Asynchronous photovoltaic panel cleaning robot and control method thereof

Abstract

The invention discloses an asynchronous photovoltaic panel cleaning robot and a control method thereof. The asynchronous photovoltaic panel cleaning robot is provided with an upper end transmission mechanism, a lower end transmission mechanism, a control unit and a brush. Each of the upper-end transmission mechanism and the lower-end transmission mechanism comprises two walking wheels and two guide wheels, the walking wheels and the guide wheels are driven by a motor, the walking wheels and the guide wheels of the upper-end transmission mechanism and the lower-end transmission mechanism run along a frame of a photovoltaic panel, and meanwhile, a brush removes dust on the photovoltaic panel through uninterrupted rotation; the control unit sequentially controls the transmission mechanisms at the upper end and the lower end to achieve asynchronous operation of the cleaning robot. Sensors are arranged in the upper-end transmission mechanism and the lower-end transmission mechanism and used for detecting signals indicating whether the upper-end guide wheel and the lower-end guide wheel are close to the side edge of the photovoltaic panel or not, and if the control unit detects the signals, the control unit controls the transmission mechanism at the end to stop and drives the transmission mechanism at the other end to operate at the same time; the transmission mechanism at the upper end and the transmission mechanism at the lower end alternately run in sequence according to the mode, so that the operation that a traditional robot needs to continuously detect whether the robot is inclined or not and conduct deviation rectification in real time is avoided, and the running reliability of the cleaning robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and more specifically, to an asynchronous photovoltaic panel cleaning robot and a control method thereof. Background Art

[0002] Most of the existing photovoltaic panel cleaning robots adopt a driving structure of walking wheels + guide wheels, and the walking wheels and guide wheels run on the front and side frames of the photovoltaic panels. At present, a common problem with this type of robot is that it is difficult to keep the upper and lower ends of the robot synchronized when running, which leads to the robot often tilting, getting stuck and other problems during operation, seriously affecting the normal operation of the equipment.

[0003] In view of this, patent CN109365462A provides a technical solution that can detect the tilt of the robot and has a correction function. In theory, this type of technology can optimize the problems of tilt and jamming during the operation of the cleaning robot. However, in actual applications, the arrangement of photovoltaic panels is unstable or even uneven and abnormally protruding. This technology cannot adjust the posture in time, which often leads to jamming. At the same time, the technical solution has a large error in detecting the tilt of the robot and the effect is poor, which increases the complexity of the system, reduces the reliability of the robot and increases the cost of the robot. Summary of the invention

[0004] The present invention discloses an asynchronous photovoltaic panel cleaning robot and a control method thereof, which abandons the traditional synchronous driving scheme and adopts asynchronous driving, does not need to perform complicated detection and adjustment operations on the posture of the cleaning robot, improves the reliability of the cleaning robot, simplifies the control difficulty, and reduces the cost.

[0005] An asynchronous photovoltaic panel cleaning robot is provided with an upper and lower transmission mechanism, a first control unit and a brush; the upper transmission mechanism is provided with two walking wheels and two guide wheels, and the walking wheels and guide wheels are connected by the same motor to form a driving wheel group of the upper transmission mechanism; the lower transmission mechanism has the same structure as the upper transmission mechanism; the walking wheels and guide wheels of the upper or lower transmission mechanism are installed at 90 degrees, and respectively walk on the front and side frames of the photovoltaic panel; the first control unit controls the operation of the driving motors of the upper and lower transmission mechanisms, and then drives the walking wheels and guide wheels of the upper and lower transmission mechanisms to rotate; the upper and lower transmission mechanisms adopt a dual-motor independent driving mode, the upper motor drives the walking wheels and guide wheels of the upper transmission mechanism, and the lower motor drives the Walking wheels and guide wheels; pressure detectors are respectively installed at the two guide wheel shafts of the upper transmission mechanism, which are used to measure the pressure values ​​between the two guide wheels of the upper transmission mechanism and the upper side wall of the photovoltaic panel; pressure detectors are respectively installed at the two guide wheel shafts of the lower transmission mechanism, which are used to measure the pressure values ​​between the two guide wheels of the lower transmission mechanism and the lower side wall of the photovoltaic panel; the first control unit is also used to determine whether the values ​​fed back by the pressure detectors on the guide wheel shafts of the upper and lower transmission mechanisms exceed the preset values. If so, it is determined that the guide wheel corresponding to the pressure detector has been in contact with the side of the photovoltaic panel assembly, and then it is determined that the transmission mechanism corresponding to the pressure detector has completed the current running distance, and the first control unit suspends the operation of the transmission mechanism at this end and starts to drive the transmission mechanism at the other end to operate.

