Pressure sensing shutdown docking platform suitable for unmanned aerial vehicle carrying type photovoltaic panel cleaning robot and docking method

Abstract

The invention discloses a pressure sensing shutdown docking platform suitable for an unmanned aerial vehicle carrying type photovoltaic panel cleaning robot and a docking method, and belongs to the technical field of photovoltaic panel cleaning mechanism accessories. The docking platform comprises a protection mechanism arranged on a parking platform and a rotating rod connected with the parking platform, the protection mechanism comprises a limiting rod groove formed in the edge position of the parking platform, an in-groove spring is arranged in the limiting rod groove, and one end of the in-groove spring is connected with a limiting rod. The in-groove spring is further connected with a connecting rod fixing buckle which is connected with one end of a connecting rod, and the other end of the connecting rod is connected with a guardrail. According to the device, stable butt joint of the cleaning robot carried by the unmanned aerial vehicle on the large-dip-angle photovoltaic panel can be achieved, and the problems that wings impact the photovoltaic panel when the unmanned aerial vehicle stops and releases the robot and the photovoltaic panel cleaning robot slides down are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of photovoltaic panel cleaning mechanism accessories, and in particular relates to a pressure sensing stop docking platform and a docking method suitable for an unmanned aerial vehicle transporting photovoltaic panel cleaning robot. Background Art

[0002] The cleanliness of the surface of photovoltaic panels has a significant impact on their power generation efficiency and is one of the key factors in improving energy conversion efficiency. In the current market, photovoltaic panel cleaning robot technology is becoming increasingly mature, and the main types include dry hanging, distributed, and unmanned vehicle types. In recent years, photovoltaic power stations are accelerating their transformation to unmanned automated cleaning modes, indicating that the photovoltaic power station cleaning industry is undergoing a transformation from labor-intensive to intelligent unmanned. In this wave of transformation, the drone-assisted handling robot cleaning combination has the unique advantage of being able to cross complex terrain and be flexibly deployed. It has broken through the geographical limitations of traditional cleaning methods and demonstrated strong application potential.

[0003] However, it is worth noting that although the drone-carrying cleaning robot has shown great advantages in flexibility and efficiency, its equipment stability, especially the impact of the large inclination angle of the photovoltaic panel (>15°) on the operation of the drone, still requires further optimization of technical innovation and solutions. The main problems are: 1) The wings of the drone can easily touch the large-angle photovoltaic panel, causing the drone to stall and fall. 2) The mode of drone-carrying photovoltaic panel cleaning robots is mainly to lower the robot by unbuckling the drone and the photovoltaic panel cleaning robot. At the moment of lowering the robot, the photovoltaic panel cleaning robot, which is mainly suction-cup-type, will inevitably have an angle with the photovoltaic panel when landing, resulting in insufficient adsorption force, and then slipping off the photovoltaic panel. Therefore, although the solution has broad prospects, the pain points of this technology still have room for improvement. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a pressure-sensing shutdown docking platform and docking method suitable for a drone-carrying photovoltaic panel cleaning robot. The above-mentioned device can realize the stable docking of the drone-carrying cleaning robot on the photovoltaic panel with a large inclination angle, avoiding the problem of the wings hitting the photovoltaic panel when the drone docks and releases the robot, and the problem of the photovoltaic panel cleaning robot slipping, and also provides a solution for the power supply of the device itself.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a pressure sensing parking docking platform suitable for a drone-carrying photovoltaic panel cleaning robot, comprising a protection mechanism arranged on the parking platform and a rotating rod connected to the parking platform, wherein the protection mechanism comprises a limit rod groove provided at the edge of the parking platform, an inner groove spring is arranged inside the limit rod groove, one end of the inner groove spring is connected to the limit rod, the inner groove spring is also connected to a connecting rod fixing buckle, the connecting rod fixing buckle is connected to one end of the connecting rod, and the other end of the connecting rod is connected to a guardrail.

