A roof line cleaning robot

Abstract

The application provides a roof row-changing cleaning robot, which comprises a robot body moving along the longitudinal direction of a roof, a row-changing vehicle moving along the transverse direction of the roof and used for carrying the robot body to change rows, a cleaning passive wheel fixedly sleeved on a transmission shaft of the robot body, a carbon steel metal block arranged on the cleaning passive wheel, and a cleaning operation detection sensor arranged on the robot body and matched with the carbon steel metal block; a row-changing track is arranged at one end of the top of the roof in the transverse direction; the row-changing vehicle comprises a vehicle body, a row-changing driving wheel rotatably arranged at one end of the vehicle body and rolling on the row-changing track, and a row-changing passive walking wheel rotatably arranged at the other end of the vehicle body and rolling on the row-changing track; a carbon steel metal disc is arranged on the row-changing passive walking wheel; a row-changing operation detection sensor is arranged on the row-changing vehicle; and a hole is arranged on the carbon steel metal disc. The application can accurately detect the operation state of the robot body and the row-changing vehicle in real time, so as to timely treat the jamming failure and guarantee the work efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning robot technology, specifically to a roof-sweeping robot. Background Technology

[0002] In existing technology, rooftop photovoltaic panels are arranged neatly in both the horizontal and vertical directions. Cleaning these panels requires a rooftop rotation cleaning robot. Existing rooftop rotation cleaning robots consist of a cleaning robot body that travels longitudinally along the roof to clean the photovoltaic panels, and a rotation vehicle that travels laterally along the roof to carry and rotate the cleaning robot body for cleaning. After cleaning one row of photovoltaic panels, the cleaning robot body returns to the rotation vehicle, which then carries it to the position corresponding to the next row of photovoltaic panels. The cleaning robot body continues cleaning the next row, and this process is repeated to achieve the purpose of rotation cleaning.

[0003] However, both the cleaning robot body and the transfer cart can experience jamming during operation. Inaccurate detection of the operating status of the cleaning robot body and the transfer cart makes it impossible to handle the jamming faults accurately, thus affecting work efficiency.

[0004] Therefore, there is a need to provide a roof-sweeping robot to solve the problems existing in the prior art. Summary of the Invention

[0005] In view of this, the present invention provides a roof-sweeping robot that can detect the operating status of the robot body and the sweeping vehicle in real time and accurately, thereby promptly handling jamming faults and ensuring work efficiency.

[0006] To achieve the above objectives, the present invention provides a roof-sweeping robot with the following technical solution: A roof-changing cleaning robot includes a robot body that moves longitudinally along the roof and is used to clean photovoltaic panels on the roof, and a changing vehicle that moves laterally along the roof and is used to carry the robot body to change its position. A cleaning passive wheel is fixedly sleeved on the drive shaft of the robot body, and a carbon steel metal block is provided on the cleaning passive wheel. A cleaning operation detection sensor that cooperates with the carbon steel metal block is provided on the robot body. A changing track is arranged laterally along the roof at one end of the top of the roof. The changing vehicle includes a vehicle body, a changing drive wheel that is rotatably set at one end of the vehicle body and rolls on the changing track, and a changing passive walking wheel that is rotatably set at the other end of the vehicle body and rolls on the changing track. A carbon steel metal disc is provided on the changing passive walking wheel. A changing operation detection sensor is provided on the changing vehicle, and an opening is formed through the carbon steel metal disc at a position corresponding to the changing operation detection sensor.

[0007] Furthermore, a support wheel is rotatably mounted in the middle of the vehicle body, and the support wheel rolls along the length of the switching track at the top of the switching track.

[0008] Furthermore, a lateral positioning wheel is rotatably mounted in the middle of the vehicle body, and the lateral positioning wheel is in rolling connection with the inner sidewall of the switching track.

[0009] Furthermore, guide wheels are rotatably installed at both ends of the robot body and both ends of the vehicle body.

[0010] Furthermore, several transition pieces are evenly arranged on the end of the vehicle body near the photovoltaic panel, and the robot body moves from the vehicle body to the photovoltaic panel through the transition pieces. Several safety piles are evenly arranged on the end of the roof away from the vehicle body, and the safety piles are used to prevent the robot body from leaving the photovoltaic panel from the end away from the vehicle body.

[0011] Furthermore, a baffle is provided at the end of the vehicle body away from the photovoltaic panel, the baffle being used to prevent the robot body from leaving the vehicle body from the end away from the photovoltaic panel.

