Photovoltaic cleaning drone and photovoltaic cleaning system

Abstract

The present application provides a photovoltaic cleaning drone and a photovoltaic cleaning system. The photovoltaic cleaning drone includes a drone structure and a cleaning chassis structure, and the cleaning chassis structure includes a mounting frame, a liquid chamber, a crawler walking mechanism, a walking drive mechanism, a roller brush mechanism, a spray mechanism and a scraper; the liquid chamber is fixed above the mounting frame for containing cleaning liquid; the crawler walking mechanism is arranged on the left and right sides of the mounting frame; the walking drive mechanism is arranged below the mounting frame and connected to the crawler walking mechanisms on both sides to drive the crawler walking mechanism; the roller brush mechanism is arranged on the front side of the mounting frame for cleaning photovoltaic panels; the spray mechanism is arranged on the front side of the mounting frame and connected to the liquid chamber for spraying the cleaning liquid to the photovoltaic panels in the forward direction of the cleaning chassis structure; the scraper is arranged on the rear side of the mounting frame for scraping off the cleaning liquid on the photovoltaic panels. The photovoltaic cleaning drone has the characteristics of good passing performance, strong cleaning ability and strong endurance.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic cleaning technology, and in particular to a photovoltaic cleaning drone and a photovoltaic cleaning system. Background Art

[0002] At present, photovoltaic panels have many problems due to pollutants such as dust and bird droppings that affect the power generation efficiency; manual cleaning is not only intensive, but also has high cleaning costs and low work efficiency. Small drones have developed rapidly and are now widely used to cooperate with monitoring equipment or natural environments. Today, drones are used for inspection and cleaning of large photovoltaic power stations, but traditional photovoltaic cleaning drones have problems such as poor passability and uncoordinated load design. Summary of the invention

[0003] The purpose of this application is to solve at least one of the above-mentioned technical defects, especially the defects of photovoltaic cleaning drones in the prior art, such as poor passability and uncoordinated load design.

[0004] In a first aspect, the present application provides a photovoltaic cleaning drone, including a drone structure and a cleaning chassis structure, wherein the cleaning chassis structure is connected below the drone structure; the cleaning chassis structure includes a mounting frame, a liquid chamber, a crawler-type walking mechanism, a walking drive mechanism, a roller brush mechanism, a spray mechanism, and a scraper;

[0005] The liquid containing chamber is fixed above the mounting frame and is used to contain the cleaning liquid;

[0006] The crawler-type walking mechanism is arranged on the left and right sides of the mounting frame;

[0007] The travel drive mechanism is arranged below the mounting frame and connected to the crawler travel mechanisms on both sides to drive the crawler travel mechanisms;

[0008] The roller brush mechanism is arranged on the front side of the mounting frame and is used to clean the photovoltaic panels;

[0009] The spray mechanism is arranged at the front side of the mounting frame and connected to the liquid chamber, and is used to spray the cleaning liquid toward the photovoltaic panels in the forward direction of the cleaning chassis structure;

[0010] The scraper is arranged at the rear side of the mounting frame and is used for scraping the cleaning liquid on the photovoltaic panel.

[0011] In one embodiment, a liquid replenishing port is provided on the side of the liquid containing chamber for replenishing the cleaning liquid.

[0012] In one embodiment, the crawler-type walking mechanism includes a partition, a first clamping wheel, a second clamping wheel, a driving wheel, a first driven wheel, a second driven wheel, a plurality of synchronous wheels and a crawler;

[0013] The partition is fixed to the mounting frame;

[0014] The driving wheel is connected to the travel driving mechanism through a through hole opened in the middle of the partition;

[0015] The first driven wheel and the second driven wheel are respectively located at the front lower part and the rear lower part of the driving wheel and at the same height, and are connected to the partition;

[0016] The plurality of synchronous wheels are respectively located below the first driven wheel and the second driven wheel, and the plurality of synchronous wheels are located at the same height and connected to the partition;

[0017] The inner side of the track contacts the driving wheel, the first driven wheel, the second driven wheel and multiple synchronous wheels respectively under the action of the first clamping wheel and the second clamping wheel; the first clamping wheel is located above the front of the first driven wheel, and the second clamping wheel is located above the rear of the second driven wheel, and they are at the same height and connected to the partition.

[0018] In one of the embodiments, the rear of the partition is inclined upward, and the crawler-type walking mechanism further includes a third clamping wheel and a tensioning wheel;

[0019] The height of the tensioning wheel is higher than that of multiple synchronous wheels, and it contacts the inner side of the track under the action of the third clamping wheel. The tensioning wheel is used to adjust the tension of the track; wherein the third clamping wheel is arranged behind the second clamping wheel and at the same height.

[0020] In one of the embodiments, the spray mechanism includes a plurality of spray heads, a delivery pipeline, a spray water pump and a spray head support frame;

[0021] The plurality of nozzles are connected to the liquid chamber through a delivery pipeline and a spray water pump, and the spray water pump is used to spray the cleaning liquid from the plurality of nozzles through the delivery pipeline;

[0022] The nozzle support frames are respectively connected to the inner side walls at the front ends of the two partitions and are used to support a plurality of nozzles.

[0023] In one embodiment, the roller brush mechanism includes a roller brush, a roller brush motor, a roller brush belt, a roller brush frame, and a fixed support frame;

[0024] The two ends of the roller brush are respectively hinged to the mounting frame through the roller brush frame;

[0025] The roller brush motor is fixed to the mounting frame through a fixed support frame and is used to drive the roller brush to rotate through a roller brush belt.

[0026] In one embodiment, the roller brush is arranged between the partitions on both sides.

[0027] In one embodiment, the roller brush includes a first sub-roller brush, a second sub-roller brush and a roller brush shaft;

[0028] The roller brush shaft passes through the first sub-roller brush and the second sub-roller brush to drive the first sub-roller brush and the second sub-roller brush to rotate, and both ends of the roller brush shaft are hinged to the mounting frame through the roller brush frame respectively;

[0029] The roller brush belt is connected between the first sub-roller brush and the second sub-roller brush.

[0030] In a second aspect, the present application provides a photovoltaic cleaning system, comprising:

[0031] Inspection drones are used to inspect photovoltaic power stations to obtain target photovoltaic information;

[0032] The ground base station is connected to the inspection drone for planning the operation route and determining the target photovoltaic according to the target photovoltaic information;

[0033] The photovoltaic cleaning drone in any of the above embodiments is connected to the ground base station for communication, and is used to fly according to the operation route and land on each target photovoltaic in turn for cleaning.

[0034] In one of the embodiments, the photovoltaic cleaning system further comprises one or more liquid replenishing devices, and the liquid replenishing devices are arranged in the photovoltaic power station;

[0035] The ground base station is used to plan the operation route according to the target photovoltaic information and the location of the replenishment device;

[0036] The photovoltaic cleaning drone is used to go to the refilling device on the operation route to refill when the refilling conditions are met and the current target photovoltaic cleaning is completed, and after the refilling is completed, it continues to the next target photovoltaic.