[0006] In one embodiment, a slider is provided on the connecting rod, the slider is connected to a connecting rod bracket, the connecting rod bracket is connected to a welding rod sleeve, an in-slot welding rod is transversely provided in the limiting rod slot, the welding rod sleeve is externally attached to the in-slot welding rod, and the welding rod sleeve can rotate freely on the in-slot welding rod.

[0007] In one embodiment, there is an upward lifting section near the exit position of the limiting rod slot, and the outward end of the spring in the slot is lifted obliquely upward by the lifting section and connected to the limiting rod.

[0008] In one embodiment, the limit rod is tilted toward the parking position of the drone in the parking platform.

[0009] In one embodiment, a drone visual identification mark is provided on the parking platform, and a pressure sensor is provided at the drone parking position of the parking platform.

[0010] In one embodiment, the parking platform is connected to one end of a rotating rod, and the other end of the rotating rod is connected to a photovoltaic module.

[0011] In one embodiment, the photovoltaic module includes a photovoltaic panel, a photovoltaic panel warehouse of a parking platform arranged below the photovoltaic panel, and a frame outside the photovoltaic panel. A signal processor, a motor, and an energy storage battery are arranged inside the photovoltaic panel warehouse of the parking platform.

[0012] In one embodiment, the frame outside the photovoltaic panel includes a frame, a first fixing plate and a second fixing plate. The two sets of frames are respectively located on both sides of the photovoltaic panel, the two sets of first fixing plates are respectively fixedly arranged on the frame, and the first fixing plate is fixedly connected to the second fixing plate at both ends.

[0013] In one embodiment, a bearing groove is provided on one side wall of the photovoltaic panel bin of the parking platform, and a bearing is fixedly arranged in the bearing groove. The rotating rod passes through the frame and the bearing successively, and the gear arranged at the end of the rotating rod meshes with the output shaft gear of the motor.

[0014] The present invention also provides a docking method based on the pressure sensing shutdown docking platform of the unmanned aerial vehicle transport type photovoltaic panel cleaning robot, comprising the following steps: The parking platform rotates to be parallel to the ground, the drone releases the photovoltaic panel cleaning robot and leaves, and the parking platform rotates to be parallel to the photovoltaic panel; During the rotation process, the photovoltaic panel cleaning robot slides and touches the limit rod, the limit rod is pushed and drives the spring in the compression groove, the spring in the groove drives the connecting rod fixing buckle to move away from the parking position of the drone in the parking platform, the connecting rod fixing buckle drives the connecting rod, and the connecting rod drives the guardrail to rise to protect the photovoltaic panel cleaning robot.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a pressure sensing parking docking platform suitable for a drone-carrying photovoltaic panel cleaning robot. The existing device is difficult to achieve stable docking of the drone-carrying cleaning robot on a photovoltaic panel with a large inclination angle. When the drone docks and releases the robot, there may be a risk of the wing hitting the photovoltaic panel. The parking platform provided by the present invention can be driven by a rotating rod to rotate to be parallel to the ground, so that the drone can land smoothly and release the photovoltaic panel cleaning robot. Subsequently, the parking platform is rotated to be parallel to the photovoltaic panel, and the photovoltaic panel cleaning robot can move toward the photovoltaic panel to achieve normal operation. This design effectively avoids the possibility of the drone wing colliding with the photovoltaic panel. In addition, on a photovoltaic panel with a large inclination angle, the photovoltaic panel cleaning robot is very easy to slide when the parking platform rotates, and there is a risk of slipping. The present invention sets a protective mechanism in the edge area of ​​the parking platform, including a limit rod, a limit rod groove, a guardrail, a connecting rod and other components. When the photovoltaic panel cleaning robot slides and touches the limit rod, it will push the limit rod and compress the spring in the groove, thereby driving the connecting rod and the guardrail to rise, forming a protection to prevent the photovoltaic panel cleaning robot from slipping when the parking platform rotates.