[0012] Furthermore, the vehicle body is equipped with four position sensors, namely a starting line position sensor, an intermediate line position sensor, an ending line position sensor, and a deceleration sensor. A sensor board is installed on each line of the switching track to determine the stopping position of the switching vehicle. The installation positions of the sensor boards correspond to the starting line position sensor, the intermediate line position sensor, the ending line position sensor, and the deceleration sensor, respectively.

[0013] Furthermore, the robot body is equipped with a cleaning start point position detection sensor. When the robot body returns to the transfer cart, the cleaning start point position detection sensor will send a continuously on or normally closed switch signal. The robot body's control program will determine based on this signal that the robot body has returned to the start point position on the transfer cart. At this time, the robot body's control program will control the robot body's drive motor to stop. The transfer cart body is equipped with a transfer position detection sensor. When the robot body stops on the transfer cart, the transfer position detection sensor will send a continuously on or normally closed switch signal. The transfer cart's control program will determine based on this signal that the robot body has stopped on the transfer cart.

[0014] The above-described technical solution of the present invention has at least the following beneficial effects: 1. This invention has a simple structure and is easy to use. A cleaning passive wheel is fixedly mounted on the drive shaft, and a carbon steel metal block is connected to the cleaning passive wheel. A cleaning operation detection sensor that cooperates with the carbon steel metal block is installed on the robot body, which can detect the operation status of the robot body in real time and accurately. A carbon steel metal disc is connected to the moving passive wheel, and a moving operation detection sensor is installed on the moving cart. An opening is made through the carbon steel metal disc at the position corresponding to the moving operation detection sensor. The diameter of the opening is larger than the diameter of the moving operation detection sensor, which can detect the operation status of the moving cart in real time and accurately, thereby promptly handling jamming faults and ensuring work efficiency. 2. A support wheel is rotatably installed in the middle of the vehicle body. The support wheel rolls along the length of the switching track on the top of the switching track. A lateral positioning wheel is rotatably installed in the middle of the vehicle body. The lateral positioning wheel is rotatably connected to the inner side wall of the switching track, so that the main frame of the switching vehicle and the switching track maintain a suitable gap, and the sliding friction is converted into rolling friction, so that the switching vehicle can run reliably and stably on the switching track. 3. Several transition pieces are evenly arranged on the end of the vehicle body near the photovoltaic panel. The robot body moves smoothly from the vehicle body to the photovoltaic panel through the transition pieces. Several safety posts are evenly arranged on the end of the roof away from the vehicle body. This can prevent the robot body from leaving the photovoltaic panel from the end away from the vehicle body, making it safer and more reliable to prevent accidental falls. 4. The vehicle body is equipped with four position sensors. The robot body is equipped with a cleaning start point position detection sensor, and the vehicle body is equipped with a change position detection sensor... This can specifically address and resolve equipment accidents that occur when the change vehicle and the robot body misalign. Attached Figure Description

[0015] Figure 1 This is a perspective view of the roof-sweeping robot of the present invention from one angle; Figure 2 for Figure 1 A magnified structural diagram of part A in the middle; Figure 3 for Figure 1 A magnified structural diagram of part B in the middle section; Figure 4 This is a perspective view of the roof-sweeping robot of the present invention from another angle; Figure 5 for Figure 4 A magnified structural diagram of section C.

[0016] In the picture: 1. Changing control box; 2. Changing drive wheel; 3. Intermediate position sensor; 4. Deceleration sensor; 5. Cleaning control box; 6. Drive shaft; 7. Cleaning operation detection sensor; 8. Carbon steel metal block; 9. Cleaning passive wheel; 10. Cleaning start point position detection sensor; 11. Changing position detection sensor; 12. Lateral positioning wheel; 13. Rotating shaft; 14. Support wheel; 15. Changing operation detection sensor; 16. Carbon steel metal disc; 17. Changing passive walking wheel; 18. Start point position sensor; 19. Sensor board; 20. End point position sensor; 21. Robot body; 22. Changing lateral guide wheel; 23. Changing track; 24. Changing bolster; 25. Upper transition piece; 26. Intermediate transition piece; 27. Lower transition piece; 28. Photovoltaic panel; 29. ​​Lower end safety post; 30. End sensor board; 31. Upper end safety post. Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will be described in conjunction with the accompanying drawings of the embodiments of the present invention. Figure 1-5 The technical solutions of the embodiments of the present invention will be clearly and completely described herein. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0018] like Figures 1-3 As shown, a roof-changing cleaning robot includes a robot body 21 that moves longitudinally along the roof to clean photovoltaic panels 28 on the roof, and a changing vehicle that moves laterally along the roof to transport the robot body 21 for changing its position. The robot body 21 includes a frame consisting of a crossbeam, a lower mounting plate, an upper mounting plate, and a middle mounting plate. A drive shaft 6 and a brush roller are rotatably mounted on the frame. A walking wheel is mounted on the drive shaft 6, and a cleaning control box 5 is mounted on the frame. A cleaning passive wheel 9 is fixedly mounted on the drive shaft 6, and a carbon steel metal block 8 is connected to the cleaning passive wheel 9. A cleaning operation detection sensor 7 that cooperates with the carbon steel metal block 8 is mounted on the robot body.