[0037] In one embodiment, the fluid replenishment condition includes the fluid level being lower than a lower fluid level limit.

[0038] In one of the embodiments, the photovoltaic cleaning drone sends a refilling demand to the ground base station when the refilling conditions are met;

[0039] The ground base station is used to select the target photovoltaic closest to the photovoltaic cleaning drone as the first node of the operation route according to the target photovoltaic information and the location information of the photovoltaic cleaning drone, and select the target photovoltaic closest to the previous node as the next node in turn to obtain the operation route; when receiving the replenishment demand, select the replenishment device closest to the current target photovoltaic as the next node, and select the target photovoltaic closest to the previous node as the next node in turn to update the operation route.

[0040] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0041] The photovoltaic cleaning drone in this embodiment integrates two core structures: drone structure and cleaning chassis structure. The drone structure is responsible for flying over the photovoltaic power station and landing the chassis on the surface of the photovoltaic panel, which can greatly improve the cleaning efficiency and reduce manual work. The cleaning chassis structure carries various cleaning mechanisms, walks on the surface of the photovoltaic panel and performs automated cleaning operations. The cleaning chassis structure includes a mounting frame, a liquid chamber, a crawler walking mechanism, a walking drive mechanism, a roller brush mechanism, a spray mechanism and a scraper. The mounting frame provides a mounting carrier for the entire chassis, and the various components are arranged on it in sequence. The liquid chamber is set between the two major mechanisms, and the cavity height can be selected more freely, so as to facilitate the increase in the amount of liquid carried. Combined with the crawler walking mechanism and the walking drive mechanism, the photovoltaic cleaning drone can walk stably on the surface of the photovoltaic panel with an inclination. The roller brush mechanism, the spray mechanism and the scraper can work alone or in combination with each other to form a variety of cleaning modes, taking into account both cleaning effect and energy saving. This solution can achieve efficient cleaning of large-area photovoltaic power stations, is an important part of the fully automated cleaning process of photovoltaic power stations, and can reduce manual labor intensity. The orderly arrangement of the various mechanisms with the mounting frame as the carrier leaves enough space for large-volume components such as liquid chambers, batteries, and motors, which can better coordinate the load-to-weight ratio, reduce power consumption, and increase the duration of sustainable operation. In addition, the design of the installation positions and types of multiple cleaning mechanisms can ensure that the center of gravity design of the photovoltaic cleaning drone is more reasonable, improving the passing performance of the photovoltaic cleaning drone on the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1 This is a schematic diagram of the structure of a photovoltaic cleaning drone in one embodiment of the present application;

[0044] Figure 2 This is a schematic diagram of the structure of a cleaning chassis in one embodiment of the present application;

[0045] Figure 3 This is a schematic structural diagram of a cleaning chassis structure in another embodiment of the present application;

[0046] Figure 4 This is a schematic diagram of the composition of a photovoltaic cleaning system in one embodiment of the present application. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] This application provides a photovoltaic cleaning drone, please refer to Figure 1 , including a drone structure 100 and a cleaning chassis structure 200, and the cleaning chassis structure 200 is connected below the drone structure 100. It can be understood that the drone structure 100 is the flight platform of the photovoltaic cleaning drone, which is responsible for providing flight power for the entire device, so that the photovoltaic cleaning drone can fly over the photovoltaic power station and land on the surface of the photovoltaic panel to perform cleaning operations. The drone structure is usually composed of modules such as the fuselage, power system, flight control system, and mission payload. The fuselage determines the shape and size of the drone. The power system provides power for the drone, and common power systems include motors, propellers, etc. Figure 1 The power system in it is a four-rotor type. The flight control system integrates the flight control computer, sensors, etc., and is responsible for the stable flight, navigation and positioning of the UAV. The mission load depends on the usage scenario. The mission load in this system is the cleaning chassis structure 200. In addition, in order to maximize the sustainable operation time of the photovoltaic cleaning UAV, when selecting the UAV structure 100, sufficient space should be left for the battery setting, and attention should be paid to the weight ratio between the UAV structure 100 and the cleaning chassis structure 200. The cleaning chassis structure 200 and the UAV structure 100 can be detachably connected, and in order to ensure safety and stability, such as Figure 1 The drone structure 100 and the cleaning chassis structure 200 are fixedly connected.

[0049] The cleaning chassis structure 200 is the actual execution part of the cleaning task, which carries various cleaning mechanisms, moves on the surface of the photovoltaic panel and performs cleaning operations. The cleaning chassis structure 200 includes a mounting frame 210, a liquid container 220, a crawler-type walking mechanism 230, a walking drive mechanism (not shown in the figure), a roller brush mechanism 240, a spray mechanism 250 and a scraper 260.

[0050] The mounting frame 210 is the rigid body and important supporting structure of the cleaning chassis structure 200, and provides an installation foundation for other components of the cleaning chassis structure 200. The mounting frame 210 is usually welded with hollow profiles or steel sections to form a lightweight but sufficiently rigid frame structure. The mounting frame 210 can be designed as a cavity structure with a lower part and front and rear openings. Based on this, there is enough space in the upper part to install the liquid chamber 220, the battery of the drone, etc., while the lower opening can accommodate various components, and the front and rear openings can be used to connect the roller brush mechanism 240, the spray mechanism 250 and the scraper 260, etc., making the overall structure more compact and coordinating the load-weight ratio of the photovoltaic cleaning drone. In terms of material selection for the mounting frame 210, aluminum alloys or composite materials are often used to obtain a sufficient strength-to-weight ratio. For large structures, carbon fiber composite materials can also be used to further improve the overall rigidity and weight reduction effect. Figure 1 The connection between the drone structure 100 and the mounting frame 210 is achieved through the support rod 271, the front side plate 272, the shock-absorbing rubber 273, the connecting plate 274 and the crossbeam mounting frame 275. The four corners on the fuselage of the drone structure 100 are connected to the mounting frame 210 through the corresponding front side plate 272 and the shock-absorbing rubber 273. The front side plate 272 is connected between the two connecting plates 274 on the front and rear sides to provide lateral reinforcement. A plurality of support rods 271 connecting the fuselage and the mounting frame 210 are arranged between the two connecting plates 274 on the left and right sides to provide longitudinal reinforcement. The crossbeam mounting frame 275 provides an installation platform for the installation of some parts. In general, the mounting frame 210 provides a solid carrier for the entire cleaning chassis structure 200, on which various components can be arranged and installed in sequence. The good rigid structure design ensures the structural stability under various working conditions. At the same time, the lightweight material and design are conducive to improving the overall endurance.