[0006] An asynchronous photovoltaic panel cleaning robot is provided with an upper and lower transmission mechanism, a second control unit and a brush; the upper transmission mechanism is provided with two walking wheels and two guide wheels, and the walking wheels and guide wheels are connected by the same motor to form a driving wheel group of the upper transmission mechanism; the lower transmission mechanism has the same structure as the upper transmission mechanism; the walking wheels and guide wheels of the upper or lower transmission mechanism are installed at 90 degrees, and respectively walk on the front and side frames of the photovoltaic panel; the second control unit controls the operation of the driving motors of the upper and lower transmission mechanisms, thereby driving the walking wheels and guide wheels of the upper and lower transmission mechanisms to rotate; the upper and lower transmission mechanisms are independently driven by dual motors The upper motor drives the walking wheel and the guide wheel of the upper transmission mechanism, and the lower motor drives the walking wheel and the guide wheel of the lower transmission mechanism; the guide wheel of the upper transmission mechanism is equipped with an encoder for measuring the running distance of the guide wheel of the upper transmission mechanism; the guide wheel of the lower transmission mechanism is equipped with an encoder for measuring the running distance of the guide wheel of the lower transmission mechanism; the second control unit is also used to determine whether the encoder feedback values ​​on the guide wheels of the upper and lower transmission mechanisms exceed the preset values. If so, it is determined that the transmission mechanism corresponding to the encoder has completed the current running distance, and the second control unit temporarily sets the transmission mechanism at this end to run, and starts to drive the transmission mechanism at the other end to run.

[0007] An asynchronous photovoltaic panel cleaning robot is provided with an upper and lower transmission mechanism, a third control unit and a brush; the upper transmission mechanism is provided with two running wheels and two guide wheels, and the running wheels and the guide wheels are connected by the same motor to form a driving wheel group of the upper transmission mechanism; the lower transmission mechanism has the same structure as the upper transmission mechanism; the running wheels and the guide wheels of the upper or lower transmission mechanism are installed at 90 degrees, and respectively run on the front and side frames of the photovoltaic panel; the third control unit controls the operation of the driving motors of the upper and lower transmission mechanisms, and then drives the running wheels and the guide wheels of the upper and lower transmission mechanisms to rotate; the upper and lower transmission mechanisms adopt a dual-motor independent driving mode, the upper motor drives the running wheels and the guide wheels of the upper transmission mechanism, and the lower motor drives the running wheels and the guide wheels of the lower transmission mechanism; the third control unit determines the running distance of the upper and lower transmission mechanisms by timing; the timing method can flexibly set the timing duration according to the specific conditions of the cleaning robot, and then can set the running distance of each step of the upper and lower transmission mechanisms of the cleaning robot.

[0008] An asynchronous photovoltaic panel cleaning robot is provided with an upper and lower end transmission mechanism, a fourth control unit and a brush; the upper end transmission mechanism is provided with two walking wheels and two guide wheels, and the walking wheels and guide wheels are connected by the same motor to form a driving wheel group of the upper end transmission mechanism; the lower end transmission mechanism has the same structure as the upper end transmission mechanism; the walking wheels and guide wheels of the upper or lower end transmission mechanism are installed at 90 degrees, and respectively walk on the front and side frames of the photovoltaic panel; the fourth control unit controls the operation of the driving motors of the upper and lower end transmission mechanisms, and then drives the walking wheels and guide wheels of the upper and lower end transmission mechanisms to rotate; the upper and lower end transmission mechanisms adopt a single motor driving mode, the upper and lower end transmission mechanisms are connected to the same motor through a gear transmission mode, and the power output by the motor drives the upper and lower end transmission mechanisms in turn through special-shaped gears, and the fourth control unit only needs to drive the motor in a specific direction to realize the asynchronous operation of the upper and lower end transmission mechanisms.

