A photovoltaic inspection robot

Abstract

The present invention provides a photovoltaic patrol inspection robot, which relates to the field of photovoltaic power station operation and maintenance technology, including: a robot body, the robot body including a cleaning box and a detection box, and the top of the cleaning box is connected to a mounting frame through a walking device, and the mounting frame is arranged on the side of the photovoltaic component. The present invention arranges the robot body at the bottom of the walking device, and then moves at the bottom of the mounting frame through the walking device, thereby effectively improving the background technology proposed: the traditional photovoltaic inspection relies on manual inspection, and in remote and harsh natural environments, manual inspection work is very difficult and dangerous, and not only increases labor costs, but also the inspection of photovoltaic panels is prone to omissions. Technical problems.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power station operation and maintenance, and in particular to a photovoltaic patrol inspection robot. Background Art

[0002] With the continuous advancement of solar power generation technology, the scale of photovoltaic power station construction is expanding. However, the construction sites of photovoltaic power stations are often complex, including wasteland, abandoned mine subsidence areas, building roofs, and water surfaces. Furthermore, photovoltaic panels are installed in arrays in the open air at an angle, making them susceptible to contamination from sand and dust, which seriously affects their photoelectric conversion efficiency. Therefore, regular or timely inspections and cleaning of photovoltaic power stations have become important aspects of daily operation and maintenance.

[0003] However, traditional photovoltaic inspections rely on manual labor, which is difficult and dangerous in remote and harsh environments. This not only increases labor costs but also makes it easy for photovoltaic panels to be missed. Therefore, in response to the above situation, there is an urgent need to develop a photovoltaic inspection robot to overcome the shortcomings of current practical applications. Summary of the Invention

[0004] The present invention provides a photovoltaic inspection robot to solve the problem raised in the above background technology: traditional photovoltaic inspections rely on manual inspections, and in remote and harsh natural environments, manual inspections are very difficult and dangerous, and not only increase labor costs, but also easily lead to omissions in the inspection of photovoltaic panels.

[0005] In order to solve the above technical problems, the present invention discloses a photovoltaic patrol inspection robot, including: a robot body, the robot body includes a cleaning box and a detection box, and the top of the cleaning box is connected to the mounting frame through a walking device, and the mounting frame is arranged on the side of the photovoltaic component.

[0006] Preferably, the walking device includes: a track beam, the track beam is fixedly mounted on the bottom end of the mounting frame, and the bottom end of the track beam cooperates with the mounting frame, and the two inner ends of the mounting frame are connected to the walking mechanism, and the walking mechanism is connected to each other through a guide rod, and the middle end of the guide rod is slidably connected to the track beam.

[0007] Preferably, the left walking mechanism includes: a mounting base, one end of the mounting base is fixedly mounted on the inner wall of the mounting frame, and the other end of the mounting base is fixedly mounted on the fixed box, the fixed end of the driving motor 1 is fixedly mounted on the left inner wall of the cavity 1 provided at the top of the fixed box, and the output end of the driving motor 1 is fixedly mounted on one end of the threaded rod, the other end of the threaded rod is threadedly connected with a threaded sleeve, and the other end of the threaded sleeve is matched with a plurality of through holes provided on the track beam, the fixed end of the driving motor 2 is fixedly mounted on the top inner wall of the cavity 2 provided at the bottom end of the fixed box, and the output end of the driving motor 2 is fixedly connected to the gear 1, and the gear 1 is meshed with the gear 2, and the gear 2 is fixedly mounted on the rotating shaft 1, the two ends of the rotating shaft 1 are respectively fixedly connected to the moving wheel, and the bottom end of the moving wheel contacts the track beam, and the top of the fixed box is fixedly connected to the guide rod.

