Solar panel cleaning robot based on Beidou RTK cruising

Abstract

The invention discloses a solar panel cleaning robot based on Beidou RTK cruise, two distance acquisition modules of the solar panel cleaning robot based on Beidou RTK cruise are arranged at an interval in the axial direction of an electric cleaning rolling brush, and are used for feeding back the distance between two axially spaced positions of the electric cleaning rolling brush and a solar panel; the included angle between the axis of the electric cleaning rolling brush and the solar panel can be adjusted through the mechanical arm, the included angle between the axis of the electric cleaning rolling brush and the panel is dynamically adjusted by obtaining the distance between the two spaced positions of the electric cleaning rolling brush and the solar panel in real time, and it is guaranteed that cleaning pressure is evenly distributed; local missing sweeping or excessive friction caused by angle deviation is avoided. Due to the design of the double ranging modules, the measurement redundancy is improved, the system can still depend on data of another module when a single point of fault occurs, and the system reliability is enhanced. According to the solar panel cleaning robot based on Beidou RTK cruising, cleaning of the solar panel can be fully automatically completed, the robot adapts to a curved surface or an inclined plate surface, and the cleaning efficiency of the solar panel is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of solar panel cleaning, and particularly to a solar panel cleaning robot based on Beidou RTK cruise. Background Art

[0002] Currently, a large number of solar power stations are put into operation, and the subsequent workload of cleaning the dust on photovoltaic panels is very large. Even with some mechanical cleaning, manual operation is still required, with a large workload and slow cleaning speed. Therefore, it is imperative to develop an automated cleaning device. Summary of the Invention

[0003] The purpose of the present invention is to provide a solar panel cleaning robot based on Beidou RTK cruise, aiming to solve the technical problem of slow dust cleaning speed of photovoltaic panels.

[0004] To solve the above problems, according to one aspect of the present application, an embodiment of the present invention provides a solar panel cleaning robot based on Beidou RTK cruise. The solar panel cleaning robot based on Beidou RTK cruise includes a vehicle body assembly, a robotic arm, an electric cleaning brush roller, and two distance acquisition modules. The robotic arm is arranged on the vehicle body assembly, the electric cleaning brush roller is arranged on the robotic arm, and the two distance acquisition modules are arranged at intervals along the axial direction of the electric cleaning brush roller for feeding back the distances between two positions at intervals along the axial direction of the electric cleaning brush roller and the solar panel, so as to enable the robotic arm to adjust the included angle between the axis of the electric cleaning brush roller and the solar panel.

[0005] In some embodiments, the vehicle body assembly includes a vehicle body and a remote controller. The vehicle body and the remote controller are wirelessly connected. A driven shaft and two coaxial and spaced main shafts are arranged inside the vehicle body. The opposite ends of the two main shafts extend out of the vehicle body, and the two ends of the driven shaft extend out of the vehicle body. Driving wheels are arranged on both of the two main shafts, and the two driving wheels are located on both sides of the vehicle body. Driven wheels are arranged at both ends of the driven shaft, and the two driven wheels are located on both sides of the vehicle body. A traveling belt is sleeved and engaged on the driving wheel and the driven wheel on the same side of the vehicle body.

[0006] In some embodiments, a motor controller, a remote control module, and two first driving motors are arranged inside the vehicle body. The input end of the motor controller is connected to the output end of the remote control module. The motor controller is used to receive instructions from the remote control module and control the operation of the two first driving motors according to the instructions. The first output shafts of the two first driving motors are respectively drivingly connected to the two main shafts.

[0007] In some embodiments, the solar panel cleaning robot based on Beidou RTK cruise further includes an energy storage module, and the energy storage module is electrically connected to the motor controller, the electric cleaning brush roller, and the two first driving motors; and / or,

[0008] An antenna is provided on the vehicle body, and an output end of the antenna is connected to an input end of the remote control module.

[0009] In some embodiments, the robotic arm includes a large arm, a small arm, a support frame, and a rotation driving module. The large arm is rotatably arranged on the vehicle body. The small arm is connected to one end of the large arm away from the vehicle body. The support frame is arranged on a side of the small arm away from the large arm. The electric cleaning brush roller is rotatably arranged on the support frame. The rotation driving module is arranged between the support frame and the small arm to drive the support frame to rotate;

[0010] Wherein, a rotation axis of the rotation driving module is parallel to a length direction of the small arm.