[0009] A control method for an asynchronous photovoltaic panel cleaning robot is applied to the photovoltaic panel cleaning robot disclosed above and provided with a first control unit. The control method comprises: the first control unit first controls the operation of the upper or lower transmission mechanism, and then detects in real time whether the value of the pressure detector on the guide wheel shaft of the upper and lower transmission mechanisms exceeds a preset value. If so, it determines that the robot has run to the maximum tilt position according to the current running direction of the cleaning robot, pauses the running transmission mechanism at that end, and then starts the transmission mechanism at the other end to start running; similarly, the first control unit detects in real time whether the value of the pressure detector on the guide wheel shaft of the upper and lower transmission mechanisms exceeds a preset value. If so, it exchanges the working states of the upper and lower transmission mechanisms again to realize asynchronous operation of the upper and lower transmission mechanisms.

[0010] A control method for an asynchronous photovoltaic panel cleaning robot is applied to the photovoltaic panel cleaning robot disclosed above and provided with a second control unit. The control method comprises: the second control unit first controls the operation of the upper or lower transmission mechanism, and then detects in real time whether the encoder values ​​on the guide wheels of the upper and lower transmission mechanisms exceed the preset values. If so, it determines that the robot has run to the maximum tilt position according to the current running direction of the cleaning robot, pauses the running transmission mechanism at that end, and then starts the transmission mechanism at the other end to start running. Similarly, the second control unit detects in real time whether the encoder values ​​on the guide wheel shafts of the upper and lower transmission mechanisms exceed the preset values. If so, it exchanges the working states of the upper and lower transmission mechanisms again to realize the asynchronous operation of the upper and lower transmission mechanisms.

[0011] A control method for an asynchronous photovoltaic panel cleaning robot is applied to the photovoltaic panel cleaning robot disclosed above and provided with a third control unit. The control method comprises: the third control unit determines the running distance of the upper and lower transmission mechanisms by a timing method, firstly, the third control unit drives the transmission mechanism at one end to run for a preset time, and after the preset time ends, the third control unit suspends the operation of the transmission mechanism at the end, and controls the transmission mechanism at the other end to run for a preset time; The preset time can be flexibly set according to the specific conditions of the cleaning robot, and the running distance of each step of the upper and lower transmission mechanisms of the cleaning robot can be set.

[0012] A control method for an asynchronous photovoltaic panel cleaning robot is applied to the photovoltaic panel cleaning robot disclosed above and provided with a fourth control unit. The control method includes: the fourth control unit drives the motor in a specific direction to realize asynchronous operation of the upper and lower end transmission mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 A top view of a photovoltaic cleaning robot in the prior art; Figure 2 A top view of a photovoltaic cleaning robot in the prior art when it is tilted or stuck; Figure 3 This is a schematic diagram of the operation of the asynchronous photovoltaic panel cleaning robot disclosed in the present invention; Figure 4 This is a schematic diagram of installing the asynchronous photovoltaic panel cleaning robot disclosed in the implementation of the present invention on a photovoltaic panel; Figure 5 A possible installation structure for the first control unit; Figure 6 A possible installation structure for the fourth control unit; Figure 7 The control flow chart for the first control unit; Figure 8 The control flow chart for the second control unit; Fig. 9 The control flow chart for the third control unit; Fig.10 The control flow chart for the fourth control unit; DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the descriptions of "preferred", "sub-preferred", etc. in the present invention are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "preferred" and "sub-preferred" may explicitly or implicitly include at least one such feature.