[0008] Preferably, the top of the cleaning box is fixedly connected to the bottom of the mounting frame through a number of support rods, and a photovoltaic panel cleaning device is provided in the cleaning box, and the photovoltaic panel cleaning device includes: connecting pipe one, the connecting pipe one is fixedly installed on the top of the left side of the cleaning box, and a valve is fixedly installed on the connecting pipe one, the partition is fixedly installed on the inner wall of the cleaning box, the water pump is fixedly installed on the inner wall of the bottom end of the cavity on the left side of the partition, and the output end of the water pump is connected to the cleaning mechanism through connecting pipe two.

[0009] Preferably, the cleaning mechanism includes: a driving motor three, the driving motor three is fixedly mounted on the inner wall of the partition, and a gear three is fixedly mounted on the output end of the driving motor three, the rear end of the gear three is meshedly connected to the gear plate, the right end of the gear plate is fixedly connected to the nozzle, and the rear end of the nozzle is rotatably connected to the support rod, the left end of the support rod is fixedly mounted on the partition, and the right end of the nozzle passes through the through hole two provided in the cleaning box, and the input end of the nozzle is connected to the connecting pipe two.

[0010] Preferably, the detection box is fixedly installed at the bottom end of the cleaning box, a glass cover is provided on the right side of the detection box, and an inspection system is provided in the detection box.

[0011] Preferably, the inspection system includes:

[0012] Sensor detection module: including cameras, infrared thermal imagers, ultraviolet detectors, sound sensors, and gas leak detection sensors, used to monitor key equipment in the photovoltaic power station in real time for appearance damage, temperature anomalies, ultraviolet radiation intensity, abnormal sounds, and harmful gas leaks;

[0013] Photovoltaic module positioning module: including GPS global positioning system and laser radar, used to realize the position positioning of photovoltaic modules and ensure the accurate navigation of the robot body in the photovoltaic power station;

[0014] Intelligent data analysis and fault diagnosis module: Receives data from the sensor detection module and uses machine learning and deep learning algorithms to perform real-time analysis, identify potential failure modes, predict equipment lifespan, and generate detailed inspection reports and fault diagnosis recommendations;

[0015] Remote monitoring and remote operation interface: used by operation and maintenance personnel to monitor the status of the robot in real time, receive inspection reports, and perform remote fault diagnosis from a location far away from the site;

[0016] Autonomous charging and maintenance system: The robot body is equipped with the ability to automatically dock with the charging station and can return to charge autonomously when the battery is low.

[0017] Preferably, the inspection robot further includes:

[0018] A speed sensor, used to detect the rotation speed of the second drive motor;

[0019] A controller and an alarm are electrically connected to the speed sensor and the alarm.

[0020] Preferably, the actual output force F of the moving wheel pair track beam is calculated according to the following formula (1) and the speed sensor detection value: S , the controller compares the actual output force F of the moving wheelset rail beam S When the actual output force is outside the preset output force range, the controller controls the alarm to sound an alarm:

[0021]

[0022] Where W is the actual output power of the driving motor 2, V is the detection value of the speed sensor, G is the weight of the robot body, μ is the rolling resistance coefficient between the moving wheel and the track beam, α is the steering angle of the robot body, G d is the weight of the robot body borne by the unilateral walking mechanism, l is the length of the track beam, λ is the steering resistance coefficient between the moving wheel and the track beam, s is the center distance between the moving wheels, e is the longitudinal eccentricity between the center of gravity of the robot body and the ground contact centroid of the walking mechanism, cos is cosine, and sin is sine. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1A schematic diagram of the installation position of the inspection robot provided in an embodiment of the present invention;

[0025] Figure 2 The embodiment of the present invention provides Figure 1 A schematic diagram of the enlarged structure of point A;

[0026] Figure 3 The embodiment of the present invention provides Figure 2 A schematic diagram of the enlarged structure of point B;

[0027] Figure 4 A schematic diagram of the internal structure of a photovoltaic panel cleaning device provided in an embodiment of the present invention.