[0051] The liquid chamber 220 is fixed above the mounting frame 210 and is used to contain cleaning liquid. The design of the liquid chamber 220 needs to meet certain capacity requirements to ensure that sufficient cleaning liquid can be provided for the cleaning of at least two photovoltaic panels. At the same time, the material of the chamber must have sufficient strength and sealing to prevent liquid leakage. The position of the chamber is designed to be above the chassis, that is, the liquid chamber 220 is arranged between the drone structure 100 and the cleaning chassis structure 200. The volume of the liquid chamber 220 is related to its bottom area and height. By setting the liquid chamber 220 at this position, the height design freedom of the liquid chamber 220 is higher, so that the volume of the liquid chamber 220 can be better designed according to demand. The cleaning liquid can be water, a detergent, or a mixture of water and a detergent.

[0052] The crawler walking mechanism 230 is arranged on the left and right sides of the mounting frame 210. The crawler walking mechanism 230 is the main mechanism for the photovoltaic cleaning drone to walk on the surface of the photovoltaic panel. A crawler walking mechanism 230 is arranged on each side of the chassis, which can stably walk on the surface of the photovoltaic panel with an angle. In addition, the crawler walking mechanism 230 increases the contact area with the surface of the photovoltaic panel and reduces the pressure, and walking on the surface of the photovoltaic panel will not damage the panel surface. In addition, by controlling the crawlers on both sides separately, it is possible to drive the photovoltaic cleaning drone forward, backward, turn in various directions, etc.

[0053] The walking drive mechanism is arranged below the mounting frame 210, that is, it can be arranged at the lower opening of the mounting frame 210, and it is connected to the crawler walking mechanism 230 on both sides to drive the crawler walking mechanism 230. The walking drive mechanism is a component that provides power for the crawler walking mechanism 230, and is mainly composed of a drive motor, a transmission shaft, etc. In order to increase the torque output, a reducer can also be additionally provided to reduce the speed and increase the torque output through the reducer. There are many types of reducers to choose from, such as planetary reducers, worm gear reducers, etc. There can be two drive motors in the walking drive mechanism, each independently driving a crawler walking mechanism 230, so that the motion states (speed, direction, etc.) of the two crawler walking mechanisms 230 can be different, thereby realizing driving the photovoltaic cleaning drone forward, backward, and turning in various directions.

[0054] The roller brush mechanism 240 is arranged on the front side of the mounting frame 210 and is used to clean the photovoltaic panel. The roller brush mechanism 240 generally includes a roller brush motor, a roller brush belt and one or more roller brushes. The roller brush is composed of many dense brush filaments and rotates around an axis. There is a slight gap between the roller brush and the surface of the photovoltaic panel, and the brush filaments can sweep across the panel surface to sweep away the dirt. The roller brush is usually arranged in a direction perpendicular to the forward direction to cover a certain width range. The roller brush motor is the power source for the rotation of the roller brush, and the power provided by it is transmitted to the roller brush through the roller brush belt to drive the roller brush to rotate. The roller brush mechanism 240 has different working states in different modes. Specifically, it can be a fixed mode, that is, the roller brush is fixed and does not rotate, and the stains on the photovoltaic panel are cleaned by pushing. It can also be a rolling mode, that is, the stains on the photovoltaic panel are cleaned by rotation. The rotation speed can also be adjusted by controlling the roller brush motor. In some designs, the roller brush mechanism 240 may also be provided with a height adjustment structure to adjust the distance between the roller brush and the photovoltaic panel, which can not only adapt to different levels of dirt, but also make the roller brush better contact the photovoltaic panel surface after the roller brush is worn. The roller brush can be made of wear-resistant materials such as nylon, polyester fiber and polyurethane, and the shape can also be wavy, straight, etc. to improve the cleaning effect.

[0055] The spray mechanism 250 is arranged on the front side of the mounting frame 210 and connected to the liquid chamber 220, and is used to spray the cleaning liquid onto the photovoltaic panel in the forward direction of the cleaning chassis structure 200. It can be understood that the spray mechanism 250 is a mechanism in the photovoltaic cleaning drone for spraying cleaning liquid onto the surface of the photovoltaic panel, assisting the roller brush mechanism 240 in removing stubborn stains. The spray mechanism 250 is usually composed of a delivery pipeline, a spray water pump, and a plurality of nozzles. The pump provides spraying power for the spray mechanism 250. One end of the delivery pipeline is connected to the liquid chamber 220, and the other end is provided with a plurality of nozzles. The nozzle should face the forward direction of the cleaning chassis structure 200 and tilt downward to spray the cleaning liquid onto the photovoltaic panel surface. The shape of the nozzle can be optimized and designed as needed to change the form of the sprayed liquid. It can be a spray liquid column or a spray mist jet. The spray mechanism 250 can adjust parameters such as the spray pressure, flow rate, and spray particle size of the cleaning liquid by controlling the working state of the pump to meet different cleaning needs. Specifically, the corresponding spray pressure can be selected for different types of stains. For example, for stains with low adhesion such as leaves and branches, no liquid can be sprayed. For stains with a certain adhesion such as dust and sand, low-pressure spraying can be used. For stains with high adhesion such as bird droppings and oil stains, high-pressure spraying can be used.

[0056] The scraper 260 is arranged on the rear side of the mounting frame 210, and is used to scrape the cleaning liquid on the photovoltaic panel. It can be understood that the scraper 260 is a component used to scrape residual sewage on the surface of the photovoltaic panel in the photovoltaic cleaning drone. It is usually made of materials that do not harm the photovoltaic panel. Generally, it is required to have good wear resistance, flexibility and hydrophobicity. It is usually made of silicone, polyurethane, rubber and other materials. The scraper 260 is arranged on the rear side of the moving direction of the cleaning chassis and is in the last link of the entire cleaning process. After the chassis is cleaned by the cleaning spray and the roller brush, a layer of sewage will still remain on the surface of the photovoltaic panel. After the sewage is dried, water stains will form again, affecting the power generation efficiency of the photovoltaic panel. Therefore, the scraper 260 is provided in this embodiment to scrape off this layer of sewage.

[0057] In addition, both the drone structure 100 and the cleaning chassis structure 200 in this embodiment need to be controlled. The control modules of these two parts can be set separately, namely the first control module and the second control module. The first control module and the second control module can interact through a preset communication protocol. The first control module is responsible for the flight control part and the specific issuance of the cleaning task. After landing, the specific cleaning tasks, the movement of the chassis, etc. are controlled by the second control module. When flight control is required, the first control module wakes up and the second control module sleeps. When cleaning needs to be performed, the second control module wakes up and the first control module sleeps. Based on this, the computing power consumption of the flight control host can be reduced while ensuring the stability of the chassis motion control.

