A photovoltaic panel cleaning robot and a cross-column method based on the robot

Abstract

The present invention relates to the field of photovoltaic panel cleaning devices, and discloses a photovoltaic panel cleaning robot and a method for straddling columns based on the robot; it includes a vehicle body, a cleaning device and a traveling device installed on the vehicle body; the cleaning device includes a brush roller frame, a brush roller driving structure and a brush roller. A cantilever is arranged on the brush roller frame, and the cantilever is rotatably connected to the vehicle body. The brush roller and the brush roller driving structure are installed on the brush roller frame, and the brush roller driving structure is used to drive the brush roller to rotate. Guide wheels are installed on the front side of the brush roller frame; the cleaning device further includes a cleaning lifting mechanism, and the cleaning lifting mechanism is installed on the vehicle body and is used to drive the cantilever to swing up and down relative to the vehicle body; the cleaning lifting mechanism drives the cantilever to swing downward, so that the brush roller frame descends. Relatively, the front end of the traveling device of the photovoltaic panel cleaning robot is pulled up. Under the guiding action of the guide wheels, by controlling the traveling device to drive the whole vehicle body to move forward step by step, it can gradually straddle to the adjacent higher photovoltaic panel, that is, it can be applicable to the situation of straddling with a large height difference.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic panel cleaning devices, and more specifically, to a photovoltaic panel cleaning robot and a method for a photovoltaic panel robot to cross columns. Background Art

[0002] Since photovoltaic panels are installed outdoors, with the increase of the usage time, it is inevitable that they will be contaminated with dust, which affects the power generation efficiency of the photovoltaic panels. Most photovoltaic power stations are built in mountainous areas with high terrain and rugged terrain. At present, the main methods for cleaning photovoltaic panels at home and abroad include high-pressure water gun cleaning plus manual cleaning, robot cleaning, special cleaning vehicles, etc. Manual cleaning has high costs, low efficiency and certain risks, and becomes less and less economical under the continuous rise of labor costs.

[0003] The invention patent with the authorization announcement number CN220383022U discloses a robot for cleaning photovoltaic panels of a floating power station on water. The robot includes a fuselage, a roller brush cleaning component and a crawler driving component. Roller brush cleaning components are respectively arranged at the front end and the rear end of the fuselage, and crawler driving components are respectively arranged on both sides of the fuselage. The robot walks under the drive of the two crawler driving components. The crawler driving component includes an outer side plate, an inner side plate, an outer cover, a driving wheel, a driven wheel, a crawler and a roller brush hook module. The outer side plate and the inner side plate are respectively fixedly arranged on the outer side and the inner side of the outer cover. The outer side plate, the outer cover and the inner side plate form an installation cavity with an opening at the bottom. The driving wheel, the driven wheel and the crawler are all arranged inside the installation cavity. The crawler walks under the drive of the driving wheel; roller brush hook modules are respectively fixedly arranged at the front end and the rear end of the outer side plate. The roller brush cleaning component is movably connected with the outer side plate through the roller brush hook module.

[0004] The above solution has the following defects: Since the front end of the crawler cleaning component cannot be lifted, it can only be applied to scenarios where the height difference between adjacent photovoltaic panels is small. When there is a large height difference between two photovoltaic panels, it cannot cross; since the length of the crawler driving component is limited and the climbing angle cannot be adjusted, when the distance between two photovoltaic panels is large and the height difference is large, it also cannot cross. Summary of the Invention

[0005] The present invention aims to overcome at least one of the above-mentioned defects in the prior art, and provides a photovoltaic panel cleaning robot, which is used to solve the technical problem that since the front end of the crawler cleaning component cannot be lifted, it can only be applied to scenarios where the height difference between adjacent photovoltaic panels is small, and when there is a large height difference between two photovoltaic panels, it cannot cross.

[0006] The technical solution adopted by the present invention is a photovoltaic panel cleaning robot, which includes a vehicle body, a cleaning device and a traveling device installed on the vehicle body; the cleaning device includes a brush roller frame, a brush roller driving structure and a brush roller. A cantilever is provided on the brush roller frame, and the cantilever is rotatably connected to the vehicle body. A brush roller and a brush roller driving structure are installed on the brush roller frame. The brush roller driving structure is used to drive the brush roller to rotate. A guide wheel is installed on the front side of the brush roller frame; the cleaning device further includes a cleaning lifting mechanism, and the cleaning lifting mechanism is installed on the vehicle body and is used to drive the cantilever to swing up and down relative to the vehicle body; by driving the brush roller frame and the guide wheel to swing down and support in sequence through the cantilever, the front end of the traveling device can be lifted to overlap with the adjacent photovoltaic panel.

[0007] First, drive the cantilever to swing upward through the cleaning lifting mechanism to lift the roller brush frame. Then, drive the vehicle body forward by the traveling mechanism so that the guide wheel can overlap with the adjacent higher photovoltaic panel. Then, drive the cantilever to swing downward through the cleaning lifting mechanism to lower the brush roller frame. Relatively, the front end of the traveling device of the photovoltaic panel cleaning robot is pulled up and elevated so that it can be connected to the adjacent photovoltaic panel. Under the guiding action of the guide wheel, control the traveling device to drive the whole vehicle body to move forward step by step to gradually cross to the adjacent higher photovoltaic panel. In this way, it can be applicable to the situation of crossing a large height difference.

[0008] Further, the cleaning lifting mechanism includes a first electric push rod and a lifting shaft. The lifting shaft is rotatably installed in the vehicle body, and both ends of the lifting shaft are fixedly connected to two cantilevers respectively. The first electric push rod drives the lifting shaft to rotate through a crank or an eccentric wheel. The first electric push rod, the crank, the eccentric wheel and the lifting shaft are light in weight, which is more convenient for the photovoltaic panel cleaning robot to walk on the photovoltaic panel and can prevent damage to the photovoltaic panel caused by excessive weight.

[0009] Further, a crossing device is installed on the outside of the traveling device. The crossing device includes a driving wheel, a conduction wheel, a connecting handle, a lifting crawler belt and a lifting driving structure; a fixed shaft is fixedly connected to the connecting handle, and the fixed shaft is rotatably connected to the vehicle body. The driving wheel and the conduction wheel are both rotatably connected to the connecting handle. The driving wheel and the conduction wheel are connected by a lifting crawler belt. The lifting driving structure is installed in the vehicle body and is used to drive the fixed shaft to rotate. By driving the fixed shaft to rotate through the lifting driving structure, the fixed shaft drives the connecting handle to rotate, and the connecting handle drives the lifting crawler belt to rotate to change the climbing angle, so as to realize the adjustment of the climbing angle. With the addition of the crossing device, it is easier for the photovoltaic panel cleaning robot to climb over a height.