[0016] The asynchronous photovoltaic panel cleaning robot 100 is provided with an upper transmission mechanism, a lower transmission mechanism 10, a first control unit and a brush 9. The lower transmission mechanism 10 is provided with running wheels 7, running wheels 8 and guide wheels 3, guide wheels 4 and matching connecting parts and a housing. The running wheels 7, running wheels 8 and guide wheels 3, guide wheels 4 are connected by the same motor to form a driving wheel set of the lower transmission mechanism. The upper transmission mechanism and the lower transmission mechanism 10 have the same structure. Figure 4 As shown, the running wheels and guide wheels of the upper or lower transmission mechanism 10 are installed at 90 degrees, the running wheels 7 and 8 of the lower transmission mechanism run on the front frame 121 of the photovoltaic panel 12, and the guide wheels 3 and 4 of the lower transmission mechanism run on the side frame 122 of the photovoltaic panel 12. The running mode of the upper transmission mechanism is similar to that of the lower mechanism. Figure 1 The cleaning robot shown is a prior art. In order to ensure that it can be synchronized during operation and avoid deviations in the upper and lower transmission mechanisms, patent CN109365462A provides a technical solution that can detect the tilt of the robot in real time and has a correction function. The principle of this technical solution is to use an external sensor to monitor in real time whether the cleaning robot 100 is tilted, and then use the first control unit to adjust the speed of the drive motors of the upper and lower transmission mechanisms, so as to adjust the posture of the cleaning robot 100 in real time to prevent it from tilting and getting stuck. As mentioned above, due to the undulating arrangement of photovoltaic panels, or even uneven and abnormal protrusions, this technology cannot adjust the posture in time, which often leads to jams. Figure 2 As shown, at the same time, this technical solution has a large error in tilt detection and poor effect, which increases the complexity of the system, reduces the reliability of the robot and increases the cost of the robot.

[0017] exist Figure 1 Based on the above, an asynchronous photovoltaic panel cleaning robot implemented by the present invention can be realized by a first control unit + a pressure detector. The specific implementation method is: the upper and lower transmission mechanisms are driven by independent motors, and the first control unit independently controls the upper and lower transmission mechanisms. A pressure detector 102 is installed on the guide wheel shaft 101 of the upper and lower transmission mechanisms, and the installation method is as follows: Figure 5As shown, it is used to measure the pressure value of the guide wheel of the transmission mechanism and the side wall of the photovoltaic panel. Assuming that the cleaning robot runs to the right, first the first control unit controls the motor of the upper transmission mechanism to run to the right, and the lower transmission mechanism stops. At the same time, the first control unit detects in real time whether the pressure detector value on the right guide wheel 2 axis of the upper transmission mechanism and the pressure detector value on the left guide wheel 3 axis of the lower transmission mechanism exceed the preset value at the same time. If so, it is determined that the upper transmission mechanism has completed the current running distance, and the first control unit pauses the operation of the upper transmission mechanism and starts to drive the lower transmission mechanism to run. At the same time, the first control unit detects in real time whether the pressure detector value on the left guide wheel 1 axis of the upper transmission mechanism and the pressure detector value on the right guide wheel 4 axis of the lower transmission mechanism exceed the preset value at the same time. If so, it is determined that the lower transmission mechanism has completed the current running distance, and the first control unit pauses the operation of the lower transmission mechanism. So far, as Figure 3 As shown, the cleaning robot completes a cycle of operation. Then, the asynchronous operation of the cleaning robot can be realized by continuously repeating steps 2 and 3. The operation principle of the cleaning robot to the left is similar and will not be described in detail here.

[0018] exist Figure 1 On the basis of, an asynchronous photovoltaic panel cleaning robot implemented by the present invention can also be realized by a second control unit + encoder, and the specific implementation method is: the upper and lower transmission mechanisms are driven by independent motors, and the second control unit realizes independent control of the upper and lower transmission mechanisms. Encoders are installed on the guide wheels of the upper and lower transmission mechanisms to detect the distance the walking wheels run. Assuming that the cleaning robot runs to the right, first the second control unit controls the motor of the upper transmission mechanism to run to the right, and the lower transmission mechanism stops. At the same time, the second control unit detects in real time whether the encoder value on the guide wheel of the upper transmission mechanism exceeds the preset value. If so, it is determined that the upper transmission mechanism has completed the current running distance. The second control unit pauses the operation of the upper transmission mechanism and starts to drive the lower transmission mechanism to run. At the same time, the second control unit detects in real time whether the encoder value on the guide wheel of the lower transmission mechanism exceeds the preset value. If so, it is determined that the lower transmission mechanism has completed the current running distance. The second control unit pauses the operation of the lower transmission mechanism. So far, Figure 3 As shown, the cleaning robot completes a cycle of operation. Then, the asynchronous operation of the cleaning robot can be realized by continuously repeating steps 2 and 3. The operation principle of the cleaning robot to the left is similar and will not be described in detail here.