[0011] In some embodiments, the robotic arm further includes a first telescopic component, and two ends of the first telescopic component are respectively connected to the large arm and the small arm; and / or,

[0012] The robotic arm further includes a second telescopic component, a rotating disc, and a second driving motor. The rotating disc is rotatably arranged on the top of the vehicle body and has a transmission shaft extending into the vehicle body. A second output shaft of the second driving motor is drivingly connected to the transmission shaft. The large arm is rotatably connected to the rotating disc. Two ends of the second telescopic component are respectively connected to the large arm and the rotating disc.

[0013] In some embodiments, the rotation driving module includes a third driving motor and two rotatably inserted rotating shafts. The third driving motor is arranged on any one of the rotating shafts, and a third output shaft of the third driving motor is drivingly connected to the other rotating shaft.

[0014] In some embodiments, the support frame includes a base rod and two cross-shaped support rods arranged at one end of the base rod. Two ends of the electric cleaning brush roller are respectively rotatably arranged on the two support rods. The two distance acquisition modules are respectively arranged on the two support rods.

[0015] In some embodiments, the distance acquisition module is a laser ranging module. Distances from laser emission ends of the two laser ranging modules to an axis of the electric cleaning brush roller are equal, and emission directions of the laser emission ends of the two laser ranging modules are the same.

[0016] In some embodiments, the solar panel cleaning robot based on Beidou RTK cruise further includes a water tank, a pumping module, a nozzle, and a water delivery pipe. The water tank is arranged on the vehicle body. The nozzle is arranged on the support frame and has a plurality of water outlets spaced along the axis of the electric cleaning brush. The water outlets face the electric cleaning brush. The inlet of the pumping module is connected to the water tank, and both ends of the water delivery pipe are respectively connected to the outlet of the pumping module and the nozzle.

[0017] Compared with the prior art, the solar panel cleaning robot based on Beidou RTK cruise of the present invention has at least the following beneficial effects:

[0018] The embodiment of the present invention discloses a solar panel cleaning robot based on Beidou RTK cruise. The solar panel cleaning robot based on Beidou RTK cruise includes a vehicle body assembly, a robotic arm, an electric cleaning brush, and two distance acquisition modules arranged axially at intervals. The two distance acquisition modules are arranged axially at intervals along the electric cleaning brush and are used to feedback the distances between two places axially spaced by the electric cleaning brush and the solar panel, so that the robotic arm can adjust the angle between the axis of the electric cleaning brush and the solar panel. By acquiring the distances between two places spaced by the electric cleaning brush and the solar panel in real time, the present invention dynamically adjusts the angle between the axis of the electric cleaning brush and the panel surface to ensure uniform distribution of the cleaning pressure and avoid local missed cleaning or excessive friction caused by angle deviation. The dual ranging module design improves the measurement redundancy. When a single point fails, the data of another module can still be relied on, enhancing the system reliability. The solar panel cleaning robot based on Beidou RTK cruise of the present invention can fully automatically complete the cleaning of the solar panel and adapt to curved or inclined panel surfaces, improving the cleaning efficiency of the solar panel.

[0019] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it according to the content of the description, the following describes the preferred embodiments of the present invention in detail in conjunction with the accompanying drawings. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic structural diagram of the solar panel cleaning robot based on Beidou RTK cruise provided by the embodiment of the present invention;

[0022] Figure 2 For Figure 1 Partial enlarged view of

[0023] Figure 3 For Figure 1 a partial enlarged view of another location;

[0024] Figure 4 It is a schematic exploded view of the rotation drive module of the solar panel cleaning robot based on Beidou RTK cruise provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the drive structure of the rotating disk and the second drive motor of the solar panel cleaning robot based on Beidou RTK cruise provided by an embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the internal structure of the vehicle body of the solar panel cleaning robot based on Beidou RTK cruise provided by an embodiment of the present invention.

