Photovoltaic cleaning robot capable of detecting shading type of photovoltaic panel

Abstract

The invention provides a photovoltaic cleaning robot capable of detecting the shading type of a photovoltaic panel. The camera is fixedly mounted on the left side of the top of the mounting plate through a mounting frame, the walking mechanism is arranged at the bottom of the mounting plate, the cleaning mechanism is arranged at the top of the mounting plate, an electromagnetic adsorption mechanism is arranged at the bottom of the mounting plate, and a supporting mechanism and a dust collection mechanism are arranged on the surface of the mounting plate. And a crossing mechanism is arranged at the bottom of the mounting plate. According to the photovoltaic cleaning robot capable of detecting the shading type of the photovoltaic panel, a device switch is started, a camera recognizes and detects the shading type of the photovoltaic panel, data is transmitted to a data processing concentration plate for data analysis and judgment, a corresponding instruction is sent out, a cleaning mechanism is started, a cleaning brush mechanism is attached to the photovoltaic panel, and the photovoltaic panel is cleaned. And a camera is matched to detect and clean the photovoltaic panel, the photovoltaic panel is scoured and cleaned to guarantee thorough cleaning of the photovoltaic panel, and damage to the photovoltaic panel is avoided.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic cleaning robots, and particularly to a photovoltaic cleaning robot capable of detecting the texture type of a photovoltaic panel. Background Art

[0002] With the continuous growth of the global demand for clean energy, photovoltaic power generation, as a green and sustainable energy form, occupies an increasingly important position in the energy field. In recent years, the scale of photovoltaic power stations has been continuously expanding, and the application of photovoltaic panels has become increasingly widespread.

[0003] However, during the long-term outdoor operation of photovoltaic panels, they are extremely vulnerable to the influence of pollutants such as dust, bird droppings, and leaves, resulting in a decline in their power generation efficiency. Different types of photovoltaic panel textures have different requirements for cleaning methods and cleaning intensities. For textures with a smooth surface and those with textures or special coatings, since the texture type is also closely related to the power generation performance, durability, etc. of the photovoltaic panel, different cleaning parameters need to be adopted during cleaning to avoid damaging the panel.

[0004] Most of the existing photovoltaic cleaning robots with the function of detecting the texture type of photovoltaic panels lack the detection function of the texture type of photovoltaic panels and cannot perform targeted cleaning according to the specific characteristics of the panels. This may lead to incomplete cleaning or over-cleaning during the cleaning process, affecting the service life and power generation efficiency of the photovoltaic panels.

[0005] Therefore, it is necessary to provide a photovoltaic cleaning robot with the function of detecting the texture type of photovoltaic panels to solve the above technical problems. Summary of the Invention

[0006] The present invention provides a photovoltaic cleaning robot with the function of detecting the texture type of a photovoltaic panel, which solves the problems of being unable to perform targeted cleaning according to the specific characteristics of the panel, and may result in incomplete cleaning or over-cleaning during the cleaning process, affecting the service life and power generation efficiency of the photovoltaic panel.

[0007] To solve the above technical problems, a photovoltaic cleaning robot with the function of detecting the texture type of a photovoltaic panel provided by the present invention includes:

[0008] A mounting plate;

[0009] A camera, which is fixedly installed on the left side of the top of the mounting plate through a mounting frame. A battery is fixedly installed on the top of the mounting plate, and a data processing central board is fixedly installed on the top of the mounting plate;

[0010] A traveling mechanism, which is arranged at the bottom of the mounting plate;

[0011] A cleaning mechanism, wherein the cleaning mechanism is arranged on the top of the mounting plate, the cleaning mechanism comprises a pushing hydraulic cylinder, the pushing hydraulic cylinder is fixedly mounted on the top of the mounting plate, the top of the pushing hydraulic cylinder is rotatably connected with a pushing connecting rod, one end of the pushing connecting rod is rotatably connected with a rotating rod, the surface of the rotating rod is rotatably connected to the surface of the mounting plate, a cleaning brush mechanism is fixedly mounted on the surface of one end of the rotating rod, a water tank is fixedly mounted on the top of the mounting plate, the surface of the water tank is connected with a suction pump, and the surface of the suction pump is connected with a water outlet pipe and a water suction pipe.