[0028] Reference numerals:

[0029] 1. Cleaning box; 2. Inspection box; 3. Mounting frame; 4. Track beam; 5. Mounting frame; 6. Guide rod; 7. Mounting seat; 8. Fixing box; 9. Driving motor 1; 10. Cavity 1; 11. Threaded rod; 12. Threaded sleeve; 13. Through hole 1; 14. Driving motor 2; 15. Cavity 2; 16. Gear 1; 17. Gear 2; 18. Rotating shaft 1; 19. Moving wheel; 20. Support rod; 21. Connecting pipe 1; 22. Valve; 23. Partition; 24. Water pump; 25. Connecting pipe 2; 26. Driving motor 3; 27. Gear 3; 28. Gear plate; 29. ​​Nozzle; 30. Support rod; 31. Through hole 2; 32. Glass cover. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0031] In addition, in the present invention, descriptions such as "first" and "second" are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, 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 "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but this must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] The present invention provides the following embodiments

[0033] Example 1

[0034] The embodiment of the present invention provides a photovoltaic inspection robot, such as Figure 1 As shown, it includes: a robot body, the robot body includes a cleaning box 1 and a detection box 2, and the top of the cleaning box 1 is connected to the mounting frame 3 through a walking device, and the mounting frame 3 is arranged on the side of the photovoltaic component.

[0035] The beneficial effects of the above technical solution are: the present invention sets the robot body at the bottom of the walking device, and then moves at the bottom of the mounting frame 3 through the walking device, thereby effectively improving the background technology proposed: traditional photovoltaic inspections rely on manual inspections, and in remote and harsh natural environments, manual inspections are very difficult and dangerous, and not only increase labor costs, but also easily lead to technical problems such as omissions in the inspection of photovoltaic panels.

[0036] Example 2

[0037] Based on Example 1, a photovoltaic inspection robot, such as Figure 1-3 As shown, the walking device includes: a track beam 4, which is fixedly mounted on the bottom end of the mounting frame 3, and the bottom end of the track beam 4 cooperates with the mounting frame 5, and the two inner ends of the mounting frame 5 are connected to the walking mechanism, and the walking mechanism is connected to each other through a guide rod 6, and the middle end of the guide rod 6 is slidably connected to the track beam 4.

[0038] Optionally, the left walking mechanism includes: a mounting seat 7, one end of the mounting seat 7 is fixedly mounted on the inner wall of the mounting frame 5, and the other end of the mounting seat 7 is fixedly mounted on the fixed box 8, the fixed end of the drive motor 9 is fixedly mounted on the left inner wall of the cavity 10 provided at the top of the fixed box 8, and the output end of the drive motor 9 is fixedly mounted on one end of the threaded rod 11, the other end of the threaded rod 11 is threadedly connected with a threaded sleeve 12, the other end of the threaded sleeve 12 is matched with a plurality of through holes 13 provided on the track beam 4, the fixed end of the drive motor 2 14 is fixedly mounted on the top inner wall of the cavity 2 15 provided at the bottom end of the fixed box 8, and the output end of the drive motor 2 14 is fixedly connected to the gear 16, and the gear 16 is meshed with the gear 2 17, and the gear 2 17 is fixedly mounted on the rotating shaft 18, the two ends of the rotating shaft 18 are respectively fixedly connected to the moving wheel 19, and the bottom end of the moving wheel 19 contacts the track beam 4, and the top of the fixed box 8 is fixedly connected to the guide rod 6.

[0039] The working principle of the above technical solution is: when the robot body needs to be moved so as to inspect the photovoltaic panel assembly, the drive motor 2 14 is first started, and the drive motor 2 14 rotates to drive the gear 16 fixedly connected to it to rotate, and the gear 16 rotates to drive the gear 2 17 meshing with it to rotate, and the gear 2 17 rotates to drive the rotating shaft 18 fixedly connected to it to rotate, and further drives the moving wheel 19 to move on the track beam 4, thereby driving the robot body at the bottom to move, so as to effectively inspect the photovoltaic assembly, and when the robot body needs to be fixed to a certain point, by starting the drive motor 19, the drive motor 19 rotates to drive the threaded rod 11 threadedly connected to it to rotate, and the threaded rod 11 rotates to drive the threaded sleeve 12 meshing with it to move, and the threaded sleeve 12 moves and moves into the through hole 13 set on the track beam 4, thereby fixing the robot body to a certain point on the mounting frame 3.

