Photovoltaic cleaning robot system

Abstract

The invention provides a photovoltaic cleaning robot system, and relates to the technical field of photovoltaic cleaning, the photovoltaic cleaning robot system comprises a photovoltaic panel assembly, and a cleaning robot is movably arranged on the photovoltaic panel assembly; a parking frame is arranged on one side of the photovoltaic panel assembly, a vehicle returning frame is arranged on the side, opposite to the parking frame, of the photovoltaic panel assembly, and the parking frame and the vehicle returning frame are both located on the outer side of the edge of the photovoltaic panel assembly. Parking is facilitated by arranging the parking frame on the head side of the photovoltaic panel assembly, the vehicle returning frame is arranged on the tail side of the photovoltaic panel assembly, enough travel space is continuously provided for the cleaning robot, and when the cleaning robot walks to the tail side of the photovoltaic panel assembly, the cleaning robot can continuously walk forwards by a certain distance to the vehicle returning frame, so that the cleaning robot is more convenient to use. According to the cleaning robot, a cleaning assembly such as a brush or a scraper at the bottom of the cleaning robot completely passes through the tail end of a photovoltaic panel assembly, the cleaning robot comprises a washing system, the washing system comprises a servo mechanism and a water pipe, the water pipe extends into water through the servo mechanism, a floating block is fixed to the water pipe, and the comprehensive cleaning effect is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic cleaning, and particularly to a photovoltaic cleaning robot system. Background Art

[0002] A photovoltaic cleaning robot is an intelligent robot specifically designed to clean the surface of solar photovoltaic panels. With the wide application of solar power generation, the photovoltaic cleaning robot has become an important tool for improving the efficiency of solar power generation and maintaining the photovoltaic system. It can use a cleaning device to remove dust, dirt, and debris on the surface of the photovoltaic panel.

[0003] In the prior art, in order to facilitate the parking of the robot in the non-working state, a parking rack is provided on one side of the photovoltaic panel. The robot starts from the parking rack when working and returns to the parking rack for parking when the work is completed. For example, Chinese Patent CN221597825U authorized and announced on August 23, 2024.

[0004] However, if the robot is to comprehensively complete the cleaning work of each photovoltaic panel, for the last photovoltaic panel, there will be a problem that the robot cannot completely pass through because the robot does not have enough travel space to continue moving forward, which will result in the photovoltaic panel not being comprehensively cleaned.

[0005] And when the robot is working, during the process of moving from one side of the photovoltaic panel to the other side, the robot needs to spray water on the photovoltaic panel for water washing and cleaning. In the prior art, the way for the robot to extract water sources is, for example, to be equipped with a water tank and pre-fill it before working, or to supply water through an external pipeline.

[0006] However, the capacity of the equipped water tank is limited and it needs to be refilled frequently. A large-capacity water tank will increase the weight of the robot and affect the moving efficiency; when supplying water through an external pipeline, the pipeline maintenance is difficult (such as blockage, leakage, etc.) and the efficiency is not high. Summary of the Invention

[0007] The purpose of the present invention is to provide a photovoltaic cleaning robot system, which can provide forward space for the cleaning robot when it travels to the end side, so as to completely clean the photovoltaic panel and achieve a comprehensive cleaning effect;

[0008] The present invention provides a photovoltaic cleaning robot system, including a photovoltaic panel assembly, on which a cleaning robot is movably arranged; a parking rack is provided on one side of the photovoltaic panel assembly, and a return frame is provided on the side of the photovoltaic panel assembly opposite to the parking rack. Both the parking rack and the return frame are located outside the edge of the photovoltaic panel assembly.

[0009] Further, a locking mechanism is provided on the parking rack.

[0010] Further, a cleaning brush is provided on the return frame.

[0011] Furthermore, a bridge connection structure is provided on the photovoltaic panel assembly. The bridge connection structure includes a first connection end, a second connection end, and a connecting member. The first connection end and the second connection end are connected by the connecting member. On two adjacent and separated photovoltaic panels, the first connection end is connected to one of the photovoltaic panels, and the second connection end is connected to the other photovoltaic panel.