[0012] Preferably, one end of the water outlet pipe and the water suction pipe are both connected to the cleaning brush mechanism, and the cleaning brush mechanism includes a cleaning roller cover, the surface of the cleaning roller cover is connected to the water outlet pipe and the water suction pipe, a cleaning motor is fixedly mounted on the surface of the cleaning roller cover, a cleaning roller brush is rotatably mounted on the surface of the cleaning roller cover, and the output shaft of the cleaning motor is fixedly connected to the surface of the cleaning roller brush.

[0013] Preferably, the walking mechanism includes a track wheel frame, which is fixedly mounted on the bottom of the mounting plate through a mounting seat, track wheels are rotatably mounted on both side surfaces of the track wheel frame, a walking motor is fixedly mounted on the surface of the track wheel frame, the output shaft of the walking motor is fixedly mounted on the surface of the track wheel, and tracks are transmission-connected between the track wheels.

[0014] Preferably, a suction cup is fixedly mounted on the surface of the crawler track.

[0015] Preferably, the working rotation angle of the rotating rod is set to 60 degrees.

[0016] Preferably, a support mechanism and a dust collection mechanism are provided on the surface of the mounting plate, and the support mechanism comprises a lifting plate, and a lifting hydraulic cylinder and a support column are fixedly installed on the bottom of the lifting plate, and the support column passes through the mounting plate.

[0017] Preferably, a dust suction mechanism is provided on the surface of the mounting plate, and the dust suction mechanism includes a roller brush holder, the roller brush holder is rotatably mounted on the bottom of the mounting plate, the rotating surface of the roller brush holder is fixedly connected to a rotary motor, a roller brush is rotatably mounted on the surface of the roller brush holder, a roller brush motor is fixedly mounted on the surface of the roller brush holder, an output shaft of the roller brush motor is fixedly connected to the surface of the roller brush, a roller brush telescopic rod is rotatably connected to the surface of the roller brush holder, one end of the roller brush telescopic rod is rotatably connected to a dust hood, the rotating end of the dust hood is rotatably mounted on the bottom of the mounting plate, a dust box is fixedly mounted on the top of the mounting plate, a dust box surface is connected to a dust pump, the surface of the dust pump is fixedly mounted on the top of the mounting plate, a dust pump surface is connected to a dust suction pipe, one end of the dust suction pipe passes through the mounting plate and is connected to the dust hood.

[0018] Preferably, a crossing mechanism is provided at the bottom of the mounting plate. The crossing mechanism includes a moving track, the surface of the moving track is fixedly mounted on the bottom of the mounting plate, a crossing slider is slidably mounted on the surface of the moving track, a crossing mounting frame is rotatably mounted on the surface of the crossing slider, a crossing wheel is rotatably mounted on the surface of the crossing mounting frame, an obstacle track is fixedly mounted on the bottom of the mounting plate, the obstacle track is slidably connected with a crossing support rod through a sliding seat, one end of the crossing support rod is rotatably connected to the middle surface of the crossing mounting frame, one end of the crossing mounting frame is fixedly connected with a crossing hydraulic cylinder through a pushing seat, the bottom of the crossing hydraulic cylinder is fixedly mounted on the bottom of the mounting plate through a mounting seat, and a spring is fixedly connected between the bottom of the mounting plate and the crossing mounting frame.

[0019] Preferably, the track length of the obstacle track is adapted to the length of the crossing mounting frame.