[0040] The beneficial effects of the above technical solution are: by arranging the mounting frame 3 on the side of the photovoltaic module, it is conducive to the all-round detection of the photovoltaic module; by arranging the walking device, it is conducive to the effective movement of the robot body; by arranging two sets of walking mechanisms, when the walking mechanism on one side fails, the other end can continue to operate, thereby improving the service life of the walking device; by arranging the drive motor 2 14, it is conducive to the movement of the moving wheel 19 on the track beam 4; by arranging the drive motor 1 9, the threaded rod 11 and the threaded sleeve 12, it is conducive to automatically limiting the robot body, which is very convenient and practical.

[0041] Example 3

[0042] On the basis of Example 1-2, Figure 4 As shown, the top of the cleaning box 1 is fixedly connected to the bottom of the mounting frame 5 through a plurality of support rods 20, and a photovoltaic panel cleaning device is provided in the cleaning box 1, and the photovoltaic panel cleaning device includes: a connecting pipe 21, the connecting pipe 21 is fixedly mounted on the top left side of the cleaning box 1, and a valve 22 is fixedly mounted on the connecting pipe 21, a partition 23 is fixedly mounted on the inner wall of the cleaning box 1, a water pump 24 is fixedly mounted on the inner wall of the bottom end of the cavity on the left side of the partition 23, and the output end of the water pump 24 is connected to the cleaning mechanism through a connecting pipe 2 25.

[0043] Optionally, the cleaning mechanism includes: a drive motor three 26, the drive motor three 26 is fixedly mounted on the inner wall of the partition 23, and a gear three 27 is fixedly mounted on the output end of the drive motor three 26, the rear end of the gear three 27 is meshed with the gear plate 28, the right end of the gear plate 28 is fixedly connected to the nozzle 29, and the rear end of the nozzle 29 is rotatably connected to the support rod 30, the left end of the support rod 30 is fixedly mounted on the partition 23, and the right end of the nozzle 29 passes through the through hole two 31 provided in the cleaning box 1, and the input end of the nozzle 29 is connected to the connecting pipe two 25.

[0044] Optionally, the detection box 2 is fixedly installed at the bottom end of the cleaning box 1 , a glass cover 32 is provided on the right side of the detection box 2 , and an inspection system is provided in the detection box 2 .

[0045] Optionally, the inspection system includes:

[0046] Sensor detection module: including cameras, infrared thermal imagers, ultraviolet detectors, sound sensors, and gas leak detection sensors, used to monitor in real time the appearance damage, temperature anomalies, ultraviolet radiation intensity, abnormal sounds, and harmful gas leaks of key equipment in photovoltaic power stations (photovoltaic panels, inverters, combiner boxes, etc.);

[0047] Photovoltaic module positioning module: including GPS global positioning system and laser radar, used to realize the position positioning of photovoltaic modules and ensure the accurate navigation of the robot body in the photovoltaic power station;

[0048] Intelligent data analysis and fault diagnosis module: Receives data from the sensor detection module and uses machine learning and deep learning algorithms to perform real-time analysis, identify potential failure modes, predict equipment lifespan, and generate detailed inspection reports and fault diagnosis recommendations;

[0049] Remote monitoring and remote operation interface: used by operation and maintenance personnel to monitor the status of the robot in real time, receive inspection reports, perform remote fault diagnosis, and manually control the robot when necessary.

[0050] Autonomous charging and maintenance system: The robot body is equipped with the ability to automatically dock with the charging station and can return to charge autonomously when the battery is low. The system also has simple self-cleaning and preliminary fault self-detection functions.