[0010] Furthermore, the lifting drive structure includes an electric push rod 3 and a lifting crank, a fixed shaft is fixedly connected to the connecting handle, the electric push rod 3 is rotatably connected to the lifting crank, and the lifting crank is fixedly connected to the fixed shaft. The lifting crank drives the fixed shaft to rotate, which can drive the connecting handle to rotate. The lifting drive structure can control the lifting and lowering of the connecting handle, that is, the lifting and lowering of the lifting crawler. Through the cooperation of the walking mechanism and the crossing device, the photovoltaic panel cleaning robot can cross two photovoltaic panels with a large interval or a large splicing height difference.

[0011] Furthermore, the length of the cantilever is greater than the length of the spanning device. The spanning device can improve the ability of the photovoltaic panel cleaning robot to span two photovoltaic panels with a large interval or a large splicing height difference. On this basis, making the length of the cantilever greater than the length of the spanning device can further increase the interval or splicing height difference that the photovoltaic panel cleaning robot can span; secondly, it can also prevent the lifting crawler from interfering with the brush roller frame.

[0012] Furthermore, the vehicle body includes a base frame and a rotating frame, the rotating frame is rotatably connected to the base frame, a locking mechanism is provided between the rotating frame and the base frame, and the locking mechanism is used to fix the rotating frame and the base frame. When the photovoltaic panel cleaning robot finishes cleaning the current row and needs to go to the next row of photovoltaic panels, the base frame rotates, and after changing the walking direction of the crawler track, the roller brush is lifted up to perform a cross-row action. The roller brush is fixedly connected to the rotating frame. When the base frame rotates, the direction of the rotating frame and the roller brush is not changed. When the photovoltaic panel cleaning robot performs a cross-row action to the next row, the roller brush is lifted up, and the walking crawler first contacts the surface of the photovoltaic panel in the next row, which enables the robot to smoothly cross rows, not only limited to cleaning the current row, but also autonomously cross rows, and can be applied in a variety of scenarios.

[0013] Furthermore, a suspension guide mechanism is installed on the vehicle body, which is used to suspend the vehicle body on the photovoltaic panel when the walking device moves; the suspension guide mechanism includes a second suspension wheel, and the second suspension wheel rolls with the top edge of the photovoltaic panel, and the suspension guide mechanism can lift the second suspension wheel to separate it from the top edge of the photovoltaic panel; thereby, the second suspension wheel can be retracted, and multiple vehicle bodies can be connected in sequence, and a suspension guide mechanism can be set on the frontmost vehicle body, or the cleaning device can be lengthened to make it the same width as the photovoltaic panel; its main function is to prevent interference with the photovoltaic panel when crossing rows.

[0014] Furthermore, the suspension guide mechanism also includes a suspension frame, a second suspension shaft and a suspension drive structure; the suspension frame is fixedly connected to the vehicle body, one end of the second suspension shaft is movably connected to the suspension frame, the other end of the second suspension shaft is rotatably connected to the second suspension wheel, and the suspension drive structure is installed on the suspension frame to drive the second suspension shaft to rotate, so that the second suspension wheel is separated from the top edge of the photovoltaic panel and retracted.

[0015] Further, the suspension guiding mechanism further includes a suspension frame, a second suspension shaft, and a suspension driving structure; the suspension frame is rotatably installed on the vehicle body, the second suspension shaft is fixed to the suspension frame, the second suspension wheel is rotatably connected to the end of the second suspension shaft, and the suspension driving structure is installed on the vehicle body and used to drive the suspension frame to rotate. Thus, the second suspension wheel is disengaged from the top edge of the photovoltaic panel and retracted.

[0016] This solution also discloses a method for a photovoltaic panel robot to straddle columns, including the following steps:

[0017] S1. Drive the cantilever to swing upward through the cleaning lifting mechanism, and the rotation of the cantilever drives the brush roller frame and the guide wheel to rise. Stop when the bottom side of the guide wheel is flush with the surface of the adjacent photovoltaic panel.

[0018] S2. Control the moving device to move so that the vehicle body moves, and stop when the vehicle body drives the guide wheel to move onto the adjacent photovoltaic panel.

[0019] S3. Drive the cantilever to swing downward through the cleaning lifting mechanism, causing the front end of the moving device to be pulled up and raised. Stop when the front end of the moving device can be lapped onto the adjacent photovoltaic panel.

[0020] S4. Control the moving device to move so that its front end moves onto the adjacent photovoltaic panel, and then continue to move until the vehicle body gradually moves onto the adjacent photovoltaic panel to complete straddling the column.

[0021] When there is a relatively large height difference between two photovoltaic panels, for example, exceeding the height of the moving device, it will not be able to cross, resulting in frequent limitations in the column-straddling cleaning of the photovoltaic panel robot. Especially when cleaning water-based photovoltaic panels, due to the weight of the robot itself, the height difference is particularly obvious. Therefore, in this method, the front end of the moving device is raised by the downward swing support of the cantilever, the brush roller frame, and the guide wheel, enabling it to be lapped and gradually move onto the adjacent photovoltaic panel, effectively increasing its applicable range.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: First, drive the cantilever to swing upward through the cleaning lifting mechanism to lift the brush roller frame. Then, the traveling mechanism drives the vehicle body forward so that the guide wheel can be lapped on the adjacent higher photovoltaic panel. Then, drive the cantilever to swing downward through the cleaning lifting mechanism to lower the brush roller frame. Relatively, the front end of the traveling device of the photovoltaic panel cleaning robot is pulled up and raised, enabling it to be lapped on the adjacent photovoltaic panel. Under the guiding action of the guide wheel, controlling the moving device to drive the entire vehicle body forward can gradually straddle to the adjacent higher photovoltaic panel, that is, it can be applicable to the situation of crossing a large height difference. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of Embodiment 1 of the present invention.

[0024] Figure 2 It is a schematic diagram of the structure of the traveling mechanism in Embodiment 1 of the present invention.

[0025] Figure 3 This is a schematic structural diagram of the cleaning lifting mechanism in the first embodiment of the present invention.

[0026] Figure 4 This is a schematic structural diagram of the suspension guiding mechanism installed at the end of the brush roller frame in the first embodiment of the present invention.

[0027] Figure 5 This is a schematic structural diagram of the first type of suspension guiding mechanism in the first embodiment of the present invention.

[0028] Figure 6 This is a schematic structural diagram of the second type of suspension guiding mechanism in the first embodiment of the present invention.

[0029] Figure 7 This is a schematic overall structural diagram of the second embodiment of the present invention.

[0030] Figure 8 This is a schematic structural diagram of two cleaning devices arranged oppositely in the third embodiment of the present invention.

[0031] Figure 9 This is a schematic structural diagram of a single cleaning device arranged staggeredly on the vehicle body in the third embodiment of the present invention.

[0032] Figure 10 This is a schematic structural diagram of the stop plate in the third embodiment of the present invention.