[0019] exist Figure 1On the basis of, an asynchronous photovoltaic panel cleaning robot implemented by the present invention can also be realized by a third control unit + timer. The specific implementation method is: the upper and lower transmission mechanisms are driven by independent motors, and the third control unit independently controls the upper and lower transmission mechanisms. The third control unit determines the running distances of the upper and lower transmission mechanisms by timing. Assuming that the cleaning robot runs to the right, first, the third control unit drives the upper transmission mechanism to run to the right for a preset time. After the preset time is over, it is determined that the upper transmission mechanism has completed the current running distance. The third control unit suspends the operation of the upper transmission mechanism and controls the lower transmission mechanism to run to the right for a preset time. After the preset time is over, it is determined that the lower transmission mechanism has completed the current running distance. The third control unit suspends the operation of the lower transmission mechanism. At this point, Figure 3 As shown, the cleaning robot completes a cycle of operation. Then, the asynchronous operation of the cleaning robot can be realized by continuously repeating steps 2 and 3. The operation principle of the cleaning robot to the left is similar and will not be described in detail here.

[0020] exist Figure 1 On the basis of the above, an asynchronous photovoltaic panel cleaning robot implemented by the present invention can also be implemented by a fourth control unit + gear combination, and the specific implementation method is: The upper and lower transmission mechanisms are driven by a single motor, and the upper and lower transmission mechanisms are connected to the same motor through gear transmission. Figure 6 A possible structure is given. The power output by the motor 201 is transmitted to the transmission gear 203 of the upper transmission mechanism and the transmission gear 204 of the lower transmission mechanism through the special-shaped gear 202. The transmission gear 203 is connected to the power of the upper transmission mechanism through the transmission rod to output power to the upper transmission mechanism. The transmission gear 204 is connected to the power of the lower transmission mechanism through the transmission rod to output power to the lower transmission mechanism. The special-shaped gear 202 retains no more than half of the number of teeth, so that it can be ensured that at any time, only one of the transmission gear 203 and the transmission gear 204 can be in motion. Assuming that the cleaning robot runs to the right, the motor first drives the upper transmission gear 203 to operate, driving the upper transmission mechanism to operate. After the motor runs 180°, the upper transmission gear 203 loses power and stops running. At the same time, the lower transmission gear 204 starts to operate, driving the lower transmission mechanism to operate. At this point, Figure 3 As shown, the cleaning robot completes a cycle of operation. Then, the asynchronous operation of the cleaning robot can be realized by continuously repeating steps 2 and 3. The operation principle of the cleaning robot to the left is similar and will not be described in detail here.

[0021] Corresponding to the product embodiment shown in the first control unit, the embodiment of the present invention also discloses a control method for an asynchronous photovoltaic panel cleaning robot, wherein the control process of one operation cycle is as follows: Figure 7 As shown, including: Step S100: determining whether the cleaning robot is running to the right, and if so, proceeds to step S101, otherwise, proceeds to step S111; Step S101: the first control unit drives the upper transmission mechanism to operate, and then proceeds to step S102; Step S102: The first control unit determines whether the pressure detector on the guide wheel 2 and the guide wheel 3 exceeds a preset value, and if so, proceeds to S103, otherwise, proceeds to S101; Step S103: the first control unit drives the lower end transmission mechanism to operate, and then proceeds to step S104; Step S104: The first control unit determines whether the pressure detector on the guide wheel 1 and the guide wheel 4 exceeds a preset value, and if so, ends the cycle, otherwise, proceeds to S103; The steps S111-S114 are similar to those described above and will not be described in detail.

[0022] Corresponding to the product embodiment shown in the second control unit, the embodiment of the present invention also discloses a control method for an asynchronous photovoltaic panel cleaning robot, wherein the control process of one operation cycle is as follows: Figure 8 As shown, including: Step S201: The second control unit drives the upper transmission mechanism to operate, and then proceeds to step S202; Step S202: The second control unit determines whether the guide wheel encoder value of the upper transmission mechanism exceeds a preset value, and if so, proceeds to S203, otherwise, proceeds to S201; Step S203: the second control unit drives the lower transmission mechanism to operate, and then proceeds to step S204; Step S204: The second control unit determines whether the guide wheel encoder value of the lower transmission mechanism exceeds the preset value. If so, the cycle ends; otherwise, the process goes to S203.