[0016] Furthermore, the present invention integrates key components such as signal processors, motors and energy storage batteries inside the photovoltaic panel warehouse of the parking platform. Among them, the photovoltaic panels can generate electricity and store electricity through energy storage batteries for the operation of the equipment itself. It not only solves the maintenance trouble, but also realizes the self-power supply of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a pressure sensing stop docking platform suitable for a drone-carrying photovoltaic panel cleaning robot according to the present invention; Figure 2 It is a cross-sectional view of a photovoltaic panel bin of a parking platform in a pressure sensing parking docking platform of a drone-carrying photovoltaic panel cleaning robot of the present invention; Figure 3 It is a schematic diagram of the protection mechanism of the photovoltaic panel bin on the parking platform in the pressure sensing parking docking platform of the drone-carrying photovoltaic panel cleaning robot of the present invention.

[0018] Among them: 1-fixing bolt; 2-first fixing plate; 3-second fixing plate; 4-rotating rod; 5-parking platform; 6-UAV visual identification mark; 7-pressure sensor; 8-limit rod; 9-limit rod groove; 10-guardrail; 11-connecting rod; 12-water pipe fixing frame; 13-motor compartment; 14-photovoltaic panel compartment of parking platform; 15-photovoltaic panel; 16-gear; 17-bearing; 18-bearing groove; 19-line hole; 20-signal processor; 21-energy storage battery; 22-battery compartment partition; 23-motor fixing plate; 24-motor fixing bolt; 25-motor; 26-slot spring; 27-connecting rod fixing buckle; 28-slider; 29-connecting rod bracket; 30-slot welding rod; 31-welding rod sleeve. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1 and Figure 3 The present invention provides a pressure sensing stop and docking platform suitable for a drone-carrying photovoltaic panel cleaning robot, the core of which lies in its unique rotation and protection mechanism design during the rotation process. The protection mechanism is arranged at the edge area of ​​the stop platform 5 to achieve effective protection of the photovoltaic panel cleaning robot during the stop and docking stage.

[0022] A limit rod slot 9 is provided at the edge of the parking platform 5, and a slot spring 26 is built in the limit rod slot 9. One end of the slot spring 26 is connected to the limit rod 8, and the limit rod 8 is exposed on the parking platform 5. The slot spring 26 is connected to the connecting rod 11 through a connecting rod fixing buckle 27. One end of the connecting rod 11 is connected to the connecting rod fixing buckle 27, and the other end is connected to the guardrail 10.

[0023] Preferably, there are two limiting rod grooves 9 , which are respectively located at two ends of the guardrail 10 , and there are two limiting rods 8 , which are also respectively located at two ends of the guardrail 10 .

[0024] When the drone releases the photovoltaic panel cleaning robot and leaves, and the parking platform 5 rotates to be parallel to the photovoltaic panel 15, the photovoltaic panel cleaning robot carried by the drone will come into contact with the limit rod 8, which will push the limit rod 8, thereby causing the compression of the spring 26 in the groove. As the spring 26 in the groove is compressed, the connecting rod fixing buckle 27 will move accordingly, thereby driving the connecting rod 11 to produce a corresponding displacement. This displacement will trigger the raising action of the guardrail 10, thereby forming a protection around the parking platform 5 to ensure that the photovoltaic panel cleaning robot does not slip during the parking docking process.

[0025] A slider 28 is added to the connecting rod 11. The slider 28 is connected to the connecting rod bracket 29, and the other end of the connecting rod bracket 29 is connected to the welding rod sleeve 31. A transverse in-slot welding rod 30 is specially provided inside the limiting rod slot 9. The welding rod sleeve 31 is attached to the in-slot welding rod 30 and has the ability to rotate freely on the in-slot welding rod 30.

[0026] There is an upward lifting section at the exit position of the limiting rod slot 9. This lifting section makes the outward end of the spring 26 in the slot tilt upward and be connected with the limiting rod 8.