[0019] When the cleaning passive wheel 9 rotates along with the robot body 21, the carbon steel metal block 8 will send an intermittent switching signal when it approaches the cleaning operation detection sensor 7. The intermittent switching signal of the cleaning operation detection sensor 7 is used as the basis to judge the operating status of the robot body. If the robot body slips and stops due to an obstacle, the on / off signal of the cleaning operation detection sensor 7 will have two states: a long on / off signal or a long period without an on / off signal. The robot body's control program is set to detect the robot body's operating status according to the normal interval of the on / off signal. A detection time of 10 seconds is set. If the robot body's control program receives a pulse signal from the cleaning operation detection sensor 7 within 10 seconds, it is considered that the robot body is operating normally. If the cleaning operation detection sensor 7 shows a long on / off signal or a long period without an on / off signal within 10 seconds, it is determined that the robot body is stuck and slipping. The robot body's control program will then take corresponding actions, entering the stuck obstacle crossing mechanism. The drive motor of the robot body 21 will stop, and then the drive motor will reverse to allow the robot body to get out of the stuck and slipping position. Then the drive motor will rotate forward to drive the robot body to attempt to pass through the stuck position. If the robot still gets stuck and slips, the stuck obstacle crossing action will be repeated 3 times. If the robot body still fails to pass through the obstacle after 3 attempts, the robot body's control program needs to take two actions depending on the robot body's running direction. When the robot is in the starting point to ending point running state, it needs to control the robot body to automatically return to the starting point position and upload the fault information of the robot body being stuck and failing to overcome obstacles through wireless communication; when the robot body 21 is in the ending point to starting point running state, the robot body will stop at the stuck position and upload the fault information of the robot body being stuck and failing to overcome obstacles through wireless communication.

[0020] A switching track 23 is arranged laterally along the top of the roof at one end, and the switching track 23 is securely installed on the roof via a switching sleeper beam 24. The switching vehicle includes a vehicle body, a switching drive wheel 2 rotatably mounted at one end of the vehicle body and rolling on the switching track 23, and a switching passive travel wheel 17 rotatably mounted at the other end of the vehicle body and rolling on the switching track 23. A switching electrical control box 1 is installed on the vehicle body. A carbon steel metal disc 16 is connected to the switching passive travel wheel 17. A switching operation detection sensor 15 is installed on the switching vehicle. An opening is made through the carbon steel metal disc 16 at a position corresponding to the switching operation detection sensor 15, and the diameter of the opening is larger than the diameter of the switching operation detection sensor 15.

[0021] When the passive traveling wheel 17 rotates with the moving vehicle, the proximity moving vehicle operation detection sensor 15 will send an intermittent switching signal. The intermittent switching signal of the moving vehicle operation detection sensor 15 is used as the basis to determine the operating status of the moving vehicle. If the moving vehicle slips and stops due to an obstacle, the switching signal of the moving vehicle operation detection sensor 15 will show two situations: a long-term switching signal or no switching signal for a long time. The control program for the switching vehicle sets the operating status based on the normal interval of the switch signal. A 10-second detection time is set. If the control program receives a pulse signal from the switching operation detection sensor 15 within 10 seconds, it considers the switching vehicle to be operating normally. If the switching operation detection sensor 15 shows a prolonged switch signal or no switch signal for an extended period within 10 seconds, it is determined that the switching vehicle is stuck and slipping. The control program then takes appropriate action, entering the stuck obstacle-crossing mechanism. It stops the switching vehicle's drive motor, then reverses the drive motor to move the vehicle out of the stuck / slipping position. Then, it reverses the drive motor again to attempt to pass through the stuck position. If the vehicle still gets stuck and slips, this process is repeated three times. If the obstacle is still not overcome after three attempts, the control program needs to handle the situation in two ways depending on the vehicle's direction of travel. When the switching train is in the starting point to ending point running state, it needs to be controlled to automatically return to the starting point position and upload fault information of switching train jamming and obstacle crossing failure via wireless communication; when the switching train is in the ending point to starting point running state, the switching train will stop at the jammed position and upload fault information of switching train jamming and obstacle crossing failure shutdown via wireless communication.