[0012] Furthermore, the cleaning robot includes a posture adjustment structure. The posture adjustment structure includes a box body connected to the end of the cleaning robot. At least two walking wheels and a ranging device are connected to the box body. A ranging device is provided on one side of each walking wheel. A differential device for adjusting the rotation speeds of the two walking wheels is provided in the box body.

[0013] Furthermore, the cleaning robot includes a guide wheel obstacle avoidance structure. The guide wheel obstacle avoidance structure includes a guide wheel movably connected to the end of the cleaning robot and a driving mechanism for controlling the movement of the guide wheel. The guide wheel moves along the edge of the photovoltaic panel assembly. Detection labels are provided at the obstacles on the edge of the photovoltaic panel assembly. A detection device is provided on the cleaning robot. When the detection device detects the detection label, the driving mechanism drives the guide wheel to move and avoid the obstacle.

[0014] Furthermore, the cleaning robot includes a positioning structure. The positioning structure includes a first torsion spring device and a driven wheel. The first torsion spring device is connected to the bottom of the cleaning robot. A driven wheel shaft is movably connected to the first torsion spring device. The driven wheel is connected to the driven wheel shaft. An encoder is provided in the driven wheel. The driven wheel abuts against the photovoltaic panel assembly through the first torsion spring device.

[0015] Furthermore, the cleaning robot includes a water washing system. The water washing system includes a servo mechanism and a water pipe. The water pipe extends into the water through the servo mechanism. A floating block is fixed on the water pipe.

[0016] Furthermore, the water washing system further includes a pumping mechanism, a water tank, and a spray pipe. The water pipe is communicated with the water tank through the pumping mechanism. The spray pipe is communicated with the water tank. The spray pipe is arranged above the photovoltaic panel assembly.

[0017] Furthermore, the cleaning robot includes a windproof rod obstacle avoidance structure. The windproof rod obstacle avoidance structure includes a second torsion spring device. The second torsion spring device is connected to the end of the cleaning robot. A windproof rod is movably connected to the second torsion spring device.

[0018] The technical solution of the present invention is to set a parking rack on the head side of the photovoltaic panel assembly to facilitate parking, and set a return rack on the tail side of the photovoltaic panel assembly to continue to provide sufficient travel space for the cleaning robot. When the cleaning robot walks to the tail side of the photovoltaic panel assembly, it can continue to walk forward a certain distance to the return rack, so that the cleaning components such as the brush or scraper at the bottom of the cleaning robot can completely pass through the tail end of the photovoltaic panel assembly, achieving a comprehensive cleaning effect. Brief Description of the Drawings

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 For the present invention Figure 1 Enlarged view of part A;

[0022] Figure 3 It is a schematic diagram of the overall structure of the rear view angle of the present invention;

[0023] Figure 4 For the present invention Figure 3 Enlarged view of part B;

[0024] Figure 5 It is a schematic diagram of the overall structure of another view angle of the present invention, and the cover plate of the cleaning robot is hidden in the figure;

[0025] Figure 6 For the present invention Figure 5 Enlarged view of part C;

[0026] Figure 7 For the present invention Figure 5 Enlarged view of part D;

[0027] Figure 8 For the present invention Figure 5 Enlarged view of part E;

[0028] Figure 9 It is a rear view of the present invention;

[0029] Figure 10 For the present invention Figure 9 Enlarged view of part F;

[0030] Explanation of the reference numerals:

[0031] 1 - Photovoltaic panel assembly;

[0032] 2 - Sweeping robot;

[0033] 3 - Parking rack; 31 - Locking mechanism;

[0034] 4 - Return frame;

[0035] 5 - Bridge connection structure; 51 - First connection end; 52 - Second connection end; 53 - Connecting member;

[0036] 6 - Posture adjustment structure; 61 - Box body; 62 - Traveling wheels; 63 - Distance measuring device;

[0037] 7 - Guide wheel obstacle avoidance structure; 71 - Guide wheel; 72 - Driving mechanism;

[0038] 8 - Positioning structure; 81 - First torsion spring device; 82 - Driven wheel shaft; 83 - Driven wheel;

[0039] 9 - Water washing system; 91 - Servo mechanism; 92 - Water pipe; 93 - Float; 94 - Water pumping mechanism; 95 - Water tank; 96 - Spray pipe;