[0023] Corresponding to the product embodiment shown in the third control unit, the embodiment of the present invention also discloses a control method for an asynchronous photovoltaic panel cleaning robot, wherein the control process of one operation cycle is as follows: Fig. 9 As shown, including: Step S301: The third control unit drives the upper transmission mechanism to operate, and then proceeds to step S302; Step S302: The third control unit determines whether the upper transmission mechanism running time exceeds a preset value, and if so, proceeds to S303, otherwise, proceeds to S301; Step S303: the third control unit drives the lower end transmission mechanism to operate, and then proceeds to step S304; Step S304: The third control unit determines whether the running time of the lower transmission mechanism exceeds a preset value. If so, the cycle ends; otherwise, the process goes to S303.

[0024] Corresponding to the product embodiment shown in the fourth control unit, the embodiment of the present invention also discloses a control method for an asynchronous photovoltaic panel cleaning robot, such as Fig.10 As shown, including: Step S401: the fourth control unit drives the motor to run in one direction, and then proceeds to step S402; Step S402: The fourth control unit determines whether it receives a stop signal, and if so, ends the operation, otherwise, proceeds to S401; In this implementation scheme, the asynchronous operation of the cleaning robot is realized by hardware. Compared with other schemes, the control method is simpler and the hardware cost is lower.

[0025] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one 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 embodiments of the present invention. Therefore, the embodiments of the present invention will not be limited to the embodiments shown herein, but rather to the widest range consistent with the principles and novel features disclosed herein.

Claims

1. An asynchronous photovoltaic panel cleaning robot, It is characterized in that The photovoltaic panel cleaning robot is provided with an upper and lower transmission mechanism, a control unit and a brush; the upper transmission mechanism is provided with two running wheels and two guide wheels, and the running wheels and guide wheels are connected by the same motor to form a driving wheel group of the upper transmission mechanism; the lower transmission mechanism has the same structure as the upper transmission mechanism; the running wheels and guide wheels of the upper or lower transmission mechanism are installed at 90 degrees, and respectively run on the front and side frames of the photovoltaic panel; the control unit controls the operation of the driving motors of the upper and lower transmission mechanisms, thereby driving the running wheels and guide wheels of the upper and lower transmission mechanisms to rotate.

2. An asynchronous photovoltaic panel cleaning robot according to claim 1, It is characterized in that The upper and lower transmission mechanisms of the photovoltaic panel cleaning robot are independently driven by dual motors. The upper motor drives the walking wheels and guide wheels of the upper transmission mechanism, and the lower motor drives the walking wheels and guide wheels of the lower transmission mechanism.

3. An asynchronous photovoltaic panel cleaning robot according to claim 1 and claim 2, It is characterized in that Pressure detectors are respectively installed at the two guide wheel shafts of the upper transmission mechanism, which are used to measure the pressure values ​​between the two guide wheels of the upper transmission mechanism and the upper side wall of the photovoltaic panel; pressure detectors are respectively installed at the two guide wheel shafts of the lower transmission mechanism, which are used to measure the pressure values ​​between the two guide wheels of the lower transmission mechanism and the lower side wall of the photovoltaic panel; the control unit is also used to determine whether the values ​​fed back by the pressure detectors on the guide wheel shafts of the upper and lower transmission mechanisms exceed the preset values. If so, it is determined that the guide wheel corresponding to the pressure detector has been in contact with the side of the photovoltaic panel assembly, and then it is determined that the transmission mechanism corresponding to the pressure detector has completed the current running distance, and the control unit suspends the operation of the transmission mechanism at this end and starts to drive the transmission mechanism at the other end to operate.

