end of the intermediate transmission shaft 11 is connected to the output shaft of the reducer 9 via a first universal joint 10, and the lower end of the intermediate transmission shaft 11 is connected to the first transmission shafts 13 via a second universal joint 12. The output shaft of the reducer 9 changes the transmission direction through the universal joints, thereby driving the two first transmission shafts 13 to rotate.

[0041] The single-sided wheel bracket fixing method allows the cleaning robot to run smoothly in the channel steel track. The single-motor four-wheel drive transmission system ensures synchronous rotation of the four wheels, reducing the occurrence of deviations in the cleaning robot's operation caused by wheel slippage.

[0042] Two cleaning devices are provided, each adapted to one of the two sloping sides of the greenhouse roof. The two cleaning devices are symmetrically positioned relative to the roof. The cleaning device includes a roller brush device and a gutter brush device. The roller brush device is used for cleaning the sloping sides of the multi-span greenhouse roof, and the gutter brush device sweeps away the mud and water flowing into the gutter during the cleaning process, ensuring that it can be quickly discharged from the end of the gutter.

[0043] like Figure 6 As shown, the roller brush device includes a roller brush bracket 30 located below the straddle bracket 7, a roller brush 29 axially connected to the roller brush bracket 30, and a DC geared motor 34 that drives the roller brush 29 to rotate. The roller brush 29 is inclined along the sloping surface of the roof. The upper shaft of the roller brush 29 is mounted using a seventh bearing 31, and the seventh bearing 31 is fixedly connected to the upper mounting plate 36 of the roller brush bracket.

[0044] The roller brush bracket 30 has mounting holes on its lower side, into which the output shaft of the DC geared motor 34 is inserted for connection. The DC geared motor 34 is fixed to the mounting plate 37 on the lower side of the roller brush bracket using bolts and a flange.

[0045] The aforementioned roller brush devices are symmetrically distributed on the left and right sides of the cleaning robot. The roller brush 29 is equipped with bristles, and cleaning is performed by rotating the roller brush 29. The lower side of the roller brush 29 is lower than the horizontal plane of the wheel. In addition, considering the influence of the wheel track and the single-sided support fixing method of the wheel, this cleaning robot uses a sunken roller brush device. The lower side of the roller brush device is installed under the walking support, which is lower than the height of the track where the wheel is located, thus solving the interference problem.

[0046] The upper end of the roller brush bracket 30 is connected to the bracket via an upper adjustable cantilever 32 that can extend and retract vertically, and the lower end of the roller brush bracket 30 is connected to the bracket via a lower adjustable cantilever 33 that can extend and retract vertically. In this embodiment, the upper adjustable cantilever 32 is connected to the straddling bracket 7, and the lower adjustable cantilever 33 is connected to the walking bracket 6.

[0047] like Figure 4 ,6 As shown, the upper adjustment cantilever 32 includes a fixed component fixed to the straddle bracket 7 and a movable component slidably connected to the lower end of the fixed component. The roller brush bracket 30 is hinged to the movable component, and a knob 35 is rotatably connected to the fixed component and threadedly connected to the movable component. The upper adjustment cantilever 32 can be adjusted by using the knob 35 to adjust the extension distance of its movable component, thereby adjusting the height of the upper end of the roller brush bracket 30.

[0048] The fixed part of the lower adjustment cantilever 33 is welded to the traveling bracket 6, and the movable part of the lower adjustment cantilever 33 is hinged to the roller brush bracket 30. A certain number of holes are evenly spaced on both the fixed and movable parts of the lower adjustment cantilever. After the roller brush bracket 30 is suspended to a suitable position, bolts are used to pass through the holes in the fixed and movable parts for fixation, thereby realizing the extension and retraction of the lower adjustment cantilever 33. Since the left and right lateral position of the lower end of the roller brush bracket 30 will change slightly when the angle is adjusted, the hinge hole between the movable part of the lower adjustment cantilever 33 and the roller brush bracket 30 can be set as an elongated hole.