[0040] 10 - Wind guard rod obstacle avoidance structure; 101 - Second torsion spring device; 102 - Wind guard rod;

[0041] 11 - Water surface; Detailed implementation manners

[0042] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0044] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined. In addition, the terms "mounted", "connected", and "joined" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Embodiment 1

[0046] As Figures 1 - 10 shown, the present invention provides a photovoltaic cleaning robot 2 system, which includes a photovoltaic panel assembly 1, on which a cleaning robot 2 is movably arranged; a parking rack 3 is provided on one side of the photovoltaic panel assembly 1, and a return rack 4 is provided on the side of the photovoltaic panel assembly 1 opposite to the parking rack 3. Both the parking rack 3 and the return rack 4 are located outside the edge of the photovoltaic panel assembly 1.

[0047] Specifically, the photovoltaic panel assembly 1 is composed of a plurality of photovoltaic panel arrays connected together. The photovoltaic panel assembly 1 is inclined, and piles buried in water are arranged below, and a bracket is connected to the piles and supports the bottom of the photovoltaic panel assembly 1.

[0048] The cleaning robot 2 has a long strip structure. A plurality of covers are arranged on its top to form a top cover. A roller is arranged below the top cover, and cleaning components such as brushes are arranged on the roller. The brushes contact the top surface of the photovoltaic panel assembly 1; both ends of the roller are connected to a traveling mechanism, and the traveling mechanism travels on the two side edges of the photovoltaic panel assembly 1. Then, as the traveling mechanism travels, the brushes brush over the surface of the photovoltaic panel assembly 1 to clean the photovoltaic panel assembly 1.

[0049] The parking rack 3 is used to provide a safe parking place for the cleaning robot 2 for the cleaning robot 2 to park in a non-working state, and at the same time ensure that its parking position will not cause any interference or influence on the normal power generation function of the photovoltaic panel assembly 1.

[0050] When the cleaning robot 2 starts from the position of the parking rack 3 and passes through the photovoltaic panel assembly 1, during this process, the cleaning assembly at its bottom needs to pass over the surface of the photovoltaic panel assembly 1 for cleaning. Therefore, when it reaches the tail side of the photovoltaic panel assembly 1, if the cleaning robot 2 is to completely finish cleaning the photovoltaic panel assembly 1 at the tail end, it still needs to have sufficient travel space to continue moving forward in order to sweep across the photovoltaic panel assembly 1 at the tail end, thereby achieving a comprehensive cleaning effect. In this embodiment, a return frame 4 is provided outside the tail side edge of the photovoltaic panel assembly 1, providing the cleaning robot 2 with the travel space to continue moving forward. When the cleaning robot 2 walks to the tail side of the photovoltaic panel assembly 1, it can continue to walk forward a certain distance onto the return frame 4, and then enable the cleaning components such as the brush or scraper at the bottom of the cleaning robot 2 to completely pass over the tail end of the photovoltaic panel assembly 1, achieving a comprehensive cleaning effect.

[0051] Embodiment 2

[0052] As Figure 1 shown, a locking mechanism 31 is provided on the parking rack 3.

[0053] Specifically, a locking mechanism 31 is provided on the parking rack 3. The locking mechanism 31 uses a limit post and an automatic push rod (such as hydraulic, pneumatic, or electric means). When the cleaning robot 2 needs to park, the push rod automatically extends and locks onto the parking rack 3, which can effectively prevent the robot from being accidentally blown away under strong wind weather conditions, thereby ensuring the safe and stable parking of the robot.

[0054] Embodiment 3

[0055] A cleaning brush (not shown) is provided on the return frame 4.

[0056] Specifically, a brush device is equipped on the return frame 4, enabling the cleaning robot 2 to perform self-cleaning through the brush on the return frame 4 after completing the cleaning task, thereby maintaining the cleanliness and working efficiency of the machine.

[0057] Embodiment 4

[0058] As Figure 1 and Figure 5 shown, a bridge connection structure 5 is provided on the photovoltaic panel assembly 1. The bridge connection structure 5 includes a first connection end 51, a second connection end 52, and a connecting member 53. The first connection end 51 and the second connection end 52 are connected by the connecting member 53. On two adjacent and separated photovoltaic panels, the first connection end 51 is connected to one of the photovoltaic panels, and the second connection end 52 is connected to the other photovoltaic panel.