[0058] The photovoltaic cleaning drone in this embodiment integrates two core structures: the drone structure 100 and the cleaning chassis structure 200. The drone structure 100 is responsible for flying over the photovoltaic power station and landing the chassis on the surface of the photovoltaic panel, which can greatly improve the cleaning efficiency and reduce manual work. The cleaning chassis structure 200 carries various cleaning mechanisms, walks on the surface of the photovoltaic panel and performs automated cleaning operations. The cleaning chassis structure 200 includes a mounting frame 210, a liquid chamber 220, a crawler walking mechanism 230, a walking drive mechanism, a roller brush mechanism 240, a spraying mechanism 250 and a scraper 260. The mounting frame 210 provides a mounting carrier for the entire chassis, and the various components are arranged on it in sequence. The liquid chamber 220 is arranged between the two major mechanisms, and the cavity height can be selected more freely, thereby facilitating the increase in the amount of liquid carried. Combined with the crawler walking mechanism 230 and the walking drive mechanism, the photovoltaic cleaning drone can stably walk on the surface of the photovoltaic panel with an inclination. The roller brush mechanism 240, the spray mechanism 250 and the scraper 260 can work alone or in combination with each other to form a variety of cleaning modes, taking into account both cleaning effect and energy saving. This solution can achieve efficient cleaning of large-area photovoltaic power stations, is an important part of the fully automated cleaning process of photovoltaic power stations, and can reduce manual labor intensity. The orderly arrangement of various mechanisms with the mounting frame 210 as the carrier leaves enough space for large-volume components such as the liquid chamber 220, batteries, and motors, which can better coordinate the load-to-weight ratio, reduce power consumption, and increase the duration of sustainable operation. In addition, the design of the installation positions and types of multiple cleaning mechanisms can ensure that the center of gravity design of the photovoltaic cleaning drone is more reasonable, and improve the passing performance of the photovoltaic cleaning drone on the photovoltaic panel.

[0059] In one embodiment, a refilling port is provided on the side of the liquid holding chamber 220 for replenishing the cleaning liquid. It can be understood that since the liquid holding chamber 220 is arranged between the drone structure 100 and the cleaning chassis structure 200, in order to avoid the need for disassembly each time the cleaning liquid is replenished, a refilling port can be provided on the side of the liquid holding chamber 220. By connecting the water adding device to the refilling port, liquid can be injected into the liquid holding chamber 220. A single-phase valve can be provided at the refilling port so that the cleaning liquid can only flow in from the refilling port and cannot flow out from the refilling port. A liquid sensor can also be provided in the liquid holding chamber 220 for detecting the liquid level of the cleaning liquid in the liquid holding chamber 220, so as to determine whether refilling is needed and whether refilling has been completed.

[0060] In one embodiment, see Figure 2 The crawler-type walking mechanism 230 includes a partition 231 , a first clamping wheel 232A, a second clamping wheel 232B, a driving wheel 233 , a first driven wheel 234A, a second driven wheel 234B, a plurality of synchronous wheels 235 and a crawler 236 .

[0061] The partition 231 is a key component constituting the skeleton of the crawler walking mechanism 230, providing an installation foundation for other parts of the crawler walking mechanism 230, and is fixed to the mounting frame 210. Since the photovoltaic cleaning drone has two crawler walking mechanisms 230, the partition 231 is also set on the left and right sides respectively. The partition 231 is usually made of sheet cutting or casting, presenting a closed frame. A plurality of mounting holes are reserved on the plate body for fixing and connecting various parts by means of bolts, rivets, etc. The material of the partition 231 needs to be a metal material with sufficient strength and rigidity, such as aluminum alloy, steel plate, etc., to ensure that no deformation occurs during walking. The shape and size design of the partition 231 also needs to match the overall walking structure. Each partition 231 can also be provided with an outer baffle of the same shape, and the partition 231 and the corresponding outer baffle can provide protection for the internal power parts from both the inside and outside directions.

[0062] The driving wheel 233 is the core transmission component in the crawler-type walking mechanism 230, which uses the power provided by the walking driving mechanism to drive the entire crawler 236 to circulate. Therefore, the driving wheel 233 is connected to the walking driving mechanism through a through hole opened in the middle of the partition 231. The walking driving mechanism is arranged at the lower opening of the mounting frame 210, and is also located in the middle of the entire mounting frame 210. Its transmission shaft is connected to the driving wheel 233 through the corresponding through holes opened in the middle of the mounting frame 210 and the partition 231. The outer peripheral surface of the driving wheel 233 is provided with teeth or lugs, which can be engaged with the inner side of the crawler 236 to transmit power. A through hole connected to the drive shaft is provided in the wheel core, so that it can be driven to rotate by the output shaft of the walking driving mechanism. The material used for the driving wheel 233 should comprehensively consider the strength, wear resistance and rigidity requirements. Commonly used materials include alloys, polymer materials, etc. The surface can be sprayed with a wear-resistant coating to help extend the service life. In order to improve traction and reduce movement resistance, some wheel surfaces may be provided with patterns or grooves.

[0063] The first driven wheel 234A and the second driven wheel 234B are respectively located at the front and rear lower parts of the driving wheel 233, and are located at the same height, and are both connected to the partition 231. The driven wheel is an important supporting member constituting the walking circuit of the crawler 236, and mainly plays a supporting and positioning role to keep the crawler 236 in a circular state. The structural shape of the driven wheel is similar to that of the driving wheel 233, and both are hollow cylindrical structures. However, the driven wheel mainly plays a supporting role, so lugs or other meshing mechanisms may not be set on its surface. Therefore, the material selection of the driven wheel focuses more on wear resistance. According to different arrangement positions, the driven wheel is divided into a first driven wheel 234A and a second driven wheel 234B. The first driven wheel 234A is located at the front and lower parts of the driving wheel 233, and the second driven wheel 234B is located at the rear and lower parts of the driving wheel 233. The two driven wheels and the crawler 236 ring at the top of the driving wheel 233 form a support point of the upper half. The driven wheel can be installed in the form of a bearing seat so that it can rotate freely.

[0064] Multiple synchronous wheels 235 are respectively located below the first driven wheel 234A and the second driven wheel 234B, and multiple synchronous wheels 235 are located at the same height and connected to the partition 231. The synchronous wheel 235 is an auxiliary rolling member set to ensure the synchronization of the crawler 236 during the movement, so that the inner and outer sides of the crawler 236 can maintain the proper tension state. When arranged, the synchronous wheels 235 are below the driven wheels and are all kept at the same height level. In addition, the frontmost synchronous wheel 235 is further forward than the first driven wheel 234A, and the rearmost synchronous wheel 235 is further backward than the second driven wheel 234B. The distance between the front and rear two synchronous wheels 235 determines the length of the contact surface between the crawler 236 and the photovoltaic panel. The arrangement of other synchronous wheels 235 can be increased or decreased according to the size of the length, and usually 1-3 synchronous wheels 235 will be arranged. Although too many synchronous wheels 235 can further enhance the supporting effect, they will also increase the rolling resistance. Such a layout makes the crawler belt 236 have rolling support points on both sides in the entire walking loop, which can ensure that the inner side fits the transmission and the outer side can maintain a suitable tension state. The connection between the synchronous wheel 235 and the partition plate 231 can also be adopted in the form of a bearing seat.