[0033] Figure 11 This is a schematic structural diagram of the lengthened cleaning device in the third embodiment of the present invention.

[0034] Figure 12 This is a schematic structural diagram when three connecting components are arranged between adjacent two photovoltaic panel cleaning robots in the third embodiment of the present invention.

[0035] Figure 13 This is a schematic structural diagram when the connecting component is a folding frame in the third embodiment of the present invention.

[0036] Figure 14 This is a schematic structural diagram when the connecting component is a triple-fold frame in the third embodiment of the present invention.

[0037] Figure 15 This is a schematic structural diagram when the connecting component is a spring in the third embodiment of the present invention.

[0038] Figure 16 This is a schematic structural diagram when the connecting component is a steel sheet in the third embodiment of the present invention.

[0039] Figure 17 This is a schematic structural diagram when the connecting component is a steel cable in the third embodiment of the present invention.

[0040] Figure 18This is a schematic structural diagram of the climbing bridge and the connecting bridge in the fourth embodiment of the present invention.

[0041] Figure 19 This is a schematic diagram of the front and rear cross-arrangement when two cleaning devices are oppositely arranged on the slewing frame in the fourth embodiment of the present invention.

[0042] Figure 20 This is a schematic diagram of the front and rear cross-arrangement when two cleaning devices are oppositely arranged on the base frame in the fourth embodiment of the present invention.

[0043] Figure 21 This is a schematic structural diagram of the locking mechanism in the fourth embodiment of the present invention.

[0044] In the figure: 1, vehicle body; 2, cleaning device; 3, traveling device; 4, slewing frame; 5, base frame; 6, traveling drive structure; 7, traveling mechanism; 8, driving wheel; 9, driven wheel; 10, traveling track; 11, support frame; 12, floating wheel; 13, spanning device; 14, drive wheel; 15, conduction wheel; 16, connecting handle; 17, lifting track; 18, lifting drive structure; 19, battery; 20, charging interface; 21, brush roller frame; 22, brush roller drive structure; 23, cantilever; 24, guide wheel; 25, cleaning lifting mechanism; 26, electric push rod 1; 27, lifting shaft; 28, brush roller cover; 29, connecting component; 30, extension frame; 31, extended brush roller; 32, extended cover; 33, stop plate; 34, suspension guiding mechanism; 35, suspension wheel 1; 36, suspension shaft 1; 37, suspension frame; 38, suspension shaft 2; 39, suspension wheel 2; 40, connecting bridge; 41, climbing bridge; 42, turntable; 43, locking mechanism; 44, electric push rod 2; 45, limiting rod; 46, travel switch; 47, lock hole; 48, first transition section; 49, connecting section; 50, second transition section; 51, suspension drive structure; 52, control component; 53, proximity switch; 54, brush roller; 55, electric push rod 3; 56, lifting crank; 57, ultrasonic distance measuring sensor; 58, bellows cover; 59, fixed shaft. Detailed implementation manners

[0045] The drawings of the present invention are only for illustrative purposes and should not be construed as a limitation to the present invention. To better illustrate the following embodiments, some components in the drawings may be omitted, enlarged or reduced, and do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0046] Embodiment 1

[0047] As Figure 1 shown, this solution discloses a photovoltaic panel cleaning robot, including a vehicle body 1, a cleaning device 2 and a traveling device 3 installed on the vehicle body 1, and the vehicle body 1 includes a base frame 5 and a slewing frame 4.

[0048] As Figure 2 shown, the traveling device 3 includes a traveling drive structure 6 and a traveling mechanism 7. The traveling mechanisms 7 are symmetrically arranged on the left and right sides of the base frame 5. There are two traveling drive structures 6 arranged inside the base frame 5, which are used to drive the two traveling mechanisms 7 to work respectively.

[0049] The traveling mechanism 7 includes a driving wheel 8, a driven wheel 9 and a traveling track 10. The driving wheel 8 and the driven wheel 9 are both rotatably connected to the base frame 5. The driving wheel 8 and the driven wheel 9 are connected by the traveling track 10. When the inclination angle of the photovoltaic panels in the photovoltaic panel array is in the range of 25° - 35°, and the cleaning robot crosses from one row of photovoltaic panels to another row horizontally, there is a great test on the climbing ability and anti-slip ability of the traveling track 10. Therefore, grooves are provided on the traveling track 10 to provide greater grip force to improve its climbing ability; the traveling drive structure 6 is used to drive the driving wheel 8 to rotate. The traveling drive structure 6 can be a motor, a reduction motor, etc.; the traveling mechanism 7 in this solution is preferably a crawler type structure, that is, the traveling track 10 is used. The reason for using the traveling track 10 is mainly that it has strong grip force. Other traveling mechanisms 7 with strong grip force on the photovoltaic panels can also be used, such as rubber wheels, etc.; for the two traveling drive structures 6, one drives the driving wheel 8 of the traveling mechanism 7 on one side to rotate forward, and the other drives the driving wheel 8 of the traveling mechanism 7 on the other side to rotate backward, so as to realize the rotation of the base frame 5.

[0050] The traveling mechanism 7 further includes a support frame 11. The support frame 11 is arranged outside the driving wheel 8 and the driven wheel 9 and is fixedly connected to the central axes of the driving wheel 8 and the driven wheel 9 respectively. A number of floating wheels 12 are arranged between the driving wheel 8 and the driven wheel 9. The floating wheels 12 are mainly used to enhance the climbing ability; a cover plate is also installed on the base frame 5. The cover plate is used to cover part of the traveling mechanism 7 to achieve the effect of preventing dust and sundries from entering.

[0051] A crossing device 13 is installed on the outer side of the walking mechanism 7. The crossing device 13 includes a driving wheel 14, a transmission wheel 15, a connecting handle 16, a lifting track 17 and a lifting drive structure 18. The fixed shaft 59 is arranged in the base frame 5 and is rotatably connected to the base frame 5. The connecting handle 16 is fixedly connected to the fixed shaft 59. The driving wheel 14 and the transmission wheel 15 are both rotatably connected to the connecting handle 16. The driving wheel 14 and the transmission wheel 15 are connected by the lifting track 17. The lifting drive structure 18 is installed in the base frame 5 and is used to drive the connecting handle 16 to rotate. The lifting drive structure 18 can be a steering gear joint, an electric push rod 55 and a lifting crank 56, a turbine reduction motor, etc., preferably an electric push rod The three 55 and the lifting crank 56, the electric push rod three 55 is rotatably connected with the lifting crank 56, and the lifting crank 56 is fixedly connected with the fixed shaft 59. This method is light in weight and low in cost. The electric push rod three 55 drives the fixed shaft 59 to rotate through the lifting crank 56, which can drive the connecting handle 16 to rotate, and the height of its front end can be changed; the driving wheel 14 is concentrically arranged with the driven wheel 9, and can share a power with the driven wheel 9, or can set a power separately. The lifting drive structure 18 can control the front end of the connecting handle 16 to rise or fall, that is, the lifting and falling of the front end of the lifting crawler 17, which can enable the photovoltaic panel cleaning robot to cross two photovoltaic panels with a large interval or a large splicing height difference.