4. An asynchronous photovoltaic panel cleaning robot according to claim 1 and claim 2, It is characterized in that The guide wheel of the upper transmission mechanism is equipped with an encoder for measuring the running distance of the guide wheel of the upper transmission mechanism; the guide wheel of the lower transmission mechanism is equipped with an encoder for measuring the running distance of the guide wheel of the lower transmission mechanism; the control unit is also used to calculate whether the encoder feedback values ​​on the guide wheels of the upper and lower transmission mechanisms exceed the preset values. If so, it is determined that the transmission mechanism corresponding to the encoder has completed the current running distance, and the control unit temporarily sets the transmission mechanism at this end to run and starts driving the transmission mechanism at the other end to run.

5. An asynchronous photovoltaic panel cleaning robot according to claim 1 and claim 2, It is characterized in that The control unit determines the running distance of the upper and lower transmission mechanisms by timing; the timing method can flexibly set the timing duration according to the specific conditions of the cleaning robot, and then set the running distance of each step of the upper and lower transmission mechanisms of the cleaning robot.

6. The asynchronous photovoltaic panel cleaning robot according to claim 1, It is characterized in that The upper and lower transmission mechanisms of the photovoltaic panel cleaning robot are driven by a single motor. The upper and lower transmission mechanisms are connected to the same motor through gear transmission. The power output by the motor drives the upper and lower transmission mechanisms in turn through special-shaped gears, thereby realizing asynchronous operation of the upper and lower transmission mechanisms.

7. A control method for an asynchronous photovoltaic panel cleaning robot. It is characterized in that Applied to the asynchronous photovoltaic panel cleaning robot described in claim 3, the control method includes: assuming that the cleaning robot runs to the right, first drive the motor of the upper transmission mechanism to run to the right, and judge whether the value of the pressure detector on the right guide wheel shaft of the upper transmission mechanism and the value of the pressure detector on the left guide wheel shaft of the lower transmission mechanism simultaneously exceed the preset value, and if so, it is determined that the upper transmission mechanism has completed the current running distance, the control unit suspends the operation of the upper transmission mechanism, and at the same time, starts to drive the lower transmission mechanism to run; as mentioned above, the upper and lower transmission mechanisms are operated alternately in sequence to realize the asynchronous advancement of the photovoltaic panel cleaning robot.

8. A control method for an asynchronous photovoltaic panel cleaning robot. It is characterized in that Applied to the asynchronous photovoltaic panel cleaning robot described in claim 4, the control method includes: assuming that the cleaning robot runs to the right, first drive the motor of the upper transmission mechanism to run to the right, and judge whether the encoder feedback value on the guide wheel of the upper transmission mechanism exceeds the preset value. If so, it is determined that the upper transmission mechanism has completed the current running distance, and the control unit suspends the operation of the upper transmission mechanism, and at the same time, starts to drive the lower transmission mechanism to run to the right; as mentioned above, the upper and lower transmission mechanisms are operated alternately in sequence to realize the asynchronous advancement of the photovoltaic panel cleaning robot.

9. A control method for an asynchronous photovoltaic panel cleaning robot. It is characterized in that Applied to the asynchronous photovoltaic panel cleaning robot described in claim 5, the control method includes: assuming that the cleaning robot runs to the right, first drive the motor of the upper transmission mechanism to run to the right for a preset time. After the preset time is over, it is determined that the upper transmission mechanism has completed the current running distance, and the control unit suspends the operation of the upper transmission mechanism, and at the same time, starts to drive the motor of the lower transmission mechanism to run to the right for a preset time; as mentioned above, the upper and lower transmission mechanisms are operated alternately in sequence to realize the asynchronous advancement of the photovoltaic panel cleaning robot.

10. A control method for an asynchronous photovoltaic panel cleaning robot. It is characterized in that Applied to the asynchronous photovoltaic panel cleaning robot described in claim 6, the control method includes: assuming that the cleaning robot runs to the right, the motor is driven to run to the right at a preset speed, and when the motor rotation angle is between 0°-180°, the upper transmission mechanism is driven to run through the transmission gear, and the lower transmission mechanism stops; when the motor rotation angle is between 180°-360°, the lower transmission mechanism is driven to run through the transmission gear, and the upper transmission mechanism stops; as described above, the upper and lower transmission mechanisms are operated alternately in sequence to realize the asynchronous advancement of the photovoltaic panel cleaning robot.

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