[0065] The clamping wheel is a key component in the crawler-type walking mechanism 230 for making the inner side of the crawler 236 close to various rolling parts. The clamping wheel is usually in the shape of a round wheel with a hollow structure. The first clamping wheel 232A is located above the front of the first driven wheel 234A, and the second clamping wheel 232B is located above the rear of the second driven wheel 234B. The first clamping wheel 232A and the second clamping wheel 232B are located on the same horizontal line and are also lower than the height of the driving wheel 233. The connection between the clamping wheel and the partition 231 can also be in the form of a bearing seat. Under the action of the first clamping wheel 232A and the second clamping wheel 232B, the inner side of the crawler 236 is respectively fitted with the driving wheel 233, the first driven wheel 234A, the second driven wheel 234B, and a plurality of synchronous wheels 235. The inner side of the crawler 236 in this embodiment has meshing teeth to achieve transmission, while the outer side is a flat surface for contacting with the photovoltaic panel. The material selection and structural design of the crawler 236 are related to the durability, traction efficiency and road adaptability of the crawler 236. Considering the lightweight requirement, a rubber crawler 236 can be selected. It is lighter in weight, more flexible, and has excellent passing performance on the surface of the photovoltaic panel.

[0066] The organic combination of the partition plate 231, the clamping wheel, the driving wheel 233, the driven wheel, the synchronous wheel 235 and the crawler 236 builds a crawler-type walking mechanism 230 with excellent walking performance. Each component has a clear division of labor and cooperates with each other, realizing the process of efficiently converting power into walking motion, which is the basis for ensuring the mobility of the entire chassis.

[0067] In one embodiment, please continue to see Figure 2 , the rear of the partition 231 is tilted upward, and the crawler walking mechanism 230 also includes a third clamping wheel 232C and a tensioning wheel 237. It can be understood that the shape of the partition 231 is similar to the vertical cross-section of the crawler 236. When the rear of the partition 231 is tilted upward, the rear of the crawler 236 will also tilt upward and there will be an inclination. The upward tilted design can add an upper slope to the second half of the crawler walking loop. The existence of this upper slope allows the photovoltaic cleaning drone to land more smoothly when landing on a photovoltaic panel with an inclination, and also increases the passability of the crawler 236 walking structure when facing photovoltaic panels with different inclinations.

[0068] In order to form the upper oblique angle at the rear end of the crawler 236, a third clamping wheel 232C and a tensioning wheel 237 are required. The third clamping wheel 232C is an auxiliary clamping wheel specially arranged at the rear end of the walking loop in addition to the normal two clamping wheels at the front and rear of the crawler travel mechanism 230, and is at the same height as other clamping wheels. The tensioning wheel 237 is an auxiliary component specially used to adjust the tension of the crawler 236 in the crawler travel mechanism 230, and is located at the rear end of the entire walking loop. Since the tensioning wheel 237 is higher than the synchronous wheel 235, the third clamping wheel 232C and the rearmost synchronous wheel 235 among the multiple synchronous wheels 235 are on the same vertical line, so that the upper surface of the crawler 236 starts to tilt upward from the third clamping wheel 232C, and the lower surface of the crawler 236 starts to tilt upward from the rearmost synchronous wheel 235, and finally the upper and lower surfaces are both mounted on the tensioning wheel 237, so that the rear end of the crawler 236 forms an upper oblique angle.

[0069] In one embodiment, see Figure 2 and Figure 3 The spray mechanism 250 includes a plurality of spray heads 251 , a delivery pipeline 252 , a spray water pump 253 and a spray head support frame 254 .

[0070] The nozzle 251 is a key component in the spray mechanism 250, which is responsible for spraying the cleaning liquid onto the surface of the photovoltaic panel in a specific spraying manner. The interior of the nozzle 251 is usually composed of a liquid inlet, a flow channel, a liquid outlet and other structures. The cleaning liquid is transported to the internal flow channel by the spray water pump 253 through the liquid inlet. The special design of the flow channel causes the liquid to be dispersed into a high-speed columnar flow or mist droplets during the flow process, and then sprayed out from the liquid outlet in the required spraying mode. The flow channel structure design of the nozzle 251 is a key factor affecting the spraying performance. The straight flow channel can form a straight columnar jet, the fan-shaped flow channel produces a fan-shaped spray, the rotary flow channel forms a conical or cone-shaped spray, and the micro-flow channel produces an atomized spray. The spray angle, range, atomization degree and other characteristics can be controlled by optimizing the flow channel size and shape parameters. The opening area and geometric shape of the liquid outlet of the nozzle 251 will also affect the spray flow state. Circular nozzles are suitable for symmetrical spraying, while rectangular or other shapes are more suitable for forming asymmetric forms such as fan-shaped spraying.

[0071] The delivery pipeline 252 is a pipeline component that connects the liquid chamber 220 and each nozzle 251 in the spray structure, and supplies the nozzle 251 with clean liquid. The delivery pipeline 252 is assembled by connecting straight pipes, elbows and other accessories. The pipeline is generally divided into two parts: the main pipeline and the branch pipeline. The main pipeline is a single pipeline with a larger diameter, one end of which is connected to the liquid chamber 220 to obtain clean liquid from the chamber. The other end is divided into several small-diameter branch pipelines, and each branch pipeline is connected to a nozzle 251. The diameter of the pipeline needs to be calculated and selected based on factors such as the required liquid flow rate and the number of nozzles 251 to ensure that the pressure loss during liquid delivery is within a reasonable range. The wiring direction of the pipeline should also avoid moving parts as much as possible to reduce vibration and impact. To prevent blockage, the clean liquid can be filtered through a filter element before delivery. In order to facilitate wiring, a flexible hose can generally be selected for the delivery pipeline 252.

[0072] The spray water pump 253 is a component in the spray mechanism 250 that provides power for the delivery of the cleaning liquid. It pumps the cleaning liquid in the liquid chamber 220 through the delivery pipeline 252 to the nozzle 251 for spraying. Commonly used water pump types include centrifugal pumps and diaphragm pumps. Centrifugal pumps accelerate the flow of liquid by generating centrifugal force through a high-speed rotating impeller. Diaphragm pumps squeeze liquid from the pump inlet to the pump outlet through a reciprocating diaphragm. The spray water pump 253 can be arranged above the mounting frame 210.

[0073] The nozzle support frame 254 is respectively connected to the inner side wall of the front end of the two partitions 231, and is used to support multiple nozzles 251. Under the support of the nozzle support frame 254, each nozzle 251 can spray cleaning liquid in the forward direction of the cleaning chassis structure 200. The nozzle support frame 254 can be a strip structure. A clamping structure corresponding to each nozzle 251 can be set on the upper surface of the nozzle support frame 254 to fix each nozzle 251.