[0020] Compared with the related art, a photovoltaic cleaning robot with the function of detecting the texture type of a photovoltaic panel provided by the present invention has the following beneficial effects:

[0021] The present invention provides a photovoltaic cleaning robot with the function of detecting the texture type of a photovoltaic panel. After placing the device on the photovoltaic panel, start the device switch, the camera identifies and detects the texture type of the photovoltaic panel, transmits the data to the data processing central board for data analysis and judgment, and then starts to issue corresponding instructions. The cleaning mechanism is started, the cleaning brush mechanism is attached to the photovoltaic panel, and cooperates with the camera to detect and clean the photovoltaic panel, flushing and cleaning the photovoltaic panel to ensure thorough cleaning of the photovoltaic panel and avoid damage to the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic structural diagram of a preferred embodiment of a photovoltaic cleaning robot with the function of detecting the texture type of a photovoltaic panel provided by the present invention;

[0023] Figure 2 For Figure 1 The schematic structural diagram of the cleaning mechanism shown;

[0024] Figure 3 For Figure 2 The schematic structural diagram of the cleaning brush mechanism shown;

[0025] Figure 4 For Figure 1 The schematic structural diagram of the traveling mechanism shown;

[0026] Figure 5 It is a schematic structural diagram of a second preferred embodiment of a photovoltaic cleaning robot with the function of detecting the texture type of a photovoltaic panel provided by the present invention;

[0027] Figure 6 The Figure 5 structural schematic diagram of the dust suction mechanism and the support mechanism shown;

[0028] Figure 7 The structural schematic diagram of the third preferred embodiment of a photovoltaic cleaning robot provided by the present invention, which can detect the texture type of the photovoltaic panel;

[0029] Figure 8 The Figure 7 structural schematic diagram of the crossing mechanism shown;

[0030] Figure 9 The schematic diagram of the crossing process of the device;

[0031] Figure 10 The program flowchart of the device.

[0032] Reference numerals in the figure: 1, mounting plate; 2, traveling mechanism, 201, crawler wheel frame, 202, crawler wheel, 203, traveling motor, 204, crawler; 3, cleaning mechanism, 301, pushing hydraulic cylinder, 302, pushing connecting rod, 303, rotating rod, 304, cleaning brush mechanism, 3041, cleaning roller cover, 3042, cleaning motor, 3043, cleaning roller brush, 305, water tank, 306, suction pump, 307, water outlet pipe, 308, water suction pipe; 4, suction cup; 5, battery; 6, camera; 7, support mechanism, 701, lifting plate, 702, lifting hydraulic cylinder, 703, support column; 8, dust suction mechanism, 801, roller brush frame, 802, rotary motor, 803, roller brush, 804, roller brush motor, 805, roller brush telescopic rod, 806, dust suction cover, 807, dust suction box, 808, dust suction pump, 809, dust suction pipe; 9, crossing mechanism, 901, moving track, 902, crossing slider, 903, crossing mounting frame, 904, crossing wheel, 905, obstacle track, 906, crossing support rod, 907, crossing hydraulic cylinder, 908, spring; 10, data processing central board. Detailed Embodiments

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] First Embodiment

[0035] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 10 , a photovoltaic cleaning robot capable of detecting the texture type of a photovoltaic panel includes:

[0036] Mounting plate 1;

[0037] A camera 6, wherein the camera 6 is fixedly mounted on the top left side of the mounting plate 1 through a mounting frame, a battery 5 is fixedly mounted on the top of the mounting plate 1, and a data processing centralization board 10 is fixedly mounted on the top of the mounting plate 1;

[0038] A walking mechanism 2, wherein the walking mechanism 2 is arranged at the bottom of the mounting plate 1;

[0039] A cleaning mechanism 3 is provided on the top of the mounting plate 1, and comprises a pushing hydraulic cylinder 301, and the pushing hydraulic cylinder 301 is fixedly mounted on the top of the mounting plate 1, and the top of the pushing hydraulic cylinder 301 is rotatably connected with a pushing connecting rod 302, and one end of the pushing connecting rod 302 is rotatably connected with a rotating rod 303, and the surface of the rotating rod 303 is rotatably connected to the surface of the mounting plate 1, and a cleaning brush mechanism 304 is fixedly mounted on the surface of one end of the rotating rod 303, and a water tank 305 is fixedly mounted on the top of the mounting plate 1, and the surface of the water tank 305 is connected with a suction pump 306, and the surface of the suction pump 306 is connected with a water outlet pipe 307 and a water suction pipe 308.