[0052] like Figure 3 As shown, a battery 19 and a charging interface 20 are fixed in the base frame 5. The charging interface 20 is electrically connected to the battery 19 through a charging circuit. The battery 19 can be charged through the charging interface 20. The battery 19 is used to provide electrical energy to the walking drive structure 6 so that the walking drive structure 6 drives the power wheel 8 to rotate, thereby making the walking mechanism 7 work.

[0053] A turntable 42 is fixed on the base frame 5, and the rotating frame 4 can be rotatably connected to the base frame 5 through the turntable 42. A locking mechanism 43 (such as Figure 21 ), the locking mechanism 43 is used to fix the connection between the rotating frame 4 and the base frame 5 so that the rotating frame 4 cannot rotate on the base frame 5.

[0054] The cleaning device 2 is installed on the slewing frame 4, and there is one or two (oppositely arranged) on the slewing frame 4; the cleaning device 2 includes a brush roller frame 21, a brush roller driving structure 22 and a brush roller 54. Two cantilevers 23 are arranged on the brush roller frame 21. The brush roller frame 21 is connected to the slewing frame 4 through the two cantilevers 23. A brush roller 54 is installed on the brush roller frame 21 for rotating and cleaning the photovoltaic panel. The brush roller driving structure 22 is installed on any one of the cantilevers 23 and is used to drive the brush roller 54 to rotate. It can be a motor, a reduction motor, etc., and can drive the brush roller 54 to rotate through means such as chain drive, belt drive or gear drive, which are well-known technical means in the art and will not be elaborated here; in order to adapt to the crossing device 13, the cantilever 23 is designed with an extended length, and its length is greater than the length of the crossing device 13 to prevent interference between the lifting crawler 17 and the brush roller frame 21; a brush roller cover 28 is installed on the brush roller frame 21 to cover the brush roller 54 and prevent stains from splashing during cleaning.

[0055] Guide wheels 24 are installed on the front side of the brush roller frame 21. There are no less than two guide wheels 24, and the axial direction of the guide wheels 24 is parallel to the axial direction of the brush roller 54. When the span between two photovoltaic panels is relatively large, the photovoltaic panel cleaning robot stands on one photovoltaic panel, first contacts the adjacent photovoltaic panel through the guide wheels 24, and moves simultaneously under the guiding action of the guide wheels 24. Then the lifting crawler 17 gradually contacts and moves to the adjacent photovoltaic panel, and finally the traveling mechanism 7 moves to the adjacent photovoltaic panel, thus completing the crossing of the adjacent photovoltaic panel. Due to the extended design of the cantilever 23, the width it can cross is further increased.

[0056] A cleaning lifting mechanism 25 is also installed on the slewing frame 4 for raising or lowering the brush roller frame 21. The two cantilevers 23 are rotatably connected to the slewing frame 4. The cleaning lifting mechanism 25 is used to drive the two cantilevers 23 to rotate and swing upward or downward relative to the vehicle body 1. The rotation of the cantilevers 23 drives the rotation of the brush roller frame 21, so that the entire cleaning device 2 rotates and rises or descends; the cleaning lifting mechanism 25 includes an electric push rod 26 and a lifting shaft 27. The lifting shaft 27 is rotatably installed in the slewing frame 4, and both ends of the lifting shaft 27 are fixedly connected to the two cantilevers 23 respectively. The electric push rod 26 is used to drive the lifting shaft 27 to rotate, and a crank or an eccentric wheel can be used to drive the lifting shaft 27 to rotate, which are well-known technical means in the art and will not be elaborated here. The electric push rod 26 and the lifting shaft 27 are light in weight, resulting in a reduction in the overall weight of the photovoltaic panel cleaning robot and making it more convenient to walk on the photovoltaic panel.

[0057] The cleaning lifting mechanism 25 further includes a proximity switch 53. The proximity switch 53 is installed on the cantilever 23. When rising, the distance between the cantilever 23 and the photovoltaic panel or the ground is measured through the proximity switch 53, and the lifting angle of the brush roller frame 21 can be calculated based on this distance.

[0058] When there is a large height difference between two adjacent photovoltaic panels (for example, during use on floating photovoltaic panels, when crossing, the weight of the photovoltaic panel cleaning robot will cause the photovoltaic panel it is on to sink and the height to decrease, resulting in a height difference with the adjacent photovoltaic panel. The heavier the photovoltaic panel cleaning robot, the greater the height difference), the cleaning lifting mechanism 25 can first be used to control the rotation of the cantilever 23 to lift the cleaning device 2 so that the guide wheel 24 can be lapped on the adjacent higher photovoltaic panel. Then, the cleaning lifting mechanism 25 drives the cantilever 23 to swing downward. After that, the front end of the lifting crawler 17 is pulled up and gradually moved onto the higher photovoltaic panel. Then, through the traveling mechanism 7, the entire photovoltaic panel cleaning robot can gradually cross to the adjacent photovoltaic panel, thus being able to adapt to the situation of crossing with a larger height difference.

[0059] In the scenario where the spacing between adjacent photovoltaic panels is small (less than 4 cm) and the splicing height difference is small (less than 3 cm), the cleaning device 2 can complete the crossing without being lifted at this time, that is, the cantilever 23 can be directly rotatably connected to the slewing frame 4, and there is no need to set up the cleaning lifting mechanism 25; when the spacing between adjacent photovoltaic panels is large (greater than 4 cm) and the splicing height difference is large (greater than 3 cm), then the cleaning device 2 needs to have a lifting function, that is, the cleaning lifting mechanism 25 and the crossing device 13 are required.

[0060] When installing photovoltaic panels, if a fixed installation method is adopted, there is a concept of "optimal inclination angle". Here, the optimal inclination angle refers to the angle at which the annual total radiation on the inclined surface of the photovoltaic panel reaches the maximum when the photovoltaic array is placed at a certain angle. The inclination angle is the angle between the plane of the photovoltaic panel array and the horizontal ground, and it is hoped that this angle is the optimal inclination angle when the power generation of the array is the largest in a year; the optimal inclination angle in a year is related to the local geographical latitude. When the latitude is relatively high, the corresponding inclination angle is also large. Currently, the optimal installation inclination angles of solar power stations in most regions are mainly distributed in the following angle grades: 25°, 30°, 35°, 40°. This embodiment is mainly applicable to photovoltaic panels with an inclination of less than 35°.