[0059] Specifically, there are array gaps between some strings of the photovoltaic panel assembly 1, and the adjacent strings need to be connected so that the robot can pass through. In order to adapt to the thermal expansion and contraction of the weather temperature, the left-end bracket square tube is used as the first connection end 51 to be connected to the photovoltaic panel on the left end, and the right-end bracket square tube is used as the second connection end 52 to be connected to the photovoltaic panel on the right end. The middle connection part uses a 35×35×2mm hot-dip galvanized square tube as a connector 53 for connection. One end of the hot-dip galvanized square tube is fixedly connected to the left-end bracket square tube by locking flat head screws (to avoid affecting the robot's walking) and locking nuts on the back, and the other end is sleeved on the right-end bracket square tube, so that the right-end bracket square tube can be freely expanded and contracted to achieve thermal expansion and contraction; each set of bridge connection structure 5 contains three connection parts.

[0060] Example 5

[0061] like Figures 3 - 4 As shown, the cleaning robot 2 includes a posture adjustment structure 6, which includes a box 61 connected to the end of the cleaning robot 2, and at least two walking wheels 62 and a distance measuring device 63 are connected to the box 61. A distance measuring device 63 is provided on one side of each walking wheel 62, and a differential device (not shown) for adjusting the rotational speed of the two walking wheels 62 is provided in the box 61.

[0062] Specifically, the walking mechanisms at both ends of the cleaning robot 2 are installed through a box 61, and drive components such as gears and motors are arranged inside the box 61. The axles of the walking wheels 62 pass through the box 61 and are connected to the internal drive components. There are at least two walking wheels 62 on each side, and distance sensors are installed on both sides of the box 61 as distance measuring devices 63. The function of these distance measuring sensors is to monitor the distance difference between the two sides of the cleaning robot 2 in real time during the cleaning process; when the distance measuring sensor detects that the distance between the two sides is inconsistent, the robot control system automatically adjusts the rotation speed of the wheel through the differential device, and realizes the posture adjustment function of the robot through the differential of the two walking wheels 62. Thereby ensuring that when the cleaning robot 2 performs cleaning operations on the photovoltaic panel, even if it encounters a misplaced photovoltaic panel, it can maintain the correct direction of travel, and avoid getting stuck on the photovoltaic panel due to walking obliquely, thereby improving the cleaning efficiency and the operation safety of the robot.

[0063] Example 6

[0064] like Figure 8 As shown, the cleaning robot 2 includes a guide wheel obstacle avoidance structure 7, which includes a guide wheel 71 movably connected to the end of the cleaning robot 2, and a driving mechanism 72 that controls the movement of the guide wheel 71; the guide wheel 71 moves along the edge of the photovoltaic panel assembly 1; a detection tag (not shown) is provided at the obstacle at the edge of the photovoltaic panel assembly 1, and a detection device (not shown) is provided on the cleaning robot 2. When the detection device detects the detection tag, the driving mechanism 72 drives the guide wheel 71 to move to avoid the obstacle.

[0065] Specifically, the driving mechanism 72 of the guide wheel 71 adopts a worm and worm gear transmission method. There are guide wheels 71 on both sides of the box body 61 and they are jointly connected to the rotating shaft inside the box body 61. A worm wheel is arranged on the rotating shaft, and an obstacle avoidance motor and a worm are arranged inside the box body 61 and connected to the worm wheel. Through the guide wheel 71, the traveling mechanism can be kept walking along the edge of the photovoltaic panel assembly 1.

[0066] For obstacles that may exist on the edge of the photovoltaic panel assembly 1, RFID tags are pasted in advance near the obstacles. When the detection device (such as a reader) on the robot detects the presence of the tag during operation, the obstacle avoidance motor is started, and the worm drives the worm wheel to drive the rotating shaft to rotate, so that the guide wheel 71 rod rotates outward to a set angle, thereby effectively avoiding the obstacles. Therefore, this embodiment has a coping strategy when encountering obstacles that cannot be avoided by the lower guide wheel 71.