[0022] This invention has a simple structure and is easy to use. It can detect the operating status of the cleaning robot body 21 and the switching vehicle in real time and accurately, so as to deal with jamming faults in a timely manner and ensure work efficiency.

[0023] According to one embodiment of the present invention, such as Figure 1 and 2 As shown, a support wheel 14 is rotatably mounted in the middle of the vehicle body, and the support wheel 14 rolls along the length of the switching track 23 at the top of the switching track 23. A lateral positioning wheel 12 is rotatably mounted in the middle of the vehicle body, and the lateral positioning wheel 12 is rotatably connected to the inner sidewall of the switching track 23.

[0024] When the length of the switching car exceeds 2 meters, the main structure of the switching car will inevitably experience deflection deformation along its length. When the deformation is severe, it will cause friction between the switching car and the switching sleeper beam 24, resulting in the switching car jamming. Installing an intermediate support wheel set in the middle of the switching car will cause one end of the switching car to contact the track and the other end to detach from the track, causing the switching car drive wheel set to lose friction and thus causing the switching car to slip. When the length of the switching car exceeds 2 meters, friction will occur between the vertical side of the main frame of the switching car and the inner side of the switching track 23. In addition, due to the excessive length of the switching track 23, the straightness and levelness of the switching track 23 installation will deviate significantly due to human installation accuracy issues and the flatness of the roof. Therefore, 1-4 sets of rotating shafts 13 are added to the length of the switching car body to make the car body frame flexibly adjustable in the length direction. Support wheels 14 are installed on the rotating shafts 13, and lateral positioning wheels 12 are added in the horizontal direction to maintain a suitable distance between the main frame of the switching car and the switching track 23, changing the sliding friction into rolling friction, thereby enabling the switching car to run reliably and stably on the switching track 23.

[0025] Cleaning guide wheels are installed at both ends of the robot body 21; lateral guide wheels 22 are rotatably installed at both ends of the vehicle body. A baffle is provided at the end of the vehicle body away from the photovoltaic panel 28 to prevent the robot body from leaving the vehicle body from this end. An upper transition piece 25, an intermediate transition piece 26, and a lower transition piece 27 are evenly and sequentially installed on the end of the vehicle body closest to the photovoltaic panel 28, allowing the robot body to smoothly move from the vehicle body to the photovoltaic panel 28 via these transition pieces. An end lower safety post 29, an end sensor plate 30, and an end upper safety post 31 are evenly and sequentially installed on the roof away from the vehicle body to prevent the robot body from leaving the photovoltaic panel 28 from this end. This design enhances safety and reliability.

[0026] According to another embodiment of the present invention, such as Figure 1 , Figure 4 and Figure 5 As shown, the vehicle body is equipped with four position sensors, namely the starting line position sensor 18, the middle line position sensor 3, the ending line position sensor 20, and the deceleration sensor 4. On the switching track 23, a sensor sensing plate 19 is installed on each line to determine the stopping position of the switching vehicle. The installation positions of the sensor sensing plates 19 correspond to the starting line position sensor 18, the middle line position sensor 3, the ending line position sensor 20, and the deceleration sensor 4, respectively.

[0027] The robot body is equipped with a cleaning start point position detection sensor 10. When the robot body returns to the transfer cart, the cleaning start point position detection sensor 10 will send a continuous or normally closed switch signal. The robot body's control program will determine that the robot body has returned to the start point position on the transfer cart based on this signal. At this time, the robot body's control program will control the robot body's drive motor to stop. The transfer cart body is equipped with a transfer position detection sensor 11. When the robot body stops on the transfer cart, the transfer position detection sensor 11 will send a continuous or normally closed switch signal. The transfer cart's control program will determine that the robot body has stopped on the transfer cart based on this signal.