[0074] In one embodiment, see Figure 3 The roller brush mechanism 240 includes a roller brush 241 , a roller brush motor 242 , a roller brush belt 243 , a roller brush frame 244 , and a fixed support frame 245 .

[0075] The basic structure of the roller brush 241 is a hollow cylinder with a large number of cleaning wire bundles wound on the surface. Its two ends are respectively hinged to the mounting frame 210 through the roller brush frame 244, so the height between the roller brush 241 and the photovoltaic panel can be adjusted by adjusting the angle of the mounting frame 210. It is also possible to set a height-conditional limit device at the position corresponding to the roller brush frame 244 on the inner side of the partition 231. The roller brush 241 and the roller brush frame 244 naturally droop under the action of gravity, and the limit device provides support for the roller brush frame 244. The height of the roller brush 241 can be changed by changing the height of the limit device.

[0076] Figure 1-Figure 3 The roller brush 241 includes a first sub-roller brush, a second sub-roller brush and a roller brush shaft. The roller brush shaft passes through the first sub-roller brush and the second sub-roller brush to drive the first sub-roller brush and the second sub-roller brush to rotate, and the two ends of the roller brush shaft are respectively hinged to the mounting frame 210 through the roller brush frame 244. The roller brush shaft and the roller brush frame 244 can be connected through a bearing seat so that the roller brush shaft can rotate flexibly. The roller brush belt 243 is connected between the first sub-roller brush and the second sub-roller brush. When the roller brush motor rotates, the power can be transmitted to the roller brush shaft through the traditional function of the roller brush belt 243, and the rotation of the roller brush shaft drives the rotation of the first sub-roller brush and the second sub-roller brush. The first sub-roller brush and the second sub-roller brush are arranged between the two partitions 231, which is equivalent to being installed in the middle area of ​​the chassis, so that the center of gravity of the entire chassis obtains a better longitudinal distribution and will not be too forward to affect the driving stability.

[0077] The fixed support frame 245 is another support member in the entire roller brush mechanism 240, and is mainly used to fix and support the roller brush motor 242. It is connected to the upper top surface of the mounting frame 210, and is provided with a platform for supporting the roller brush motor 242. The fixed support frame 245 can be directly connected to the upper top surface of the mounting frame 210. When the shape of the fixed support frame 245 is difficult to be directly connected to the shape of the mounting frame 210, it can be additionally connected to the mounting frame 210 through the platform fixing frame 246.

[0078] The roller brush motor 242 is fixed to the mounting frame 210 through a fixed support frame 245, and is used to drive the roller brush 241 to rotate through the roller brush belt 243. Common types of roller brush motors 242 include brushed DC motors, brushless DC motors, and stepper motors. Brushed DC motors have the advantages of simple structure, simple control algorithm, and large torque, but short life. Brushless DC motors use brushless design and digital control, and have advantages such as high efficiency and energy saving, long life, and fast response. Stepper motors have large torque and high positioning accuracy, but the control is relatively complex. The selection of the motor needs to be considered in combination with the speed, torque requirements, and power supply of the roller brush 241. For example, to achieve a high-speed rotation of 1000 rpm, a high-speed brushless DC motor is required; if severe resistance is often encountered during the cleaning process, a high-torque stepper motor needs to be selected.

[0079] This application provides a photovoltaic cleaning system, see Figure 4 , including a patrol drone 10, a ground base station 20 and a photovoltaic cleaning drone 30.

[0080] The inspection drone 10 is connected to the ground base station 20 for inspecting the photovoltaic power station to obtain the target photovoltaic information. It can be understood that the inspection drone 10 is a drone platform in the photovoltaic cleaning system that is specifically responsible for inspecting and collecting information on the photovoltaic power station. Through advanced image recognition and analysis technology, the state of the photovoltaic panel can be automatically evaluated intelligently, and the photovoltaic panel with stains can be determined as a stained photovoltaic. The inspection drone 10 will return the relevant information of the stained photovoltaic (i.e., the target photovoltaic information) to the ground base station 20. The target photovoltaic information here should at least include the location information of the target photovoltaic. It can be the coordinate information of the target photovoltaic. If each target photovoltaic has a corresponding number, and the corresponding position can be determined according to the number, the location information can also be the number of the target photovoltaic. If the inspection drone 10 is configured with a more comprehensive recognition algorithm, it can identify the degree of pollution, fault type, etc. of the target photovoltaic, which can be added to the target photovoltaic information. Provide a basis for formulating a plan for subsequent cleaning operations.

[0081] The ground base station 20 is the command and control center of the photovoltaic cleaning system, which is responsible for determining the target photovoltaic according to the target photovoltaic information obtained by the inspection drone 10, that is, selecting the photovoltaic to be cleaned, and planning the route for the photovoltaic cleaning drone 30 to clean each target photovoltaic. The photovoltaic cleaning drone 30 is a photovoltaic cleaning drone in any of the above embodiments, which is connected to the ground base station 20 for communication, and is used to fly according to the operation route and land on each target photovoltaic in turn for cleaning.

[0082] In one embodiment, the photovoltaic cleaning system also includes more than one refilling device, which is arranged in a photovoltaic power station. The refilling device is a device in the photovoltaic cleaning system specifically used to replenish cleaning liquid for the photovoltaic cleaning drone 30. It is directly arranged in the photovoltaic power station so that the photovoltaic cleaning drone 30 can be refilled nearby when it needs refilling. The setting and layout of the refilling device will affect the refilling efficiency of the photovoltaic cleaning drone 30. Generally, it can be arranged at a certain preset interval on the outer contour of the photovoltaic power station. The ground base station 20 is used to plan the operation route according to the target photovoltaic information and the location of the refilling device. It can be understood that when a refilling device is set near the photovoltaic power station, the photovoltaic cleaning drone 30 does not need to return frequently for refilling. When planning the operation route, the location of each refilling device should also be taken into consideration. High-quality route planning can make the most of the limited resources of the photovoltaic cleaning drone 30 and shorten the flight distance and operation time. The inserted refilling point design enables the photovoltaic cleaning drone 30 to obtain endurance replenishment in time, thereby greatly improving the coverage of a single operation. The design of the planning algorithm can be based on path planning algorithms such as genetic algorithms and ant colony algorithms, or it can be planned based on the principle of shortest distance.

[0083] The photovoltaic cleaning drone 30 is used to go to the refilling device on the running route to refill the liquid when the refilling conditions are met and the current target photovoltaic cleaning is completed, and after the refilling is completed, it continues to the next target photovoltaic. The refilling condition is a condition that reflects whether the photovoltaic cleaning drone 30 needs to be refilled. Meeting the refilling condition means that the photovoltaic cleaning drone 30 needs to be refilled. The setting of the refilling condition should have a certain advance amount, and at least it should ensure that the remaining cleaning liquid is sufficient to clean the current target photovoltaic.