[0051] The working principle of the above technical solution is: when the sensor detection module detects that the surface temperature of the photovoltaic component is high or there is dirt on the surface, it moves to the desired position through the walking device, and then starts the water pump 24. The water pump 24 transports the water in the cleaning box 1 to the nozzle 29 through the connecting pipe 25, thereby effectively cooling or cleaning the surface of the photovoltaic component. By starting the drive motor 3 26, the drive motor 3 26 rotates to drive the gear 3 27 to rotate, and the gear 3 27 rotates to drive the gear plate 28 engaged with it to rotate. The gear plate 28 rotates to drive the nozzle 29 fixedly connected to it to rotate on the support rod 30, thereby adjusting the horizontal angle of the nozzle 29, thereby effectively cooling and cleaning the photovoltaic components at different positions.

[0052] The beneficial effects of the above technical solution are as follows: by providing the connecting pipe 1 21 and the valve 22, it is convenient to add water to the cleaning box 1; by providing the support rod 20, it is convenient to fix the cleaning box 1 at the bottom of the mounting frame 5; by providing the driving motor 3 26, the gear 3 27 and the gear plate 28, it is convenient to change the direction of the nozzle 29, thereby effectively cooling or cleaning photovoltaic modules at different heights and positions; by providing the water pump 24 and the connecting pipe 25, it is convenient to output the water in the cleaning box 1 through the nozzle 29; by providing the glass cover 32, it is convenient to effectively detect the photovoltaic module through the sensor detection module;

[0053] Setting up an inspection system is conducive to comprehensive real-time monitoring of photovoltaic components: through the integration of high-definition visible light cameras, infrared thermal imagers, ultraviolet detectors, sound sensors and gas leak detection sensors, the system can monitor the status of key equipment in photovoltaic power stations from all directions and angles, which not only improves the accuracy and comprehensiveness of monitoring, but also can detect potential problems in the early stage, thereby effectively preventing accidents; high-precision positioning and navigation: combined with GPS and lidar, it ensures the precise guidance of the robot in the photovoltaic power station, which not only improves the efficiency and accuracy of inspections, but also enables the robot to work stably in complex environments, avoiding inspection omissions or misoperations due to inaccurate positioning; intelligent data analysis and fault diagnosis: the intelligent data analysis and fault diagnosis module uses advanced machine learning and deep learning algorithms to perform real-time data analysis on the data from the sensor detection module. Analysis can accurately identify potential failure modes, predict equipment life, and generate detailed inspection reports and fault diagnosis suggestions, which greatly reduces the workload of operation and maintenance personnel and improves the accuracy and efficiency of fault diagnosis; Convenient remote monitoring and remote control operation: The remote monitoring and remote control operation interface enables operation and maintenance personnel to monitor the status of the robot in real time, receive inspection reports, perform remote fault diagnosis, and manually control the robot when necessary at a location far away from the site, which not only improves the flexibility and convenience of operation and maintenance, but also reduces operation and maintenance costs and safety risks; Autonomous charging and maintenance capabilities: The robot body is equipped with an autonomous charging and maintenance system that can autonomously return to the charging station for charging when the battery is low. At the same time, the system also has simple self-cleaning and preliminary fault self-detection functions, which reduces the frequency and cost of manual intervention, improves the robot's autonomous operation capability and reliability, and is very convenient and practical.

[0054] Example 4

[0055] Based on embodiments 1-3, the inspection robot further includes:

[0056] A speed sensor for detecting the rotation speed of the second drive motor 14;

[0057] A controller and an alarm are electrically connected to the speed sensor and the alarm.