[0061] During cleaning, the photovoltaic panel cleaning robot first walks to one side to clean the width of one brush roller 54. After reaching the other side of the photovoltaic panel, it then turns back and cleans out the width of one brush roller 54 again. The surface cleaned during the turn-back cleaning is spliced or partially overlapped with the surface cleaned initially. After reaching the other side of the photovoltaic panel, it turns back again on the basis of the secondary cleaning, and so on, continuously moving in a cycle to achieve the cleaning of the photovoltaic panel.

[0062] A control component 52 is installed on the body 1 of the photovoltaic panel cleaning robot. The control component 52 includes a controller, a motion control sensor and an ultrasonic ranging sensor 57. The controller and the motion control sensor are installed in the body 1. Two ultrasonic ranging sensors 57 are provided, which are installed on the brush roller cover 28 and the front side of the base frame 5 respectively; the controller is electrically connected to the walking drive structure 6, the lifting drive structure 18, the brush roller drive structure 22 and the electric push rod 26 respectively; the controller uses STM as the core control unit, which is responsible for receiving instructions, coordinating the work of various components of the robot, and monitoring the working status of the photovoltaic panel cleaning robot to ensure the stable operation of the photovoltaic panel cleaning robot and the execution of cleaning tasks; the motion processing sensor includes a six-axis gyroscope and an acceleration sensor, which are used to monitor the speed, direction and position of the robot, and provide the robot's yaw angle data to achieve precise navigation and position control to avoid yaw; the ultrasonic ranging sensor 57 is used to detect the surrounding environment to prevent the robot from falling due to the lack of photovoltaic panels or reaching the edge.

[0063] The control component 52 also includes a wireless communication module, which is electrically connected to the controller and is used to send the received remote control instructions to the controller. A hole is provided on the cleaning device 2 for the antenna of the wireless communication module to pass through. The wireless communication module uses LoRa or DTU protocol for wireless communication, which is convenient for receiving remote control instructions and sending them to the microcontroller, thereby increasing the operating range and convenience.

[0064] When used on photovoltaic panels with a large tilt angle, such as in the Northwest and Inner Mongolia, due to factors such as geographical latitude and terrain, the installation angle of the photovoltaic panel array is ≥40°, which increases the difficulty of the robot when performing cleaning work. Figure 1 A suspension guide mechanism 34 is installed on the photovoltaic panel cleaning robot. The suspension of the suspension guide mechanism 34 can effectively prevent the robot from sliding down the slope during cleaning. When the inclination of the photovoltaic panel is small, the suspension guide mechanism 34 may not be installed.

[0065] The suspension guide mechanism 34 mainly plays the role of hooking, guiding and preventing falling. Figure 4 As shown, the suspension guide mechanism 34 includes a suspension wheel 35 and a suspension shaft 36. The suspension wheel 35 is rotatably connected to the suspension shaft 36. There are two suspension shafts 36, which are respectively arranged at both ends of the brush roller frame 21. When cleaning, the two suspension wheels 35 respectively roll with the top edge of the photovoltaic panel. In order to prevent the suspension guide mechanism 34 from interfering with the photovoltaic panel when longitudinally moving to clean the panel surface away from the top edge of the photovoltaic panel, the cleaning lifting mechanism 25 can be used to drive the brush roller frame 21 to rotate and rise, thereby driving the suspension shaft 36 and the suspension wheel 35 to rise and separate from the photovoltaic panel.

[0066] As an improved method of the suspension guide mechanism 34, it has a self-folding function, such asFigure 5 It is the first structure, including a suspension bracket 37, a second suspension shaft 38, a second suspension wheel 39 and a suspension driving structure 51. The suspension bracket 37 is fixedly connected to the slewing frame 4. One end of the second suspension shaft 38 is movably connected to the suspension bracket 37, and the other end of the second suspension shaft 38 is rotatably connected to the second suspension wheel 39. The second suspension wheel 39 is in rolling fit with the top edge of the photovoltaic panel. The suspension driving structure 51 is installed on the suspension bracket 37 and is used to drive the second suspension shaft 38 to rotate, so as to retract the second suspension wheel 39. The suspension driving structure 51 can be a reduction motor, a telescopic rod, etc.

[0067] Such as Figure 6 It is the second structure. Different from the first structure, the suspension bracket 37 is rotatably installed on the vehicle body 1. The second suspension shaft 38 is fixed on the suspension bracket 37. The second suspension wheel 39 is rotatably connected to the end of the second suspension shaft 38. The suspension driving structure 51 is installed on the vehicle body 1 and is used to drive the suspension bracket 37 to rotate, so that the second suspension wheel 39 is disengaged from the top edge of the photovoltaic panel and retracted.

[0068] Embodiment 2

[0069] Such as Figure 7 As shown, the difference between this embodiment and Embodiment 1 is that in this embodiment, when the distance between adjacent photovoltaic panels is small (less than 4 cm) and the splicing height difference is small (less than 3 cm), the cleaning device 2 can complete the crossing without being lifted. That is, the cantilever 23 is rotatably connected to the slewing frame 4, and there is no need to set up a cleaning lifting mechanism 25; it can also be directly rotatably connected to the base frame 5. In addition, the guide wheel 24 is replaced by a guiding transmission belt to play a better guiding role.

[0070] Embodiment 3

[0071] Such as Figure 8 As shown, the difference between this embodiment and Embodiment 1 is that this embodiment discloses a collective-connected photovoltaic panel cleaning robot, including a plurality of collective-connected photovoltaic panel cleaning robots. Adjacent two photovoltaic panel cleaning robots are connected by a connecting component 29. The cleaned surfaces of adjacent two photovoltaic panel cleaning robots are combined. The combination means that the cleaned surfaces are combined into a whole surface, including two cases, that is, the cleaned surfaces are spliced or partially overlapped. Specifically:

[0072] When there is a cleaning device 2 on each photovoltaic panel cleaning robot, there are two cases. The first case is that a plurality of cleaning devices 2 are arranged on the same side of the collective-connected photovoltaic panel cleaning robot, and the cleaning devices 2 of adjacent photovoltaic panel cleaning robots are spliced (not shown).

[0073] The second case is such as Figure 9As shown, the cleaning device 2 of any photovoltaic panel cleaning robot is arranged on the opposite side of the cleaning device 2 of its adjacent photovoltaic panel cleaning robot, that is, the cleaning devices 2 on adjacent two photovoltaic panel cleaning robots are arranged in a staggered manner. That is to say, one cleaning device 2 is arranged on the left side of the photovoltaic panel cleaning robot to form a set connection, and the adjacent cleaning device 2 is arranged on the right side of the adjacent photovoltaic panel cleaning robot; the cleaning devices 2 arranged in a staggered manner form a staggered overlap or a staggered splicing. The meaning of the staggered overlap or the staggered splicing is: after translating the cleaning device 2 on one side of a photovoltaic panel cleaning robot to its opposite side, it will form a partial overlap or splicing with the cleaning device 2 of the adjacent photovoltaic panel cleaning robot; in this case, when cleaning to both sides of the photovoltaic panel, there is a local area that cannot be cleaned. To solve this problem, stop plates 33 are added on both sides of the photovoltaic panel. The width dimension of the stop plate 33 is equal to the size of the vehicle body 1 plus the size of two cleaning devices 2. When cleaning to both sides, the photovoltaic panel cleaning robot moves onto the stop plates 33 on both sides, and its cleaning area can completely cover the photovoltaic panel.