[0027] The limit rod 8 is tilted toward the direction of the parking position of the drone in the parking platform 5. By tilting the limit rod 8, the photovoltaic panel cleaning robot carried by the drone can be more effectively guided to contact the limit rod 8 during the parking docking process.

[0028] One end of the parking platform 5 is connected to one end of the rotating rod 4, and the other end of the rotating rod 4 is connected to the photovoltaic module. The photovoltaic module consists of a photovoltaic panel 15, a parking platform photovoltaic panel warehouse 14 located below the photovoltaic panel 15, and a frame arranged around the photovoltaic panel 15.

[0029] Among them, Figure 2 As shown, the photovoltaic panel warehouse 14 of the parking platform integrates key components such as a signal processor 20, a motor 25 and an energy storage battery 21.

[0030] Specifically, the external frame of the photovoltaic panel 15 includes two sets of frames, which are respectively located on both sides of the photovoltaic panel 15, and two sets of first fixing plates 2 respectively fixed on the frames. The two sets of first fixing plates 2 are fixedly connected to the second fixing plates 3 at both ends, which is equivalent to connecting one set of first fixing plates 2 at both ends of the second fixing plates 3.

[0031] More specifically, a bearing groove 18 is provided on one side wall of the photovoltaic panel bin 14 of the parking platform, and a bearing 17 is fixedly installed therein. The rotating rod 4 passes through the frame surrounding the photovoltaic panel 15 and the bearing 17 in sequence, and the gear 16 installed at its end is precisely meshed with the output shaft gear of the motor 25.

[0032] Another aspect of the present invention further provides a docking method for a pressure sensing shutdown docking platform of a drone-carrying photovoltaic panel cleaning robot, comprising the following steps: The parking platform 5 rotates to be parallel to the ground, the drone releases the photovoltaic panel cleaning robot and leaves, and the parking platform 5 rotates to be parallel to the photovoltaic panel 15; During the rotation process, the photovoltaic panel cleaning robot slides and touches the limit rod 8, the limit rod 8 is pushed and drives the spring 26 in the compression groove, the spring 26 in the groove drives the connecting rod fixing buckle 27 to move away from the parking position of the drone in the parking platform 5, the connecting rod fixing buckle 27 drives the connecting rod 11, and the connecting rod 11 drives the guardrail 10 to rise to protect the photovoltaic panel cleaning robot.

[0033] In summary, the pressure sensing stop docking platform for drone-carried photovoltaic panel cleaning robots has the following advantages. First, the device can realize the cross-column operation of the drone-carried photovoltaic cleaning robot, which overcomes the possibility of the photovoltaic panel cleaning robot slipping when the drone carrying the robot lands directly on the photovoltaic panel 15 at a large inclination angle, and avoids the possibility of the drone wing colliding with the photovoltaic panel. Secondly, the device has its own photovoltaic panel power generation system. When the photovoltaic panel cleaning robot moves toward the photovoltaic panel 15 after landing, it can clean the photovoltaic panel 15 at the same time, solving the maintenance trouble problem.

[0034] In a specific embodiment, a pressure sensing parking docking platform suitable for a drone-carrying photovoltaic panel cleaning robot is provided, including a parking platform 5, a limit rod 8, a limit rod groove 9, a guardrail 10, a connecting rod 11, a spring 26 in the groove, a connecting rod fixing buckle 27, a slider 28, a connecting rod bracket 29, a welding rod 30 in the groove, and a welding rod sleeve 31.

[0035] The limiting rod 8, the limiting rod slot 9, the guardrail 10, the connecting rod 11, the spring 26 in the slot, the connecting rod fixing buckle 27, the sliding block 28, the connecting rod bracket 29, the welding rod 30 in the slot, and the welding rod sleeve 31 together constitute a protection mechanism.