[0040] One end of the water outlet pipe 307 and the water suction pipe 308 are both connected to the cleaning brush mechanism 304, and the cleaning brush mechanism 304 includes a cleaning roller cover 3041, and the surface of the cleaning roller cover 3041 is connected to the water outlet pipe 307 and the water suction pipe 308, and a cleaning motor 3042 is fixedly installed on the surface of the cleaning roller cover 3041, and a cleaning roller brush 3043 is rotatably installed on the surface of the cleaning roller cover 3041, and the output shaft of the cleaning motor 3042 is fixedly connected to the surface of the cleaning roller brush 3043.

[0041] The walking mechanism 2 includes a track wheel frame 201, which is fixedly mounted on the bottom of the mounting plate 1 through a mounting seat, track wheels 202 are rotatably mounted on the two side surfaces of the track wheel frame 201, a walking motor 203 is fixedly mounted on the surface of the track wheel frame 201, and the output shaft of the walking motor 203 is fixedly mounted on the surface of the track wheel 202, and the track wheels 202 are transmission-connected with tracks 204.

[0042] A suction cup 4 is fixedly mounted on the surface of the crawler belt 204 .

[0043] The working rotation angle of the rotating rod 303 is set to 60 degrees.

[0044] Among them, the brush of the cleaning roller brush 3043 uses a relatively soft brush for scrubbing, and at the same time, the brush is sprayed with water to moisten the photovoltaic panel. The cleaning roller cover 3041 rotates and fits against the photovoltaic panel, and the edge uses a rubber sealing material to ensure the seal during fitting. A plurality of nozzles are arranged on the inner wall surface of the cleaning roller cover 3042. The height of the nozzles is flush with the central position of the cleaning roller brush 3043 and is aligned with the cleaning roller brush 3043.

[0045] The device transmits the data collected by the camera 6 through imaging to the image processing module, then extracts the texture features therein through the texture feature extraction module for the processed image data, transmits the extracted texture features to the texture recognition module for the recognition result, and finally transmits the recognized structure to the cleaning control module to control the cleaning of the device.

[0046] The working principle of a photovoltaic cleaning robot with the ability to detect the texture type of a photovoltaic panel provided by the present invention is as follows:

[0047] First, place the device on the photovoltaic panel, turn on the switch of the device. The camera 6 identifies and detects the texture type of the photovoltaic panel, transmits the data to the data processing central board 10 for data analysis and judgment, and starts to issue corresponding instructions, causing the push hydraulic cylinder 301 to act. The push link 302 is used to push the rotating rod 303, and then drives the cleaning brush mechanism 304 to lean against the photovoltaic panel. After the leaning is completed, the cleaning motor 3042 is started to drive the cleaning roller brush 3043 to rotate and clean the photovoltaic panel, and the suction pump 306 pumps the cleaning liquid in the water tank 305 out from the nozzles in the cleaning roller cover 3041 to the cleaning roller brush 3043 for a smooth cleaning of the photovoltaic panel.

[0048] Compared with the related technology, a photovoltaic cleaning robot with the ability to detect the texture type of a photovoltaic panel provided by the present invention has the following beneficial effects:

[0049] After the device is placed on the photovoltaic panel, turn on the switch of the device. The camera 6 takes pictures, and the data processing central board 10 performs data analysis and drives the cleaning mechanism 3 to start at the same time. The cleaning brush mechanism 304 leans against the photovoltaic panel and cooperates with the camera 6 to detect and clean the photovoltaic panel. Under the identification and detection of the camera 6, the cleaning mechanism 3 controls the degree of cleaning according to the identified situation to prevent excessive damage to the photovoltaic panel.