[0074] When there are two cleaning devices 2 arranged oppositely on each photovoltaic panel cleaning robot; there are two setting methods: The first one is as Figure 8 shown, the cleaning device 2 extends towards the connecting component 29, and the cleaning devices 2 on the same side of adjacent two photovoltaic panel cleaning robots are spliced.

[0075] The second one is as Figure 10 shown, the two cleaning devices 2 arranged oppositely on the same vehicle body 1 extend unidirectionally in opposite directions, and a set of opposite cleaning devices 2 on adjacent two photovoltaic panel cleaning robots form a staggered overlap or a staggered splicing; in this way, after the photovoltaic panel cleaning robot passes by, the areas cleaned by the cleaning devices 2 will be combined into a whole to cover the photovoltaic panel, that is, the whole surface of the photovoltaic panel can be cleaned; in this case, stop plates 33 are added on both sides of the photovoltaic panel.

[0076] The staggered overlap or the staggered splicing is realized by the cleaning device 2 extending towards the connecting component 29. Specifically, as Figure 11 shown, that is, an extended cleaning device 2 is adopted, that is, an extension frame 30 is fixed at the end side of the brush roller frame 21, an extended brush roller 31 is installed in the extension frame 30, the shaft of the extended brush roller 31 is fixedly connected to the shaft of the brush roller 54, an extended cover 32 is installed on the extension frame 30, the extension frame 30 and the brush roller frame 21, the extended brush roller 31 and the brush roller 54, and the extended cover 32 and the brush roller cover 28 can all be integrally formed. The lengths of the extended brush roller 31, the extension frame 30, and the extended cover 32 can be selected according to the specific photovoltaic panel.

[0077] When forming a set connection, as Figure 12 , several connecting components 29 can also be connected in series between adjacent two photovoltaic panel cleaning robots ( Figure 12Taking three as an example, a plurality of bellows covers 58 are correspondingly sleeved on a plurality of connecting members 29, and the cleaning device 2 is also lengthened according to the plurality of connecting members 29.

[0078] When the cleaning device 2 is lengthened as described above, in order to enable the suspension guiding mechanism 34 to hook on the top edge of the photovoltaic panel, the length of the suspension bracket 37 is correspondingly increased so that it can hook the top edge of the photovoltaic panel.

[0079] The connecting member 29 in this embodiment is preferably a flexible connecting member 29, and can also be a rigid connecting member 29. When using the flexible connecting member 29, the cascaded photovoltaic panel cleaning robot can better adhere to the surface of the photovoltaic panel and travel. For example, the flexible connecting member 29 can be a folding frame (such as Figure 13 i.e., two frames connected movably), a triple-fold frame (such as Figure 14 shown, i.e., three frames connected movably in sequence, and the frames can be made of relatively light aluminum alloy material), a spring (such as Figure 15 shown), a steel sheet (such as Figure 16 ), or a steel cable (such as Figure 17 shown), or a chain, etc. The connecting member 29 has at least longitudinal degrees of freedom, such as a folding frame, a triple-fold frame, and a steel sheet, and can also have transverse degrees of freedom, such as a spring, a steel cable, a chain, etc.

[0080] A bellows cover 58 is connected between two adjacent photovoltaic panel cleaning robots. The connecting member 29 is arranged inside the bellows cover 58, and the bellows cover 58 can play a role in beautifying and protecting the connecting member 29.

[0081] During cleaning, the number of photovoltaic panel cleaning robots is selected according to the width of the photovoltaic panel so that the sum of the lengths of all the brush rollers 54 after cascading is greater than or equal to the width of the photovoltaic panel. In this way, the photovoltaic panel cleaning robot can complete the cleaning of the photovoltaic panel by walking unidirectionally, with a large cleaning area and high cleaning efficiency. For example, Figure 10 the structure of Embodiment 2 is also applicable to the cascading method of this embodiment.

[0082] Embodiment Four

[0083] The difference between this embodiment and Embodiment 3 is that this embodiment discloses a cross-row and cross-column photovoltaic panel cleaning system, which includes a collective photovoltaic panel cleaning robot and a climbing bridge 41. One end of the climbing bridge 41 is docked with the lower edge of the photovoltaic panel, and the other end is in contact with the ground. The climbing bridge 41 can be a plate member, and the collective photovoltaic panel robot can move onto the photovoltaic panel through the climbing bridge 41. A climbing bridge 41 can be provided on each photovoltaic panel. After cleaning one photovoltaic panel, the collective photovoltaic panel cleaning robot descends to the ground through the climbing bridge 41, and then moves and climbs onto another photovoltaic panel through another climbing bridge 41 for cleaning. After cleaning, it climbs onto another photovoltaic panel for cleaning. In this way, the cleaning of all photovoltaic panels can be completed by cycling. Trajectories or tracks can be set on the ground in advance, and the ground tracking walking can be realized by means of navigation, RTK plus magnetic guidance, etc.

[0084] As Figure 18 and 19 shown, as another improvement method of this embodiment, it further includes a connecting bridge 40. The connecting bridge 40 is used to connect the front and rear rows of photovoltaic panels, and the collective photovoltaic panel cleaning robot can move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge 40; as Figure 20 shown, when the cleaning device 2 is installed on the bottom base frame 5, it can achieve cross-row cleaning front and back; the cleaning of the photovoltaic panel array can also be realized by a mixed setting method of the climbing bridge 41 and the connecting bridge 40.

[0085] As Figure 18 shown, the connecting bridge 40 is used to connect two adjacent photovoltaic panels in the front and rear rows. It is supported on the ground by brackets and is of a three-section structure, including a first transition section 48, a second transition section 50, and a connecting section 49. The first transition section 48, the connecting section 49, and the second transition section 50 are connected in sequence. The first transition section 48 is docked with the top edge of the previous photovoltaic panel, and the second transition section 50 is docked with the bottom edge of the next photovoltaic panel. Moreover, the first transition section 48, the connecting end, and the second transition section 50 are integrally formed, and both the first transition section 48 and the second transition section 50 are horizontally arranged.