[0049] The cleaning device also includes a gutter brush device, which comprises a brush 39 adapted to the gutter 1. The brush 39 is connected to the traveling bracket 6 via a mounting bracket 38. The brush 39 includes a long brush and a short brush. The long brush is inserted into the gutter 1, and the short brush is attached to the top surface of the greenhouse roof near the gutter 1. The short brush is mainly used to clean the blind spot near the gutter under the roller brush, while the long brush is mounted on the small side plate of the brush and is mainly used to clean the gutter 1.

[0050] The brushes of the gutter brush device can push the mud and water in gutter 1 towards the direction of the cleaning robot's movement, so that the mud and water can be quickly discharged from gutter 1. The gutter brush devices are symmetrically distributed in front of and behind the walking support 6 of the cleaning robot, and there are a total of 4 in the whole machine.

[0051] Conventional gutter cleaning solutions commonly use rotary brushing, which occupies a large space. The rotating brush structure can also interfere with the support rods and channel steel tracks. To solve these problems, this gutter brush device is proposed, which avoids interference, simplifies the mechanical structure, and reduces the weight of the mechanism.

[0052] It also includes a water supply device, which includes roller brush bracket water pipes located on both sides of roller brush bracket 30 and extending along the length of roller brush 29. The roller brush bracket water pipes are connected to the water supply pipes, and the roller brush bracket water pipes have multiple water outlets.

[0053] like Figure 6As shown, the water supply device also includes a water pipe fixing device 40, a rigid water pipe 41, a five-way connector 42, and a roller brush bracket water pipe connector 43. The water pipe fixing device 40 fixes the rigid water pipe 41. When the cleaning robot is running, it works with the winding device located on the switching mechanism to pull the water pipe. The water supply pipe pulled by the cleaning robot is connected to the rigid water pipe 41 through the connector.

[0054] The rigid water pipe 41 is divided into four water channels by a five-way connector 42, which are respectively connected to the roller brush bracket water pipe connector 43, thereby connecting the four roller brush bracket water pipes. In this embodiment, the lower end face of the roller brush bracket water pipe has several water outlets with a diameter of 1.5mm at equal intervals, which are used to spray water onto the surface of the greenhouse roof to cooperate with the cleaning device for cleaning operations.

[0055] It also includes a power supply device, which comprises a battery compartment 44 and batteries installed within the battery compartment 44. Two battery compartments 44 are provided and symmetrically arranged on the left and right sides of the straddle bracket 7. The battery compartments 44 are used to hold and protect the batteries; their distributed arrangement on both sides increases battery space while ensuring structural balance. The batteries provide the necessary power to the motor, control system, and other components.

[0056] The cleaning machine control system includes a controller 45, a touch screen 46, a driver 47, and sensors. The controller 45 collects sensor information and controls the motors via the driver 47 according to a pre-set program. The touch screen 46 provides a human-machine interface for manual control and parameter setting. The controller 45 is electrically connected to the touch screen 46, driver 47, and sensors. The driver 47 drives the walking DC motor and the two roller brush DC motors. The sensors detect edge signals for the reciprocating movement of the cleaning robot.

[0057] The cleaning robot can move onto the switching platform, which is a device that moves on the roof of the multi-span greenhouse. It can pass through each roof position, thereby enabling the cleaning robot to switch between different roofs.

[0058] A method for cleaning the roof of a multi-span greenhouse with an external shading system includes the following steps:

[0059] a. Install the wheel track for the cleaning robot to walk on the side of the support rod of the external sunshade system;

[0060] b. The cleaning robot starts from the transfer platform, walks on the wheel track, is powered by batteries, pulls the water supply pipe to supply water, uses the rotating roller brush in the sunken roller brush device to wash the roof surface, water is sprayed from the roller brush bracket water pipe on both sides of the roller brush to rinse, and the brush cleans the blind cleaning area under the roller brush and the gutter through the brush, and pushes the mud and water to be quickly discharged from the gutter.

[0061] c. After the cleaning robot reaches the end of the wheel track, it stops and returns to the starting point to perform the cleaning operation until it returns to the transfer platform.

[0062] d. After the cleaning robot completes the row-changing operation, the row-changing platform will begin the cleaning process for the other row of greenhouse roofs until the operation is completed.

[0063] Of course, the above description is not limited to the examples above. Technical features not described in this invention can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this invention and are not intended to limit this invention. This invention has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention do not depart from the spirit of this invention and should also fall within the scope of protection of the claims of this invention.