[0050] Second Embodiment

[0051] Please refer to Figure 5 and Figure 6 , based on a photovoltaic cleaning robot with the ability to detect the texture type of a photovoltaic panel provided in the first embodiment of the present application, the second embodiment of the present application proposes another photovoltaic cleaning robot with the ability to detect the texture type of a photovoltaic panel. The second embodiment is only a preferred manner of the first embodiment, and the implementation of the second embodiment will not affect the independent implementation of the first embodiment.

[0052] Specifically, the second embodiment of the present application provides a photovoltaic cleaning robot with a photovoltaic panel shading detection type. The difference is that the surface of the mounting plate 1 is provided with a support mechanism 7 and a dust suction mechanism 8, and the support mechanism 7 includes a lifting plate 701, and a lifting hydraulic cylinder 702 and a support column 703 are fixedly installed at the bottom of the lifting plate 701, and the support column 703 runs through the mounting plate 1. The surface of the mounting plate 1 is provided with a dust suction mechanism 8, and the dust suction mechanism 8 includes a roller brush holder 801, and the roller brush holder 801 is rotatably installed at the bottom of the mounting plate 1, and the rotating surface of the roller brush holder 801 is fixedly connected to a rotary motor 802, and the surface of the roller brush holder 801 is rotatably installed with a roller brush 803, and the surface of the roller brush holder 801 is fixedly installed with a roller brush motor 804, and the output shaft of the roller brush motor 804 is fixedly connected to the surface of the roller brush 803, and the surface of the roller brush holder 801 is rotatably connected to a roller brush telescopic motor. Rod 805, one end of the roller brush telescopic rod 805 is rotatably connected to a dust hood 806, the rotating end of the dust hood 806 is rotatably mounted on the bottom of the mounting plate 1, and a dust box 807 is fixedly mounted on the top of the mounting plate 1, and the surface of the dust box 807 is connected to a dust pump 808, and the surface of the dust pump 808 is fixedly mounted on the top of the mounting plate 1, and the surface of the dust pump 808 is connected to a dust pipe 809, and one end of the dust pipe 809 passes through the mounting plate 1 and is connected to the dust hood 806.

[0053] When the roller brush 803 is scrubbing, the dust hood 806 is close to the roller brush 803 to absorb the dust generated by brushing the photovoltaic panel. The lifting height of the lifting hydraulic cylinder 702 ensures that the device is slightly lifted and the walking device 2 of the device is not completely separated from the photovoltaic panel.

[0054] The working principle of a photovoltaic cleaning robot capable of detecting the type of photovoltaic panel shading provided by the present invention is as follows:

[0055] When the device encounters stubborn stains or there is a lot of dust on the surface of the photovoltaic panel, the rotary motor 802 causes the roller brush 803 to fall close to the surface of the photovoltaic panel, and at the same time drives the dust hood 806 to fall and approach the roller brush 803. Under the action of the dust pump 808, the brushed dust is sucked into the interior of the dust box 807. When the device needs to turn, the lifting hydraulic cylinder 702 is activated, and the support column 703 moves to lift the device slightly. At this time, the single-sided walking motor 203 starts the device to start turning. After completion, the lifting hydraulic cylinder 702 is restored, and the device continues to clean the photovoltaic panel.

[0056] Compared with the related art, the photovoltaic cleaning robot provided by the present invention has the following beneficial effects:

[0057] When the device cleans stubborn stains or the dust on the surface of the photovoltaic panel is relatively large, the dust suction hood 806 drops and approaches the roller brush 803 to work together to prevent the dust generated during the treatment of the roller brush 803 from falling back onto the surface of the cleaned photovoltaic panel, resulting in incomplete cleaning of the photovoltaic panel. When the support mechanism 7 turns the device, it will not cause some areas not to be cleaned and the cleaning walking route to deviate after the device turns.