[0084] In one embodiment, the rehydration device includes a rehydration chamber, a rehydration water pump, a liquid supply pipe, a mechanical arm, a first visual module and a rehydration control module. The rehydration chamber is a container for storing cleaning liquid. Its function is to provide enough cleaning liquid for the photovoltaic cleaning drone 30 to meet the needs of the cleaning task. The design of the rehydration chamber needs to consider factors such as capacity, material, and sealing performance to ensure the safe storage and use of the liquid. The rehydration water pump is the power source of the rehydration device, which is used to pump out the cleaning liquid in the rehydration chamber through the liquid supply pipe. The mechanical arm is used to operate the liquid supply pipe under the control of the rehydration control module. The first visual module is used to collect the first image in the current field of view. The rehydration control module is connected to the rehydration water pump, the first visual module, and the mechanical arm, and is used to determine the position information of the rehydration port according to the first image after receiving the rehydration start signal, and control the mechanical arm to dock the liquid supply pipe with the rehydration port of the photovoltaic cleaning drone 30 according to the position information of the rehydration port, and after the docking is completed, start the rehydration water pump to start rehydrating the photovoltaic cleaning drone 30. Identifying specific targets through visual solutions and controlling the robot arm to align with the specific target is very mature in the field of automation. For details, please refer to the relevant technology. The rehydration control module is also used to control the rehydration pump to stop working when receiving the rehydration end signal, and then control the robot arm to exit the rehydration port.

[0085] The photovoltaic cleaning drone 30 includes a second visual module, a liquid level sensor, a one-way valve and a distance sensor. The one-way valve is arranged at the refilling port of the cleaning drone. A one-way valve is a valve that only allows liquid to flow in one direction. It is installed at the refilling port of the photovoltaic cleaning drone 30, allowing liquid to flow from the liquid supply pipe into the liquid chamber 220, but preventing the reverse flow of the liquid. The design of the one-way valve needs to consider the opening pressure, sealing performance, anti-pollution ability, etc. to ensure the reliability and efficiency of the refilling process. The distance sensor is used to detect the distance between the photovoltaic cleaning drone 30 and the refilling device. The second visual module is used to collect the second image in the current field of view, which can be a panoramic camera to collect as much visual information as possible. The first control module of the photovoltaic cleaning drone 30 is connected to the second visual module, which can control the posture of the photovoltaic cleaning drone 30 according to the second image, so that the refilling port is facing the refilling device when it finally lands. Afterwards, the first control module will send a travel signal to the second control module, so that the cleaning chassis structure 200 moves along the direction of the refill port until the distance feedback from the distance sensor is less than the distance threshold, and the cleaning chassis structure 200 is controlled to stop moving, and a refill start signal is sent to the refill control module. The liquid level sensor is used to detect the liquid level of the cleaning liquid in the liquid chamber 220 and feed it back to the first control module. When the liquid level is higher than the upper limit of the liquid level, the first control module outputs a refill end signal to the refill control module. The first control module can then continue to go to the next target photovoltaic for cleaning according to the running route.

[0086] In one embodiment, the refilling condition includes the liquid level being lower than the lower limit of the liquid level. The lower limit of the liquid level here should ensure that the remaining cleaning liquid is sufficient to clean the current target photovoltaic. The water consumption of each photovoltaic panel can be recorded and the average water consumption can be calculated. After the cleaning of a photovoltaic panel is completed, the remaining water volume is determined according to the current liquid level, and the average water consumption is compared with the remaining water volume to determine whether the refilling condition is met.

[0087] In one embodiment, the photovoltaic cleaning drone 30 sends a replenishment demand to the ground base station 20 when the replenishment conditions are met. It can be understood that the replenishment demand includes the current location information of the photovoltaic cleaning drone 30 and the location information of the current target photovoltaic.

[0088] Before the photovoltaic drone starts to depart, the ground base station 20 selects the target photovoltaic closest to the photovoltaic cleaning drone 30 as the first node of the operation route according to the target photovoltaic information and the location information of the photovoltaic cleaning drone 30, and selects the target photovoltaic closest to the previous node as the next node in turn to obtain the operation route. That is, because it is difficult for the ground base station 20 to accurately predict when the photovoltaic cleaning drone 30 needs to be replenished when initially planning the operation route, the cleaning needs of the photovoltaic cleaning drone 30 are not taken into consideration in the initial operation route, but the target photovoltaics are connected in series in accordance with the principle of the closest distance to form the initial operation route. For example, there are four target photovoltaics A, B, C, and D. Among them, A is closest to the photovoltaic cleaning drone 30, and the target photovoltaic A will be determined as the first node. The target photovoltaic C is closest to the target photovoltaic A, and the target photovoltaic C will be determined as the second node. The target photovoltaic D is closest to the target photovoltaic C, and the target photovoltaic D will be determined as the third node. Finally, the target photovoltaic B will be determined as the last node. The operation route can be target photovoltaic A-target photovoltaic C-target photovoltaic D-target photovoltaic B.

[0089] When a refilling demand is received, the refilling device closest to the current target photovoltaic is selected as the next node, and the target photovoltaic closest to the previous node is selected in turn from the remaining target photovoltaics as the next node, and the operation route is updated.

[0090] It can be understood that when a refilling demand is received, it is necessary to add the node of the refilling device to the operation route. Specifically, in order to reduce the distance required for the photovoltaic cleaning drone 30 to go to the refilling, the refilling device closest to the current target photovoltaic should be selected for refilling, so that the photovoltaic cleaning drone 30 can go to the nearest refilling device for refilling after completing the current target photovoltaic cleaning. After that, the remaining target photovoltaics will continue to be re-incorporated into the operation route according to the principle of the closest distance. For example, in the route exemplified above, when cleaning the target photovoltaic C, the photovoltaic cleaning drone 30 issues a refilling demand. Among the refilling devices E, F, and G, the closest to the target photovoltaic C is the refilling device F, and the refilling device F will be the next node. Among the remaining target photovoltaics D and B, the closest to the refilling device F is the target photovoltaic B, and the target photovoltaic B will be the next node after the refilling device F. And the target photovoltaic D is the last node. Therefore, the updated operation route is target photovoltaic A-target photovoltaic C-refilling device E-target photovoltaic B-target photovoltaic D.

[0091] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0092] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The various embodiments can be combined as needed, and the same or similar parts can refer to each other.