[0067] Embodiment 7

[0068] As Figure 7 shown, the cleaning robot 2 includes a positioning structure 8. The positioning structure 8 includes a first torsion spring device 81 and a driven wheel 83. The first torsion spring device 81 is connected to the bottom of the cleaning robot 2. A driven wheel shaft 82 is movably connected to the first torsion spring device 81. The driven wheel 83 is connected to the driven wheel shaft 82. An encoder is arranged inside the driven wheel 83. The driven wheel 83 abuts against the photovoltaic panel assembly 1 through the first torsion spring device 81.

[0069] Specifically, a long wheel shaft is connected to the traveling mechanism on one side of the cleaning robot 2. The long wheel shaft is located above the photovoltaic panel assembly 1 and has the same length direction as the cleaning assembly. The driven wheel 83 is arranged on the surface of the long wheel shaft in the middle area of the photovoltaic panel assembly 1 close to the photovoltaic panel assembly 1. The driven wheel 83 abuts against the surface of the photovoltaic panel assembly 1, so that the driven wheel 83 rotates driven when the cleaning robot 2 passes by. When the driven wheel 83 rotates, it transmits data in real time to accurately measure the traveling distance and ensure the accuracy and reliability of the data.

[0070] In addition, the driven wheel 83 is connected to the long wheel shaft through a driven wheel shaft 82 of a crank structure. The first torsion spring device 81 is arranged on the crank structure, which ensures that the driven wheel 83 is in close contact with the photovoltaic panel to prevent slipping, thereby avoiding data errors. Therefore, accurate data can be provided to know the position state of the robot.

[0071] Embodiment 8

[0072] As Figures 4 - 6 、 Figures 9 - 10As shown in the figure, the cleaning robot 2 includes a water washing system 9. The water washing system 9 includes a servo mechanism 91 and a water pipe 92. The water pipe 92 extends into the water through the servo mechanism 91, and a floating block 93 is fixed on the water pipe 92. The water washing system 9 further includes a water pumping mechanism 94, a water tank 95 and a spray pipe 96. The water pipe 92 is communicated with the water tank 95 through the water pumping mechanism 94, and the spray pipe 96 is communicated with the water tank 95. The spray pipe 96 is arranged above the photovoltaic panel assembly 1.

[0073] Specifically, the servo mechanism 91 controls the extension and retraction of the water pipe 92 in the way of a winch, for example. The cleaning robot 2 can use the servo mechanism 91 to extend the water pipe 92 into the sea water for pumping operation. During the pumping process, the floating block 93 floats on the water surface 11, playing a role in height fixing, ensuring the stability and efficiency of pumping. Subsequently, the pumped water will be transferred to the water tank 95 and finally evenly sprayed out through the spray pipe 96, thus completing the entire water washing process. The water tank 95 is connected under the top cover of the cleaning robot 2. Spray pipes 96 are respectively arranged on both sides of the top cover of the cleaning robot 2. The spray pipes 96 are as long as the top cover. A plurality of nozzles are arranged at intervals on the spray pipes 96. The water in the water tank 95 enters the spray pipes 96 and sprays out from the nozzles, covering the area under the cleaning robot 2 on the photovoltaic panel assembly 1.

[0074] These components work together, enabling the robot to efficiently remove various stubborn stains, such as difficult-to-remove bird droppings, etc.

[0075] Embodiment 9

[0076] As Figure 4 shown in the figure, the cleaning robot 2 includes a windproof rod obstacle avoidance structure 10. The windproof rod obstacle avoidance structure 10 includes a second torsion spring device 101. The second torsion spring device 101 is connected to the end of the cleaning robot 2, and a windproof rod 102 is movably connected to the second torsion spring device 101.

[0077] Specifically, in the case of strong wind weather, the presence of the windproof rod 102 can effectively prevent the robot from losing balance or even being blown over due to the action of the wind. However, during the daily operation of the robot, it will inevitably encounter various obstacles. To ensure that the robot can smoothly pass through these obstacles, in this embodiment, the second torsion spring device 101 makes the windproof rod 102 flexible and adaptable; the windproof rod 102 is connected to the middle shaft, the middle shaft is rotatably connected to the box body 61, and the second torsion spring device 101 is arranged on the middle shaft, so that when the windproof rod 102 encounters an obstacle, it can rotate around the middle shaft to pass through the obstacle. Once the obstacle is passed, the windproof rod 102 can automatically return to the initial state to continue protecting the stable operation of the cleaning robot 2.