[0058] Third Embodiment

[0059] Please refer to Figure 7 , Figure 8 and Figure 9 Based on a photovoltaic cleaning robot with the ability to detect the texture type of the photovoltaic panel provided in the first embodiment of the present application, the third embodiment of the present application proposes another photovoltaic cleaning robot with the ability to detect the texture type of the photovoltaic panel. The third embodiment is only the preferred method of the first embodiment, and the implementation of the third embodiment will not affect the independent implementation of the first embodiment.

[0060] Specifically, the difference of a photovoltaic cleaning robot with the ability to detect the texture type of the photovoltaic panel provided in the third embodiment of the present application is that a crossing mechanism 9 is provided at the bottom of the mounting plate 1. The crossing mechanism 9 includes a moving track 901, the surface of the moving track 901 is fixedly installed at the bottom of the mounting plate 1, a crossing slider 902 is slidably installed on the surface of the moving track 901, a crossing mounting frame 903 is rotatably installed on the surface of the crossing slider 902, a crossing wheel 904 is rotatably installed on the surface of the crossing mounting frame 903, an obstacle track 905 is fixedly installed at the bottom of the mounting plate 1, the obstacle track 905 is slidably connected with a crossing support rod 906 through a sliding seat, one end of the crossing support rod 906 is rotatably connected to the middle surface of the crossing mounting frame 903, one end of the crossing mounting frame 903 is fixedly connected with a crossing hydraulic cylinder 907 through a push seat, the bottom of the crossing hydraulic cylinder 907 is fixedly installed at the bottom of the mounting plate 1 through a mounting seat, and a spring 908 is fixedly connected between the bottom of the mounting plate 1 and the crossing mounting frame 903. The track length of the obstacle track 905 is adapted to the length of the crossing mounting frame 903.

[0061] Among them, the extended length of the crossing mounting frame 903 is one-third of the distance of the vehicle body to ensure the smooth crossing of obstacles by the device.

[0062] The working principle of a photovoltaic cleaning robot with the ability to detect the texture type of the photovoltaic panel provided by the present invention is as follows:

[0063] When the device encounters a need for spanning and cleaning, the spanning hydraulic cylinder 907 operates to extend. Along with the movement of the spanning slider 902, the spanning mounting bracket 903 extends. Under the action of the spanning support rod 906 and the blocking track 905, the spanning mounting bracket 903 rotates, and the front spanning wheel 904 contacts another photovoltaic panel, slightly lifting the front section of the device. Then, under the advancement of the traveling mechanism 2, the device spans the gap between the two photovoltaic panels. After the spanning is completed, the spanning hydraulic cylinder 907 drives the spanning mechanism 9 to retract.

[0064] Compared with the related technologies, a photovoltaic cleaning robot provided by the present invention that can detect the texture type of the photovoltaic panel has the following beneficial effects:

[0065] When the device needs to span and clean, the spanning hydraulic cylinder 907 of the spanning mechanism 9 drives the spanning mounting bracket 903. After spanning to another photovoltaic panel, the device can smoothly pass to the next photovoltaic panel for cleaning, realizing continuous operation.

[0066] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A photovoltaic cleaning robot capable of detecting the type of photovoltaic panel shading, characterized in that: include; Mounting plate; A camera, the camera is fixedly mounted on the top left side of the mounting plate through a mounting frame, a battery is fixedly mounted on the top of the mounting plate, and a data processing centralization board is fixedly mounted on the top of the mounting plate; A walking mechanism, wherein the walking mechanism is arranged at the bottom of the mounting plate; A cleaning mechanism, wherein the cleaning mechanism is arranged on the top of the mounting plate, the cleaning mechanism comprises a pushing hydraulic cylinder, the pushing hydraulic cylinder is fixedly mounted on the top of the mounting plate, the top of the pushing hydraulic cylinder is rotatably connected with a pushing connecting rod, one end of the pushing connecting rod is rotatably connected with a rotating rod, the surface of the rotating rod is rotatably connected to the surface of the mounting plate, a cleaning brush mechanism is fixedly mounted on the surface of one end of the rotating rod, a water tank is fixedly mounted on the top of the mounting plate, the surface of the water tank is connected with a suction pump, and the surface of the suction pump is connected with a water outlet pipe and a water suction pipe.