[0058] Optionally, the actual output force F of the moving wheel 19 on the track beam 4 is calculated according to the following formula (1) and the speed sensor detection value: S The controller compares the actual output force F of the moving wheel 19 on the track beam (4) S When the actual output force is outside the preset output force range, the controller controls the alarm to sound an alarm:

[0059]

[0060] Where W is the actual output power of the drive motor 2 14, V is the speed sensor detection value, G is the weight of the robot body, μ is the rolling resistance coefficient between the moving wheel 19 and the track beam 4 (the value is 0.1-0.16), α is the steering angle of the robot body, G d is the weight of the robot body borne by the unilateral walking mechanism, l is the length of the track beam 4, λ is the steering resistance coefficient between the moving wheel 19 and the track beam 4 (the value range is 0.6-0.98), s is the center distance between the moving wheels 19, e is the longitudinal eccentricity between the center of gravity of the robot body and the ground contact centroid of the walking mechanism, cos is cosine, and sin is sine.

[0061] The beneficial effects of the above technical solution are as follows: the controller controls the operation of the alarm based on the speed sensor, calculates the actual output force of the moving wheel 19 on the track beam 4 according to formula (1) and the speed sensor detection value, and comprehensively considers the actual output power of the drive motor 2 14, the weight of the robot body, the rolling resistance coefficient between the moving wheel 19 and the track beam 4, the steering angle of the robot body, the weight of the robot body borne by the unilateral walking mechanism, the length of the track beam 4, the steering resistance coefficient between the moving wheel 19 and the track beam 4, the center distance between the moving wheels 19, and the longitudinal eccentricity between the center of gravity of the robot body and the grounding centroid of the walking mechanism, so that the calculation result is more accurate and reliable;

[0062] The controller controls the operation of the speed sensor, and compares the actual output force of the moving wheel 19 on the track beam 4 with the preset output force range. When the actual output force is not within the preset output force range, the controller controls the alarm to sound an alarm, reminding the staff to promptly inspect or replace the walking mechanism, thereby meeting the user's needs for this type of photovoltaic patrol inspection robot.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A photovoltaic inspection robot, characterized in that: include: A robot body, the robot body comprising a cleaning box (1) and a detection box (2), the top end of the cleaning box (1) being connected to a mounting frame (3) via a walking device, and the mounting frame (3) being arranged on the peripheral side of a photovoltaic module.

2. A photovoltaic inspection robot according to claim 1, characterized in that: The walking device comprises: a track beam (4), the track beam (4) is fixedly mounted on the bottom end of the mounting frame (3), the bottom end of the track beam (4) cooperates with the mounting frame (5), the inner ends of the mounting frame (5) are connected to the walking mechanism, and the walking mechanism is connected to each other through a guide rod (6), and the middle end of the guide rod (6) is slidably connected to the track beam (4).

3. A photovoltaic inspection robot according to claim 2, characterized in that: The left walking mechanism comprises: a mounting seat (7), one end of the mounting seat (7) is fixedly mounted on the inner wall of the mounting frame (5), and the other end of the mounting seat (7) is fixedly mounted on the fixed box (8), the fixed end of a driving motor (9) is fixedly mounted on the left inner wall of a cavity (10) provided at the top of the fixed box (8), and the output end of the driving motor (9) is fixedly mounted on one end of a threaded rod (11), the other end of the threaded rod (11) is threadedly connected with a threaded sleeve (12), and the other end of the threaded sleeve (12) is connected to a plurality of through holes (13) provided on the track beam (4). ), the fixed end of the driving motor 2 (14) is fixedly mounted on the top inner wall of the cavity 2 (15) provided at the bottom end of the fixed box (8), and the output end of the driving motor 2 (14) is fixedly connected to the gear 1 (16), and the gear 1 (16) is meshingly connected to the gear 2 (17), and the gear 2 (17) is fixedly mounted on the rotating shaft 1 (18), and the two ends of the rotating shaft 1 (18) are respectively fixedly connected to the moving wheel (19), and the bottom end of the moving wheel (19) is in contact with the track beam (4), and the top end of the fixed box (8) is fixedly connected to the guide rod (6).