[0036] Two groups of limit rod grooves 9 are provided at the edge of one side of the parking platform 5, which is the edge of the sliding direction of the photovoltaic panel cleaning robot. The inner groove spring 26 is arranged inside the limit rod groove 9. Two limit rods 8 are arranged near the two groups of limit rod grooves 9 respectively. The limit rods 8 are exposed on the parking platform 5. The bottoms of the two limit rods 8 are respectively connected with the inner groove springs 26 in the two groups of limit rod grooves 9. Specifically, the limit rods 8 are fixed with the inner groove springs 26 by welding. The inner groove spring 26 is connected with the connecting rod fixing buckle 27, the connecting rod fixing buckle 27 is connected with the connecting rod 11, and the connecting rod 11 is connected with the guardrail 10. The slider 28 is arranged on the connecting rod 11, the slider 28 is connected with the connecting rod bracket 29, and the connecting rod bracket 29 is connected with the welding rod sleeve 31. The inner groove welding rod 30 is transversely arranged inside the limit rod groove 9, and the two ends of the inner groove welding rod 30 are respectively connected with the two inner walls of the limit rod groove 9, and the welding rod sleeve 31 is externally attached to the inner groove welding rod 30. The connecting rod 11 is fixed to the spring 26 in the groove through the connecting rod fixing buckle 27, and is fixed to the connecting rod bracket 29 through the slider 28. The connecting rod bracket 29 is welded to the in-groove welding rod 30 welded in the limiting rod groove 9 through an externally attached welding rod sleeve 31, and the welding rod sleeve 31 can rotate freely on the welding rod 30.

[0037] On the basis of the above embodiment, there is an upward lifting section near the exit position of the limiting rod slot 9 , and the outward end of the spring 26 in the slot is lifted obliquely upward by the lifting section and connected to the limiting rod 8 .

[0038] On the basis of the above embodiment, the limiting rod 8 is tilted toward the direction of the parking position of the UAV in the parking platform 5 .

[0039] On the basis of the above embodiment, the shape of the guardrail 10 is a 1 / 4 arc-shaped guardrail.

[0040] On the basis of the above embodiments, a pressure sensing shutdown docking platform suitable for a drone-carrying photovoltaic panel cleaning robot is provided, including a fixing bolt 1, a first fixing plate 2, a second fixing plate 3, a rotating rod 4, a shutdown platform 5, a drone visual identification mark 6, a pressure sensor 7, a limit rod 8, a limit rod groove 9, a guardrail 10, a connecting rod 11, a water pipe fixing frame 12, a motor compartment 13, a shutdown platform photovoltaic panel compartment 14, a photovoltaic panel 15, a gear 16, a bearing 17, a bearing groove 18, a line hole 19, a signal processor 20, an energy storage battery 21, a battery compartment partition 22, a motor fixing plate 23, a motor fixing bolt 24, a motor 25, a groove spring 26, a connecting rod fixing buckle 27, a slider 28, a connecting rod bracket 29, a groove welding rod 30, and a welding rod sleeve 31.

[0041] The limiting rod 8, the limiting rod slot 9, the guardrail 10, the connecting rod 11, the spring 26 in the slot, the connecting rod fixing buckle 27, the sliding block 28, the connecting rod bracket 29, the welding rod 30 in the slot, and the welding rod sleeve 31 together constitute a protection mechanism.

[0042] The drone visual identification mark 6 is set on the parking platform 5, and the pressure sensor 7 is set at the drone parking position of the parking platform 5. The parking platform 5 is welded and fixed to the other end of the rotating rod 4. Therefore, the parking platform 5 can be driven by the rotation of the rotating rod 4 to rotate relative to the parking platform photovoltaic panel bin 14 and the photovoltaic panel 15 to achieve an angle horizontal to the ground.

[0043] One end of the rotating rod 4 is connected to the platform 5, and the other end of the rotating rod 4 is connected to the photovoltaic module. The photovoltaic module includes a photovoltaic panel 15, a photovoltaic panel bin 14 of the parking platform arranged below the photovoltaic panel 15, and a frame outside the photovoltaic panel 15. The signal processor 20, the motor 25 and the energy storage battery 21 are arranged inside the photovoltaic panel bin 14 of the parking platform.