[0086] As Figure 3 shown, a turntable 42 is fixed on the base frame 5, and the slewing frame 4 is rotatably connected to the base frame 5 through the turntable 42. The slewing frames 4 of two adjacent photovoltaic panel cleaning robots are connected through a connecting member 29. When the photovoltaic panel cleaning robot needs to change the moving direction, control the forward and reverse rotation of the two walking drive structures 6 of the photovoltaic panel cleaning robot, and rotate the base frame 5 one by one. At this time, the collective slewing frame 4 cannot rotate, and the base frame 5 rotates relatively, that is, the steering of the bottom walking device 3 is realized, that is, the moving direction of the collective photovoltaic panel cleaning robot is changed.

[0087] As Figure 21, it further includes a locking mechanism 43. The locking mechanism 43 includes an electric push rod two 44, a limiting rod 45, a travel switch 46 and a lock hole 47. The limiting rod 45 is fixed on the base frame 5. There are two lock holes 47 provided on the base frame 5. The electric push rod two 44 and the travel switch 46 are arranged on the rotary frame 4. The telescopic rod of the electric push rod two 44 is inserted and matched with the lock hole 47. The travel switch 46 is in contact and cooperation with the limiting rod 45. Taking the center of the turntable 42 as the center, the included angle between the two lock holes 47 is 90°. When the telescopic rod of the electric push rod two 44 is inserted into one of the lock holes 47, the traveling direction of the traveling device 3 is perpendicular to the length direction of the integrated photovoltaic panel cleaning robot. When it rotates until the travel switch 46 contacts the limiting rod 45, the telescopic rod of the electric push rod two 44 is inserted into the other lock hole 47, and the traveling direction of the traveling device 3 is consistent with the length direction of the integrated photovoltaic panel cleaning robot.

[0088] As another improvement method of the locking mechanism 43, the electric push rod two 44 and the lock hole 47 can also be replaced by a bolt-type electromagnetic lock and an electromagnetic lock port.

[0089] During cleaning, by rotating, the traveling direction of the traveling device 3 is perpendicular to the length direction of the integrated photovoltaic panel cleaning robot. The traveling device 3 drives the integrated photovoltaic panel cleaning robot to move. The brush roller 54 is lowered to contact the photovoltaic panel. The brush roller driving structure 22 drives the brush roller 54 to rotate, and while moving, it cleans, completing the horizontal cleaning of the photovoltaic panel. By setting the guide wheel 24, the crossing device 13 and the cleaning lifting mechanism 25, the integrated photovoltaic panel cleaning robot can be assisted to cross photovoltaic panels with a relatively large splicing interval (greater than 4 cm) and a relatively large splicing height difference (greater than 3 cm), realizing horizontal left-right cross-column between photovoltaic panels.

[0090] When moving, first, the electric push rod two 44 is in an unlocked state. The bolt of the electric push rod two 44 pops out and just inserts into one of the lock holes 47, playing a locking function, making the robot run more stably. The traveling direction of the traveling device 3 is perpendicular to the length direction of the integrated photovoltaic panel cleaning robot, and it can perform horizontal movement cleaning. When the integrated photovoltaic panel cleaning robot needs to perform cross-row work, by rotating, the traveling direction of the traveling device 3 is the same as the length direction of the integrated photovoltaic panel cleaning robot. At this time, the limiting rod 45 touches the travel switch 46, and the telescopic rod of the electric push rod two 44 pops out and just inserts into the other lock hole 47. Compared with the traveling device 3 during cleaning, the traveling device 3 just rotates 90° at this time. At this time, the integrated photovoltaic panel cleaning robot can move along its length direction, move onto the photovoltaic panel through the climbing bridge frame 41, and move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge frame 40, so that longitudinal front-back cross-row can be realized.

[0091] When the inclination angle of the photovoltaic panel is relatively large, a suspension guiding mechanism 34 is installed on the body 1 of the photovoltaic panel cleaning robot at the front end of the cascaded photovoltaic panel cleaning robot. After the cascaded photovoltaic panel cleaning robot is on the photovoltaic panel, the top edge of the photovoltaic panel is hooked by the suspension guiding mechanism 34 to prevent slipping. The suspension guiding mechanism 34 is installed on the slewing frame 4.

[0092] A method for cleaning across rows and columns of a cascaded photovoltaic panel cleaning robot based on a cross-row and cross-column photovoltaic panel cleaning system specifically includes the following steps:

[0093] 1. Control each cleaning device 2 to lift through the brush roller driving structure 22 to avoid collision during walking, and then control the walking mechanism 7 to work so that the cascaded photovoltaic panel cleaning robot climbs onto the photovoltaic panel along the climbing bridge frame 41.

[0094] Specifically, drive the brush roller frame 21 to rotate through the cleaning lifting mechanism 25 to lift the brush roller 54. The difference in the lifting angles of adjacent two photovoltaic panel cleaning robots is not less than 15° to prevent the cleaning devices 2 on the same side of adjacent two photovoltaic panel cleaning robots from colliding when passing through a slope of less than 180°.

[0095] During climbing, control the walking device 3 to rotate until its moving direction is the same as the length direction of several cascaded photovoltaic panel cleaning robots. When there is a suspension guiding mechanism 34, move the end with the suspension guiding mechanism 34 onto the photovoltaic panel first. When the end with the suspension guiding mechanism 34 is aligned with the top edge of the photovoltaic panel (detected by the ultrasonic distance sensor 57 on the front side of the base frame 5), it is in place; when there is no suspension device, when the front end of the cascaded photovoltaic panel cleaning robot is aligned with the top edge of the photovoltaic panel, it is in place.

[0096] When the inclination of the photovoltaic panel is large and slipping may occur, lower the suspension wheel (suspension wheel one 35 or suspension wheel two 39) through the control of the suspension driving structure 51 to rollingly cooperate with the top edge of the photovoltaic panel to play a role in preventing slipping; when the inclination of the photovoltaic panel is small and slipping will not occur, do not install the suspension guiding mechanism 34, or the suspension guiding mechanism 34 is retracted and not lowered, and this step is omitted.

[0097] 2. Control the walking device 3 to rotate until its moving direction is perpendicular to the length direction of the cascaded photovoltaic panel cleaning robot. Control the walking mechanism 7 to work so that several photovoltaic panel cleaning robots move horizontally along the photovoltaic panel. At the same time, the cleaning lifting mechanism 25 controls the brush roller 54 to be lowered onto the photovoltaic panel, and control the brush roller 54 to rotate to clean the photovoltaic panel.

[0098] When there are several photovoltaic panels arranged horizontally, the cascaded photovoltaic panel cleaning robot cleans across columns one by one through the cooperation of the guide wheel 24, the crossing device 13 and the cleaning lifting mechanism 25. When there is only one column, this step is omitted.