4. A photovoltaic inspection robot according to claim 1, characterized in that: The top of the cleaning box (1) is fixedly connected to the bottom of the installation frame (5) through a plurality of support rods (20), and a photovoltaic panel cleaning device is arranged in the cleaning box (1), and the photovoltaic panel cleaning device comprises: a connecting pipe (21), the connecting pipe (21) is fixedly installed at the top of the left side of the cleaning box (1), and a valve (22) is fixedly installed on the connecting pipe (21), a partition (23) is fixedly installed on the inner wall of the cleaning box (1), a water pump (24) is fixedly installed on the inner wall of the bottom end of the cavity on the left side of the partition (23), and the output end of the water pump (24) is connected to the cleaning mechanism through a connecting pipe (25).

5. A photovoltaic inspection robot according to claim 4, characterized in that: The cleaning mechanism comprises: a driving motor three (26), the driving motor three (26) being fixedly mounted on the inner wall of the partition (23), and a gear three (27) being fixedly mounted on the output end of the driving motor three (26), the rear end of the gear three (27) being meshingly connected with a gear plate (28), the right end of the gear plate (28) being fixedly connected with a nozzle (29), and the rear end of the nozzle (29) being rotatably connected to a support rod (30), the left end of the support rod (30) being fixedly mounted on the partition (23), and the right end of the nozzle (29) passing through a through hole two (31) provided in the cleaning box (1), and the input end of the nozzle (29) being connected with a connecting pipe two (25).

6. A photovoltaic inspection robot according to claim 1, characterized in that: The detection box (2) is fixedly mounted at the bottom end of the cleaning box (1), a glass cover (32) is arranged on the right side of the detection box (2), and a patrol inspection system is arranged inside the detection box (2).

7. A photovoltaic inspection robot according to claim 6, characterized in that: The inspection system comprises: Sensor detection module: including cameras, infrared thermal imagers, ultraviolet detectors, sound sensors and gas leakage detection sensors, which are used to monitor the appearance damage, temperature anomalies, ultraviolet radiation intensity, abnormal sounds and harmful gas leakage of key equipment in photovoltaic power stations in real time; Photovoltaic module positioning module: including GPS global positioning system and laser radar, used to realize the location of photovoltaic modules and ensure the accurate navigation of the robot body in the photovoltaic power station; Intelligent data analysis and fault diagnosis module: Receives data from the sensor detection module and uses machine learning and deep learning algorithms to perform real-time analysis, identify potential failure modes, and generate detailed inspection reports and fault diagnosis suggestions; Remote monitoring and remote control operation interface: used by operation and maintenance personnel to monitor the status of the robot in real time, receive inspection reports, and perform remote fault diagnosis at a location far away from the site; Autonomous Charging and Maintenance System: The robot is equipped with the ability to automatically dock with a charging station and can autonomously return to charge when the battery is low.

8. The photovoltaic inspection robot according to claim 1, characterized in that: The inspection robot also includes: A speed sensor, used to detect the rotation speed of the second drive motor (14); A controller and an alarm are electrically connected to the speed sensor and the alarm.

9. The photovoltaic inspection robot according to claim 8, characterized in that: According to the following formula (1) and the speed sensor detection value, the actual output force F of the moving wheel (19) on the track beam (4) is calculated: S The controller compares the actual output force F of the moving wheel (19) on the track beam (4) S When the actual output force is not within the preset output force range, the controller controls the alarm to sound: Where W is the actual output power of the second drive motor (14), V is the detection value of the speed sensor, G is the weight of the robot body, μ is the rolling resistance coefficient between the moving wheel (19) and the track beam (4), α is the steering angle of the robot body, and G d is the weight of the robot body borne by the unilateral walking mechanism, l is the length of the track beam (4), λ is the steering resistance coefficient between the moving wheel (19) and the track beam (4), s is the center distance between the moving wheels (19), e is the longitudinal eccentricity between the center of gravity of the robot body and the ground contact centroid of the walking mechanism, cos is cosine, and sin is sine.

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