[0044] Among them, the fixing bolts 1, the first fixing plate 2, the second fixing plate 3 and the two side frames constitute a frame, and the frame is located outside the photovoltaic panel 15, and is used to support and fix the photovoltaic panel 15. A group of first fixing plates 2 are fixedly arranged on each group of frames. Specifically, the first fixing plates 2 are fixedly installed on the frames by fixing bolts 1, and the second fixing plates 3 are fixedly connected to the two groups of first fixing plates 2 at both ends. That is, a group of first fixing plates 2 are connected to each end of the second fixing plate 3, so as to form a complete frame outside the photovoltaic panel 15. Preferably, the first fixing plate 2 and the second fixing plate 3 are fixed by welding or bolts.

[0045] The bearing 17 is fixed in a bearing groove 18 reserved on the photovoltaic panel bin 14 of the parking platform. The rotating rod 4 successively passes through the second fixed plate 3 and the bearing 17 located on the photovoltaic panel bin 14 of the platform. The gear 16 on the end of the rotating rod 4 is engaged with the motor 25.

[0046] The energy storage battery 21 is arranged inside the photovoltaic panel bin 14 of the parking platform. The energy storage battery 21 can store the electricity generated by the photovoltaic panel 15 of the equipment for the operation of the equipment itself.

[0047] The motor compartment 13 is arranged inside the photovoltaic panel compartment 14 of the parking platform, and the motor 25 in the motor compartment 13 is fixed to the battery compartment partition 22 through the motor fixing plate 23 and the motor fixing bolts 24. The battery compartment partition 22 separates the energy storage battery 21 and the motor compartment 13.

[0048] The signal processor 20 is arranged inside the photovoltaic panel bin 14 of the parking platform. A circuit hole 19 is opened on the side wall of the photovoltaic panel bin 14 of the parking platform. The circuit hole 19 can be used for wiring between the pressure sensor 7 and the signal processor 20.

[0049] The docking platform has a water pipe fixing bracket 12, which is arranged on the side of the second fixing plate 3, allowing it to be combined with the water collection system under the photovoltaic panel and connected to the water pipe for water replenishment when the photovoltaic panel cleaning robot is docked.

[0050] The above-mentioned pressure-sensing parking docking platform suitable for drone-carried photovoltaic panel cleaning robots realizes the parking method of the drone-carried photovoltaic cleaning robot as follows: the first fixed plate 2 is fixedly installed parallel to the large-angle photovoltaic panel (>15°), and the parking platform 5 is driven by the motor 25 through the rotating rod 4 to rotate to a certain angle with the photovoltaic panel 15, so that the parking platform is parallel to the ground. At this time, the drone carrying the photovoltaic cleaning robot recognizes the drone visual identification mark 6 through the visual recognition system, and can land smoothly on the parking platform 5. After the photovoltaic panel cleaning robot is released, the drone leaves, and the parking platform 5 is driven by the motor 25 and the rotating rod 4 to rotate slowly to be parallel to the photovoltaic panel 15. Then the photovoltaic panel cleaning robot can move toward the photovoltaic panel 15 to achieve normal operation.

[0051] The device has a protective measure of the connecting rod structure: for photovoltaic panels with an inclination angle of more than 20°, the photovoltaic panel cleaning robot is very easy to slide when the parking platform 5 rotates. At this time, the photovoltaic panel cleaning robot will touch the limit rod 8, and the limit rod 8 is pushed toward the limit rod groove 9, driving the groove spring 26 in the limit rod groove 9 to compress, and continue to drive the connecting rod fixing buckle 27 to move away from the pressure sensor 7. Due to the fixation of the slider 28, the connecting rod 11 can drive the arc-shaped anti-slip guardrail 10 to rise, preventing the cleaning robot from losing stability and sliding when the parking platform 5 rotates.