[0028] During operation, the switching cart and the robot body are prone to misalignment. This misalignment can lead to two types of equipment accidents. The first is that the robot body is performing cleaning actions in a certain row when the switching cart moves away from the row where the robot body is located, causing the robot body to fall when it returns to the switching cart, resulting in a serious equipment accident. The second is that while the switching cart is transporting the robot body to a certain row, the robot body suddenly starts and moves away from the switching cart, resulting in the robot body falling.

[0029] In the first scenario, we address this issue as follows: 1. When the robot returns to the transfer cart, the cleaning start point position detection sensor 10 on the robot will emit a continuously on or normally closed switch signal. The robot's control program will use this signal to determine that the robot has returned to the start point position on the transfer cart, at which point the robot's control program will control the robot's drive motor to stop. 2. Install a transfer position detection sensor 11 or a limit switch on the transfer cart to detect the robot's return position. Through the switch signal of the transfer position detection sensor 11 or the limit switch, when the robot stops on the transfer cart, the transfer position detection sensor 11 will emit a continuously on or normally closed switch signal. The transfer cart's control program will use this signal to determine that the robot has stopped on the transfer cart. At this point, the control program of the switching vehicle will send a query command for the robot's position to the robot body through the wireless communication module. The robot body's control program will send a robot body position status information to the control module of the switching vehicle. Only when the robot body and the switching vehicle determine that their respective position statuses are correct can the switching vehicle execute the action of moving to the next line. If the robot body and the switching vehicle determine that their respective position statuses are incorrect, the switching vehicle will not execute the movement control command, thereby ensuring that the switching vehicle and the robot body do not move in the wrong direction.

[0030] In the second scenario, we address this problem as follows: The switching car is equipped with four position sensors (proximity sensors or limit switches), namely the starting line position sensor 18, the middle line position sensor 3, the ending line position sensor 20, and the deceleration sensor 4. On the switching track 23, a sensor board 19 is installed on each line to determine the stopping position of the switching car. The installation positions of the sensor boards 19 correspond to the starting line position sensor 18, the middle line position sensor 3, the ending line position sensor 20, and the deceleration sensor 4, respectively.

[0031] When the starting position sensor 18 signal is normal and the robot body position detection sensor signal on the switching vehicle is normal, the switching vehicle control program will send a robot body position query command to the robot body through the wireless communication module. The robot body control program will send a robot body position status information to the switching vehicle control module. When the robot body and the switching vehicle confirm that the position status of both parties is correct, the switching vehicle carrying the robot body will move to the next position.

[0032] During the operation of the shuttle car, when the deceleration sensor 4 approaches the sensor sensing plate 19, the deceleration sensor 4 will generate a switching signal. The shuttle car control board determines that the shuttle car is approaching the stopping position based on this switching signal. The control program will then control the shuttle car drive motor to decelerate to a set value. After deceleration, the shuttle car continues to move until the starting position sensor 18, the intermediate position sensor 3, or the ending position sensor 20 approaches the sensor sensing plate 19. At this point, the starting position sensor 18, the intermediate position sensor 3, or the ending position sensor 20 will generate a switching signal. The shuttle car control board determines that the shuttle car is approaching the stopping position based on this switching signal. The switch signal emitted near the stopping position determines the location of the shuttle trolley. The control program then stops the shuttle trolley's drive motor. After stopping, it checks the robot's starting position and the position detection sensor signals of the shuttle trolley robot to ensure they are correct. If the signals are correct, the shuttle trolley control board sends a command to the robot via the wireless communication module to start a cleaning task. Upon receiving this command, the robot replies to the shuttle trolley that it has received the start command, then moves away from the shuttle trolley to perform a cleaning task. After completing the cleaning task, it returns to the shuttle trolley's starting stopping position. If the starting position sensor 18, the intermediate position sensor 3, or the ending position sensor 20 of the shuttle trolley has no signal or multiple signals, the shuttle trolley control program will consider that the shuttle trolley has not found a normal stopping position. In this case, the shuttle trolley will not issue a starting command to the robot, thus preventing the robot from falling when the shuttle trolley is not in the correct position.

[0033] During the cleaning process, the robot may stop in the middle of the photovoltaic panel 28 due to insufficient battery voltage or motor overcurrent protection abnormalities. The robot's control program detects this by using the on / off signal of the cleaning operation detection sensor 7 on the robot. If the system detects that the robot is in a stopped state, the drive motor is stopped, and the battery voltage meets the startup conditions (the minimum protection voltage of the high-voltage battery), the control program will control the robot to move towards the starting point of the transfer vehicle after 30 seconds, until it stops at its designated parking space. This reduces the problem of the robot blocking the photovoltaic panel 28 and causing a decrease in its power generation efficiency when it stops abnormally.