[0099] 3. After cleaning, the centralized photovoltaic panel cleaning robot moves to the photovoltaic panel docked with the connecting bridge 40, and its front end is aligned with the connecting bridge 40. Control the cleaning lifting mechanism 25 to lift the brush roller 54, control the traveling device 3 to rotate until its moving direction is the same as the length direction of the centralized photovoltaic panel cleaning robot, and control several traveling devices 3 to move so that several centralized photovoltaic panel cleaning robots move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge 40; when there is a hanging guiding mechanism 34, make the end with the hanging guiding mechanism 34 move onto the next photovoltaic panel first. When the end with the hanging guiding mechanism 34 is aligned with the top edge of the next photovoltaic panel, it is in place; when there is no hanging device, when the front end of the centralized photovoltaic panel cleaning robot moves to be aligned with the top edge of the photovoltaic panel, it is in place.

[0100] Specifically, the connecting bridge 40 is arranged at the side position of the previous photovoltaic panel and the next photovoltaic panel. The photovoltaic panel is detected by the ultrasonic ranging sensor 57 on the brush roller cover 28. When reaching the side of the photovoltaic panel, it reaches the position docked with the connecting bridge 40, and control several centralized photovoltaic panel cleaning robots to move towards the connecting bridge 40.

[0101] 4. Repeat steps 2 and 3 until the photovoltaic panel array is cleaned.

[0102] This embodiment is mainly used for cleaning matrix photovoltaic panels. As described above, through the built connecting bridge 40, autonomous horizontal column crossing and vertical row crossing can be achieved, with high automation and intelligence.

[0103] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A photovoltaic panel cleaning robot, characterized in that: It comprises a vehicle body (1), a cleaning device (2) and a walking device (3) mounted on the vehicle body (1); The cleaning device (2) comprises a brush roller frame (21), a brush roller driving structure (22) and a brush roller (54); the brush roller frame (21) is provided with a cantilever (23); the cantilever (23) is rotatably connected to the vehicle body (1); the brush roller frame (21) is provided with a brush roller (54) and a brush roller driving structure (22); the brush roller driving structure (22) is used to drive the brush roller (54) to rotate; and a guide wheel (24) is installed on the front side of the brush roller frame (21); The cleaning device (2) further comprises a cleaning lifting mechanism (25), wherein the cleaning lifting mechanism (25) is mounted on the vehicle body (1) and is used to drive the cantilever (23) to swing up and down relative to the vehicle body (1); the cantilever (23) sequentially drives the brush roller frame (21) and the guide wheel (24) to swing down, thereby enabling the front end of the walking device (3) to rise and overlap adjacent photovoltaic panels; The vehicle body (1) comprises a base frame (5) and a rotating frame (4); the rotating frame (4) is rotatably connected to the base frame (5); a locking mechanism (43) is provided between the rotating frame (4) and the base frame (5) for fixedly connecting the rotating frame (4) and the base frame (5); The vehicle body (1) is provided with a suspension guide mechanism (34) for suspending the vehicle body (1) on the photovoltaic panel when the walking device (3) moves; the suspension guide mechanism (34) comprises a second suspension wheel (39), the second suspension wheel (39) rollingly cooperates with the top edge of the photovoltaic panel, and the suspension guide mechanism (34) can lift the second suspension wheel (39) to separate it from the top edge of the photovoltaic panel.

2. A photovoltaic panel cleaning robot according to claim 1, characterized in that: The cleaning lifting mechanism (25) comprises an electric push rod (26) and a lifting shaft (27). The lifting shaft (27) is rotatably mounted in the vehicle body (1). Both ends of the lifting shaft (27) are respectively fixedly connected to two cantilevers (23). The electric push rod (26) drives the lifting shaft (27) to rotate via a crank or an eccentric wheel.

3. A photovoltaic panel cleaning robot according to claim 1, characterized in that: A crossing device (13) is installed on the outside of the walking device (3), and the crossing device (13) comprises a driving wheel (14), a transmission wheel (15), a connecting handle (16), a lifting crawler (17) and a lifting drive structure (18); a fixed shaft (59) is fixedly connected to the connecting handle (16), and the fixed shaft (59) is rotatably connected to the vehicle body (1); the driving wheel (14) and the transmission wheel (15) are both rotatably connected to the connecting handle (16), and the driving wheel (14) and the transmission wheel (15) are connected by transmission via the lifting crawler (17); and the lifting drive structure (18) is installed in the vehicle body (1) and is used to drive the fixed shaft (59) to rotate.

4. A photovoltaic panel cleaning robot according to claim 3, characterized in that: The lifting drive structure (18) comprises an electric push rod three (55) and a lifting crank (56); a fixed shaft (59) is fixedly connected to the connecting handle (16); the electric push rod three (55) is rotationally connected to the lifting crank (56); and the lifting crank (56) is fixedly connected to the fixed shaft (59).

5. The photovoltaic panel cleaning robot according to claim 3, characterized in that: The length of the cantilever (23) is greater than the length of the spanning device (13).

6. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The suspension guide mechanism (34) further comprises a suspension frame (37), a second suspension shaft (38) and a suspension drive structure (51); the suspension frame (37) is fixedly connected to the vehicle body (1); one end of the second suspension shaft (38) is movably connected to the suspension frame (37); the other end of the second suspension shaft (38) is rotatably connected to the second suspension wheel (39); and the suspension drive structure (51) is mounted on the suspension frame (37) and is used to drive the second suspension shaft (38) to rotate.

7. The photovoltaic panel cleaning robot according to claim 1, characterized in that: The suspension guide mechanism (34) further comprises a suspension frame (37), a second suspension shaft (38) and a suspension drive structure (51); the suspension frame (37) is rotatably mounted on the vehicle body (1), the second suspension shaft (38) is fixed on the suspension frame (37), the second suspension wheel (39) is rotatably connected to the end of the second suspension shaft (38), and the suspension drive structure (51) is mounted on the vehicle body (1) and is used to drive the suspension frame (37) to rotate.

8. A photovoltaic panel robot straddling method, comprising the photovoltaic panel cleaning robot as claimed in any one of claims 1 to 7, characterized in that: The steps include: S1. The cantilever (23) is driven to swing upward by the cleaning lifting mechanism (25), and the cantilever (23) rotates to drive the brush roller frame (54) and the guide wheel (24) to rise until the bottom side of the guide wheel (24) is flush with the surface of the adjacent photovoltaic panel and stops; S2. Controlling the walking device (3) to move the vehicle body (1), and stopping when the vehicle body (1) drives the guide wheel (24) to move to the adjacent photovoltaic panel; S3. The cantilever (23) is driven to swing downward by the cleaning lifting mechanism (25), so that the front end of the walking device (3) is pulled up and raised, and stops when the front end of the walking device (3) can overlap the adjacent photovoltaic panel; S4. Control the movement of the walking device (3) so that its front end moves onto the adjacent photovoltaic panel, and then continues to move until the vehicle body (1) gradually moves onto the adjacent photovoltaic panel, thus completing the cross-row operation.

Images