[0052] Normally, the arc-shaped anti-skid guardrail 10 is preferably in a flat state, so that when the cleaning robot is docked, it can be ensured that each time the cleaning robot moves toward the photovoltaic panel 5, it has a stable and identical walking route without falling.

[0053] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A pressure sensing stop docking platform suitable for drone-carrying photovoltaic panel cleaning robots, characterized in that: The invention comprises a protective mechanism arranged on a parking platform (5) and a rotating rod (4) connected to the parking platform (5), wherein the protective mechanism comprises a limit rod slot (9) provided at an edge position of the parking platform (5), an inner slot spring (26) being arranged inside the limit rod slot (9), one end of the inner slot spring (26) being connected to a limit rod (8), the inner slot spring (26) being connected to a connecting rod fixing buckle (27), the connecting rod fixing buckle (27) being connected to one end of a connecting rod (11), and the other end of the connecting rod (11) being connected to a guardrail (10).

2. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 1 is characterized in that: The connecting rod (11) is provided with a slider (28), the slider (28) is connected to a connecting rod bracket (29), the connecting rod bracket (29) is connected to a welding rod sleeve (31), an in-slot welding rod (30) is transversely arranged in the limiting rod slot (9), the welding rod sleeve (31) is externally attached to the in-slot welding rod (30), and the welding rod sleeve (31) can freely rotate on the in-slot welding rod (30).

3. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 1 is characterized in that: There is an upward lifting section near the exit position of the limiting rod slot (9), and the outward end of the spring (26) in the slot is lifted obliquely upward by the lifting section and connected to the limiting rod (8).

4. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 1 is characterized in that: The limit rod (8) is arranged to be inclined in the direction of the parking position of the drone in the parking platform (5).

5. The pressure sensing stop docking platform suitable for a drone-carrying photovoltaic panel cleaning robot according to claim 1 is characterized in that: The parking platform (5) is provided with a drone visual identification mark (6), and a pressure sensor (7) is provided at the drone parking position of the parking platform (5).

6. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 1 is characterized in that: The rotating rod (4) is connected to a photovoltaic module.

7. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 6 is characterized in that: The photovoltaic module comprises a photovoltaic panel (15), a parking platform photovoltaic panel bin (14) arranged below the photovoltaic panel (15), and a frame outside the photovoltaic panel (15); a signal processor (20), a motor (25), and an energy storage battery (21) are arranged inside the parking platform photovoltaic panel bin (14).

8. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 7 is characterized in that: The frame outside the photovoltaic panel (15) comprises a frame, a first fixing plate (2) and a second fixing plate (3); two groups of the frame are respectively located on two sides of the photovoltaic panel (15); two groups of the first fixing plates (2) are respectively fixedly arranged on the frame; and the first fixing plates (2) and the second fixing plates (3) are fixedly connected at both ends.

9. The pressure sensing stop docking platform for a drone-carrying photovoltaic panel cleaning robot according to claim 7 is characterized in that: A bearing groove (18) is provided on one side wall of the photovoltaic panel bin (14) of the parking platform, a bearing (17) is fixedly arranged in the bearing groove (18), the rotating rod (4) successively passes through the frame and the bearing (17), and a gear (16) arranged at the end of the rotating rod (4) meshes with an output shaft gear of the motor (25).

10. A docking method for a pressure sensing stop docking platform of a drone-carrying photovoltaic panel cleaning robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: The parking platform (5) rotates to be parallel to the ground, the drone releases the photovoltaic panel cleaning robot and then leaves, and the parking platform (5) rotates to be parallel to the photovoltaic panel (15); During the rotation process, the photovoltaic panel cleaning robot slides and touches the limit rod (8), the limit rod (8) is pushed and drives the spring (26) in the compression groove, the spring (26) in the groove drives the connecting rod fixing buckle (27) to move in a direction away from the parking position of the drone in the parking platform (5), the connecting rod fixing buckle (27) drives the connecting rod (11), and the connecting rod (11) drives the guardrail (10) to rise to protect the photovoltaic panel cleaning robot.

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