[0034] In this invention, unless otherwise explicitly specified and limited, for example, it can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements or an interaction between two elements. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A roof-changing cleaning robot, comprising a robot body (21) that moves longitudinally along the roof and is used to clean photovoltaic panels (28) on the roof, and a changing vehicle that moves laterally along the roof and is used to carry the robot body (21) to change the route of the robot body (21), characterized in that: A cleaning passive wheel (9) is fixedly mounted on the drive shaft (6) of the robot body. A carbon steel metal block (8) is provided on the cleaning passive wheel (9). A cleaning operation detection sensor (7) that cooperates with the carbon steel metal block (8) is provided on the robot body (21). A switching track (23) is arranged along the transverse direction of the roof at one end of the roof. The switching vehicle includes a vehicle body, a switching drive wheel (2) that is rotatably set at one end of the vehicle body and rolls on the switching track (23), and a switching passive walking wheel (17) that is rotatably set at the other end of the vehicle body and rolls on the switching track (23). A carbon steel metal disc (16) is provided on the switching passive walking wheel (17). A switching operation detection sensor (15) is provided on the switching vehicle. An opening is made through the carbon steel metal disc (16) at a position corresponding to the switching operation detection sensor (15). The diameter of the opening is larger than the diameter of the switching operation detection sensor (15). When the cleaning passive wheel (9) rotates with the robot body (21), the carbon steel metal block (8) approaches the cleaning operation detection sensor (7) and there will be an interval switching signal. The cleaning operation detection sensor (7) interval switching signal is used as the basis to judge the operation status of the robot body. When the passive walking wheel (17) rotates with the moving vehicle, the moving vehicle operation detection sensor (15) will have an interval switching signal. The moving vehicle operation status is determined by using the interval switching signal of the moving vehicle operation detection sensor (15).

2. The rooftop cleaning robot according to claim 1, characterized in that: A support wheel (14) is rotatably mounted in the middle of the vehicle body, and the support wheel (14) rolls along the length of the switching track (23) at the top of the switching track (23).

3. The rooftop cleaning robot according to claim 2, characterized in that: A lateral positioning wheel (12) is rotatably mounted in the middle of the vehicle body, and the lateral positioning wheel (12) is rolledly connected to the inner side wall of the switching track (23).

4. The rooftop cleaning robot according to claim 1, characterized in that: Guide wheels are rotatably installed at both ends of the robot body and both ends of the vehicle body.

5. The rooftop cleaning robot according to claim 1, characterized in that: Several transition pieces are evenly arranged on one end of the vehicle body near the photovoltaic panel (28). The robot body moves from the vehicle body to the photovoltaic panel (28) through the transition pieces. Several safety piles are evenly arranged on the roof at one end away from the vehicle body. The safety piles are used to prevent the robot body from leaving the photovoltaic panel (28) at the end away from the vehicle body.

6. The rooftop cleaning robot according to claim 1, characterized in that: A baffle is provided at one end of the vehicle body away from the photovoltaic panel (28), and the baffle is used to prevent the robot body from leaving the vehicle body from the end of the vehicle body away from the photovoltaic panel (28).

7. The rooftop cleaning robot according to claim 1, characterized in that: The vehicle body is equipped with four position sensors, namely the starting line position sensor (18), the middle line position sensor (3), the ending line position sensor (20), and the deceleration sensor (4). A sensor sensing plate (19) is installed on each line of the switching track (23) to determine the stopping position of the switching vehicle. The installation positions of the sensor sensing plates (19) correspond to the starting line position sensor (18), the middle line position sensor (3), the ending line position sensor (20), and the deceleration sensor (4), respectively.

8. The rooftop cleaning robot according to claim 1, characterized in that: The robot body is equipped with a cleaning start point position detection sensor (10). When the robot body returns to the transfer vehicle, the cleaning start point position detection sensor (10) will send a long-on or normally closed switch signal. The robot body's control program will determine that the robot body has returned to the starting position on the transfer vehicle based on this signal. At this time, the robot body's control program will control the robot body's drive motor to stop. The vehicle body is equipped with a transfer position detection sensor (11). When the robot body stops on the transfer vehicle, the transfer position detection sensor (11) will send a long-on or normally closed switch signal. The transfer vehicle's control program will determine that the robot body has stopped on the transfer vehicle based on this signal.

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