2. A photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 1, characterized in that: One end of the water outlet pipe and the water suction pipe are both connected to the cleaning brush mechanism, and the cleaning brush mechanism includes a cleaning roller cover, the surface of the cleaning roller cover is connected to the water outlet pipe and the water suction pipe, a cleaning motor is fixedly installed on the surface of the cleaning roller cover, a cleaning roller brush is rotatably installed on the surface of the cleaning roller cover, and the output shaft of the cleaning motor is fixedly connected to the surface of the cleaning roller brush.

3. A photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 1, characterized in that: The walking mechanism includes a track wheel frame, which is fixedly mounted on the bottom of the mounting plate through a mounting seat, track wheels are rotatably mounted on both side surfaces of the track wheel frame, a walking motor is fixedly mounted on the surface of the track wheel frame, an output shaft of the walking motor is fixedly mounted on the surface of the track wheel, and tracks are transmission-connected between the track wheels.

4. A photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 1, characterized in that: A suction cup is fixedly mounted on the surface of the crawler.

5. The photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 1, characterized in that: The working rotation angle of the rotating rod is set to 60 degrees.

6. A photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 1, characterized in that: A support mechanism and a dust collecting mechanism are arranged on the surface of the mounting plate. The support mechanism comprises a lifting plate. A lifting hydraulic cylinder and a support column are fixedly mounted on the bottom of the lifting plate. The support column runs through the mounting plate.

7. A photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 1, characterized in that: A dust suction mechanism is provided on the surface of the mounting plate, and the dust suction mechanism includes a roller brush holder, which is rotatably mounted on the bottom of the mounting plate, a rotary motor is fixedly connected to the rotating surface of the roller brush holder, a roller brush is rotatably mounted on the surface of the roller brush holder, a roller brush motor is fixedly mounted on the surface of the roller brush holder, an output shaft of the roller brush motor is fixedly connected to the surface of the roller brush, a roller brush telescopic rod is rotatably connected to the surface of the roller brush holder, one end of the roller brush telescopic rod is rotatably connected to a dust hood, the rotating end of the dust hood is rotatably mounted on the bottom of the mounting plate, a dust box is fixedly mounted on the top of the mounting plate, a dust box surface is connected to a dust pump, the surface of the dust pump is fixedly mounted on the top of the mounting plate, a dust pump surface is connected to a dust suction pipe, one end of the dust suction pipe passes through the mounting plate and is connected to the dust hood.

8. The photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 7, characterized in that: A crossing mechanism is provided at the bottom of the mounting plate, and the crossing mechanism includes a movable track, the surface of the movable track is fixedly mounted on the bottom of the mounting plate, a crossing slider is slidably mounted on the surface of the movable track, a crossing mounting frame is rotatably mounted on the surface of the crossing slider, a crossing wheel is rotatably mounted on the surface of the crossing mounting frame, an obstruction track is fixedly mounted on the bottom of the mounting plate, the obstruction track is slidably connected to a crossing support rod through a sliding seat, one end of the crossing support rod is rotatably connected to the middle surface of the crossing mounting frame, one end of the crossing mounting frame is fixedly connected to a crossing hydraulic cylinder through a pushing seat, the bottom of the crossing hydraulic cylinder is fixedly mounted on the bottom of the mounting plate through a mounting seat, and a spring is fixedly connected between the bottom of the mounting plate and the crossing mounting frame.

9. A photovoltaic cleaning robot capable of detecting photovoltaic panel shading type according to claim 8, characterized in that: The track length of the obstruction track is adapted to the length of the spanning mounting bracket.

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