Claims

1. A band out shading system continuous ridge greenhouse roof cleaning robot, characterized in that: The system includes a support frame, a drive unit, and a cleaning unit. The support frame includes a straddle support (7) and a walking support (6) fixed to both ends of the straddle support (7). The drive unit includes wheels mounted on the walking support (6) and a power mechanism for driving the wheels. Wheel tracks adapted to the wheels are fixed to both sides of the top of the multi-span greenhouse. The wheel tracks include channel steel (3) with an opening at the top. The roof of the multi-span greenhouse includes multiple connected roofs. Gaps (1) are set on both sides of the roof. Channel steel (3) is symmetrically installed on both sides of the external shading system support rod (2) in the gutter (1). The channel steel (3) is fixed to the support rod (2). The cleaning device includes a roller brush bracket (30) located below the straddle bracket (7), a roller brush (29) axially connected to the roller brush bracket (30), and a DC geared motor (34) for driving the roller brush (29) to rotate. It also includes a water supply device, which includes roller brush bracket water pipes located on both sides of the roller brush bracket (30) and extending along the length of the roller brush (29). The roller brush bracket water pipes are connected to the water supply pipes, and the roller brush bracket water pipes have multiple water outlets. The walking support (6) is equipped with two wheels. The power mechanism includes a DC motor (8) mounted on the straddle support (7) and a first transmission shaft (13) connected to the walking support (6). The first transmission shaft (13) is connected to the two wheels via a chain transmission mechanism. The output shaft of the DC motor (8) is equipped with a reducer (9). The output shaft of the reducer (9) is connected to the two first transmission shafts (13) via an intermediate transmission shaft (11). The intermediate drive shaft (11) is a telescopic shaft. The upper end of the intermediate drive shaft (11) is connected to the output shaft of the reducer (9) through the first universal joint (10), and the lower end of the intermediate drive shaft (11) is connected to the first drive shaft (13) through the second universal joint (12).

2. The greenhouse roof cleaning robot with external shading system according to claim 1, characterized in that: The cleaning device also includes a brush (39) adapted to the gutter (1).

3. The greenhouse roof cleaning robot with external shading system according to claim 2, characterized in that: The brush (39) includes a long brush and a short brush. The long brush is inserted into the gutter (1), and the short brush is attached to the top surface of the greenhouse roof near the gutter (1).

4. The greenhouse roof cleaning robot with external shading system according to claim 1, characterized in that: Two cleaning devices are provided, each adapted to one of the two sloping sides of the greenhouse roof.

5. A roof cleaning robot for a multi-span greenhouse with an external shading system according to claim 1, characterized in that; The upper end of the roller brush bracket (30) is connected to the bracket via an upper adjustable cantilever (32) that can extend and retract vertically, and the lower end of the roller brush bracket (30) is connected to the bracket via a lower adjustable cantilever (33) that can extend and retract vertically.

6. The greenhouse roof cleaning robot with external shading system according to claim 1, characterized in that: It also includes a power supply device, which includes a battery compartment (44) and a battery installed in the battery compartment (44). There are two battery compartments (44) and they are symmetrically arranged in the middle of the straddle bracket (7).

7. A method for cleaning the roof of a multi-span greenhouse with an external shading system using the cleaning robot described in claim 3, characterized in that, Includes the following steps: a. Install the wheel track for the cleaning robot to walk on the side of the support rod of the external sunshade system; b. The cleaning robot starts from the transfer platform, walks on the wheel track, is powered by batteries, pulls the water supply pipe to supply water, uses the sunken rotating roller brush to wash the roof surface, water is sprayed from the roller brush bracket water pipes on both sides of the roller brush to rinse, the brush cleans the blind cleaning area under the roller brush and the gutter through the brush, and pushes the mud and water to be quickly discharged from the gutter. c. After the cleaning robot reaches the end of the wheel track, it stops and returns to the starting point to perform the cleaning operation until it returns to the transfer platform. d. After the cleaning robot completes the row-changing operation, the row-changing platform will begin the cleaning process for the other row of greenhouse roofs until the operation is completed.

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