[0078] The working mode and principle of the present invention:

[0079] When the cleaning robot 2 starts from the position of the parking rack 3 and reaches the tail side of the photovoltaic panel assembly 1, the return frame 4 provides a travel space for the cleaning robot 2 to continue moving forward. The cleaning robot 2 can continue to walk forward a certain distance onto the return frame 4, so that the cleaning components such as the brush or scraper at the bottom of the cleaning robot 2 can completely pass through the tail end of the photovoltaic panel assembly 1, achieving a comprehensive cleaning effect. Moreover, a brush device is equipped on the return frame 4, enabling the cleaning robot 2 to perform self-cleaning through the brush on the return frame 4 after completing the cleaning task, thereby maintaining the cleanliness and working efficiency of the machine.

[0080] 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 foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. Photovoltaic cleaning robot system, characterized in that: It comprises a photovoltaic panel assembly, on which a cleaning robot is movably arranged; A parking rack is provided on one side of the photovoltaic panel assembly, and a return rack is provided on the side of the photovoltaic panel assembly opposite to the parking rack. Both the parking rack and the return rack are located outside the edge of the photovoltaic panel assembly.

2. The photovoltaic cleaning robot system according to claim 1, characterized in that: A locking mechanism is provided on the parking rack.

3. The photovoltaic cleaning robot system according to claim 1, characterized in that: A cleaning brush is provided on the return frame.

4. The photovoltaic cleaning robot system according to claim 1, characterized in that: The photovoltaic panel assembly is provided with a bridge connection structure, and the bridge connection structure includes a first connection end, a second connection end and a connector, and the first connection end and the second connection end are connected by the connector, and on two adjacent and separated photovoltaic panels, the first connection end is connected to one of the photovoltaic panels, and the second connection end is connected to the other photovoltaic panel.

5. The photovoltaic cleaning robot system according to claim 1, characterized in that: The cleaning robot includes a posture adjustment structure, which includes a box connected to the end of the cleaning robot, at least two walking wheels and a distance measuring device are connected to the box, a distance measuring device is provided on one side of each walking wheel, and a differential device for adjusting the rotational speed of the two walking wheels is provided in the box.

6. The photovoltaic cleaning robot system according to claim 1, characterized in that: The cleaning robot comprises a guide wheel obstacle avoidance structure, wherein the guide wheel obstacle avoidance structure comprises a guide wheel movably connected to the end of the cleaning robot, and a driving mechanism for controlling the movement of the guide wheel; The guide wheel moves along the edge of the photovoltaic panel assembly; A detection tag is arranged at the obstacle at the edge of the photovoltaic panel assembly, and a detection device is arranged on the cleaning robot. When the detection device detects the detection tag, the driving mechanism drives the guide wheel to move to avoid the obstacle.

7. The photovoltaic cleaning robot system according to claim 1, characterized in that: The cleaning robot includes a positioning structure, which includes a first torsion spring device and a driven wheel. The first torsion spring device is connected to the bottom of the cleaning robot. A driven wheel shaft is movably connected to the first torsion spring device. The driven wheel shaft is connected to the driven wheel. An encoder is provided in the driven wheel. The driven wheel abuts against the photovoltaic panel assembly through the first torsion spring device.

8. The photovoltaic cleaning robot system according to claim 1, characterized in that: The cleaning robot comprises a water washing system, which comprises a servo mechanism and a water pipe. The water pipe extends into the water through the servo mechanism, and a floating block is fixed on the water pipe.

9. The photovoltaic cleaning robot system according to claim 8, characterized in that: The water washing system also includes a pumping mechanism, a water tank and a spray pipe. The water pipe is connected to the water tank through the pumping mechanism, and the spray pipe is connected to the water tank. The spray pipe is arranged above the photovoltaic panel assembly.

10. The photovoltaic cleaning robot system according to claim 1, characterized in that: The cleaning robot comprises a windproof rod obstacle avoidance structure, and the windproof rod obstacle avoidance structure comprises a second torsion spring device, the second torsion spring device is connected to the end of the cleaning robot, and the windproof rod is movably connected to the second torsion spring device.

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