[0093] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A photovoltaic cleaning drone, characterized in that: It includes a drone structure, a cleaning chassis structure, a first control module, and a second control module. The first control module and the second control module interact with each other through a preset communication protocol. The first control module is used to control the drone structure to perform flight control, and the second control module is used to control the cleaning chassis structure to perform cleaning. During flight control, the first control module wakes up while the second control module sleeps. During cleaning, the second control module wakes up while the first control module sleeps. The cleaning chassis structure is connected below the drone structure. The cleaning chassis structure includes a mounting frame, a liquid chamber, a crawler-type walking mechanism, a walking drive mechanism, a roller brush mechanism, a spray mechanism, and a scraper. The liquid holding chamber is fixed above the mounting frame and is used to hold the cleaning liquid. A liquid replenishment port is provided on the side of the liquid holding chamber and is used to replenish the cleaning liquid from the liquid replenishment device. The liquid replenishment device includes a liquid replenishment chamber, a liquid replenishment water pump, a liquid supply pipe, a robotic arm, a first visual module and a liquid replenishment control module. The liquid replenishment chamber is used to store the cleaning liquid. The liquid replenishment water pump is used to pump out the cleaning liquid in the liquid replenishment chamber through the liquid supply pipe. The robotic arm is used to operate the liquid supply pipe under the control of the liquid replenishment control module. The first visual module is used to collect a first image in the current field of view. The liquid replenishment control module is connected to the liquid replenishment water pump, the first visual module and the robotic arm, and is used to determine the position information of the liquid replenishment port according to the first image after receiving a liquid replenishment start signal, and control the robotic arm to dock the liquid supply pipe with the liquid replenishment port according to the position information of the liquid replenishment port, and after the docking is completed, start the liquid replenishment water pump to start liquid replenishment. The photovoltaic cleaning drone also includes a second visual module and a distance sensor; the distance sensor is used to detect the distance between the photovoltaic cleaning drone and the fluid replenishing device, the second visual module is used to collect a second image in the current field of view, the first control module is connected to the second visual module, and is also used to adjust the posture of the photovoltaic cleaning drone according to the second image so that the fluid replenishing port is facing the fluid replenishing device when landing, and is used to send a travel signal to the second control module; the travel signal is used to control the cleaning chassis structure to move along the direction of the fluid replenishing port until the distance feedback by the distance sensor is less than the distance threshold, and the cleaning chassis structure is controlled to stop moving; The crawler-type walking mechanism is arranged on the left and right sides of the mounting frame; the crawler-type walking mechanism includes a partition, a first clamping wheel, a second clamping wheel, a third clamping wheel, a driving wheel, a tensioning wheel, a first driven wheel, a second driven wheel, a plurality of synchronous wheels and a crawler; the partition is fixed to the mounting frame, and the rear of the partition is inclined upward; the driving wheel is connected to the walking driving mechanism through a through hole opened in the middle of the partition; the first driven wheel and the second driven wheel are respectively located at the front lower part and the rear lower part of the driving wheel, and are located at the same height and connected to the partition; the plurality of synchronous wheels are respectively located below the first driven wheel and the second driven wheel, and the plurality of synchronous wheels Located at the same height and connected to the partition; the inner side surface of the track is respectively fitted with the driving wheel, the first driven wheel, the second driven wheel, and the multiple synchronous wheels under the action of the first clamping wheel and the second clamping wheel; the first clamping wheel is located above the front of the first driven wheel, and the second clamping wheel is located above the rear of the second driven wheel, and is at the same height and connected to the partition; the height of the tensioning wheel is higher than the multiple synchronous wheels, and is fitted with the inner side surface of the track under the action of the third clamping wheel, and the tensioning wheel is used to adjust the tension of the track; wherein the third clamping wheel is arranged behind the second clamping wheel and is at the same height; The travel drive mechanism is arranged below the mounting frame and connected to the crawler-type travel mechanisms on both sides to drive the crawler-type travel mechanisms; The roller brush mechanism is arranged on the front side of the mounting frame for cleaning the photovoltaic panel; the roller brush mechanism comprises a roller brush, a roller brush motor, a roller brush belt, a roller brush frame, and a fixed support frame; the two ends of the roller brush are respectively hinged to the mounting frame through the roller brush frame, and are arranged between the partitions on both sides; the roller brush specifically comprises a first sub-roller brush, a second sub-roller brush and a roller brush shaft; the roller brush shaft passes through the first sub-roller brush and the second sub-roller brush to drive the first sub-roller brush and the second sub-roller brush to rotate, and the two ends of the roller brush shaft are respectively hinged to the mounting frame through the roller brush frame; the roller brush belt is connected between the first sub-roller brush and the second sub-roller brush; the roller brush motor is fixed to the mounting frame through the fixed support frame, and is used to drive the roller brush to rotate through the roller brush belt; The spray mechanism is arranged on the front side of the mounting frame and connected to the liquid holding chamber, and is used to spray the cleaning liquid onto the photovoltaic panel in the forward direction of the cleaning chassis structure; the spray mechanism includes multiple nozzles, a delivery pipeline, a spray water pump and a nozzle support frame; the multiple nozzles are connected to the liquid holding chamber through the delivery pipeline and the spray water pump, and the spray water pump is used to spray the cleaning liquid from the multiple nozzles through the delivery pipeline; the nozzle support frame is respectively connected to the inner side walls of the front ends of the two partitions, and is used to support the multiple nozzles; the scraper is arranged on the rear side of the mounting frame, and is used to scrape the cleaning liquid on the photovoltaic panel.

2. A photovoltaic cleaning system, characterized in that: include: Inspection drones are used to inspect photovoltaic power stations to obtain target photovoltaic information; A ground base station is connected to the inspection drone for planning the operation route and determining the target photovoltaic according to the target photovoltaic information; The photovoltaic cleaning drone described in claim 1 is communicatively connected to the ground base station, and is used to fly according to the operating route and land on each of the target photovoltaics in turn for cleaning.

3. The photovoltaic cleaning system according to claim 2, characterized in that: It also includes one or more liquid replenishing devices, wherein the liquid replenishing devices are arranged in the photovoltaic power station; The ground base station is used to plan the operation route according to the target photovoltaic information and the position of the liquid replenishing device; The photovoltaic cleaning drone is used to go to the refilling device on the operation route to refill when the refilling conditions are met and the current target photovoltaic cleaning is completed, and after the refilling is completed, continue to go to the next target photovoltaic.

4. The photovoltaic cleaning system according to claim 3, characterized in that: The liquid replenishment condition includes the liquid level being lower than a liquid level lower limit.

5. The photovoltaic cleaning system according to claim 3, characterized in that: The photovoltaic cleaning drone sends a refilling request to the ground base station when the refilling condition is met; The ground base station is used to select the target photovoltaic that is closest to the photovoltaic cleaning drone as the first node of the operation route according to the target photovoltaic information and the location information of the photovoltaic cleaning drone, and select the target photovoltaic that is closest to the previous node as the next node in turn to obtain the operation route; when the replenishment demand is received, the replenishment device closest to the current target photovoltaic is selected as the next node, and the target photovoltaic that is closest to the previous node is selected as the next node in turn to update the operation route.

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