[0027] Explanation of reference numerals:

[0028] 1, vehicle body; 11, driven shaft; 12, driving shaft; 13, driving wheel; 14, driven wheel; 15, running belt; 16, first drive motor; 161, first output shaft; 17, energy storage module; 18, antenna;

[0029] 21, large arm; 22, small arm; 23, rotation drive module; 231, third drive motor; 2311, third output shaft; 232, rotating shaft; 24, first telescopic assembly; 25, second telescopic assembly; 26, rotating disk; 261, transmission shaft; 27, second drive motor; 271, second output shaft; 281, base rod; 282, support rod;

[0030] 3, electric cleaning brush roller;

[0031] 4, distance acquisition module;

[0032] 51, water tank; 52, pumping module; 53, spray head; 531, water outlet head. Detailed implementation manners

[0033] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following combines the drawings and preferred embodiments to detail the specific implementation manners, structures, features, and their effects of the application according to the present invention. In the following description, different "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0034] In the description of the present invention, it should be clear that the terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence; the terms "vertical", "lateral", "longitudinal", "front", "rear", "left", "right", "upper", "lower", "horizontal", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention, rather than meaning that the indicated device or element must have a specific orientation or position, so it cannot be understood as a limitation of the present invention.

[0035] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. 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.

[0036] Embodiment 1

[0037] As Figures 1 - 6 shown, the embodiment of the present invention provides a solar panel cleaning robot based on Beidou RTK cruise. The solar panel cleaning robot based on Beidou RTK cruise includes a vehicle body assembly, a robotic arm, an electric cleaning brush 3, and two distance acquisition modules 4. The robotic arm is arranged on the vehicle body assembly, the electric cleaning brush 3 is arranged on the robotic arm, and the two distance acquisition modules 4 are arranged at intervals along the axis of the electric cleaning brush 3, and are used to feedback the distances between two positions at intervals along the axis of the electric cleaning brush 3 and the solar panel, so that the robotic arm adjusts the angle between the axis of the electric cleaning brush 3 and the solar panel.

[0038] The solar panel cleaning robot based on Beidou RTK cruise in this embodiment includes a vehicle body assembly, a robotic arm, an electric cleaning brush 3, and two distance acquisition modules 4 arranged at intervals along the axis. The two distance acquisition modules 4 are arranged at intervals along the axis of the electric cleaning brush 3 and are used to feedback the distances between two positions at intervals along the axis of the electric cleaning brush 3 and the solar panel, which can enable the robotic arm to adjust the angle between the axis of the electric cleaning brush 3 and the solar panel. By acquiring the distances between two positions at intervals of the electric cleaning brush 3 and the solar panel in real time, the present invention dynamically adjusts the angle between the axis of the electric cleaning brush 3 and the panel surface to ensure that the cleaning pressure is evenly distributed and avoid local missed cleaning or excessive friction caused by angle deviation. The dual ranging module design improves the measurement redundancy, and the data of another module can still be relied on in case of a single point failure, enhancing the system reliability.

[0039] The included angle adjustment algorithm can adopt control algorithms such as PID control, and combine with Beidou RTK positioning to achieve dynamic path planning and adapt to curved or inclined plate surfaces.

[0040] PID control is a feedback adjustment algorithm widely used in industrial automation and control systems. By combining the three links of proportional, integral, and derivative, it dynamically adjusts the output to minimize the error between the actual value and the set value of the system.

[0041] It can be seen that the solar panel cleaning robot based on Beidou RTK cruise of the present invention can fully automatically clean the solar panels, adapt to curved or inclined plate surfaces, and improve the efficiency of solar panel cleaning.

[0042] In some embodiments, the vehicle body assembly includes a vehicle body 1 and a remote controller. The vehicle body 1 is wirelessly connected to the remote controller. A driven shaft 11 and two coaxial and spaced-apart driving shafts 12 are arranged inside the vehicle body 1. The opposite ends of the two driving shafts 12 extend out of the vehicle body 1. The two ends of the driven shaft 11 extend out of the vehicle body 1. Two driving wheels 13 are arranged on the two driving shafts 12. The two driving wheels 13 are located on both sides of the vehicle body 1. Two driven wheels 14 are arranged at the two ends of the driven shaft 11. The two driven wheels 14 are located on both sides of the vehicle body 1. A running belt 15 is sleeved and engaged on the driving wheel 13 and the driven wheel 14 on the same side of the vehicle body 1.

[0043] In this embodiment, the vehicle body 1 includes a driving shaft 12, a driven shaft 11, a running belt 15, a driving wheel 13 and a driven wheel 14. The running belt 15 is sleeved on the driving wheel 13 and the driven wheel 14. The running belt 15 and the driving wheel 13 and the driven wheel 14 are designed to provide stable traction and prevent slipping. The two driving shafts 12 are independently driven, support differential steering, reduce the turning radius, and improve the mobility in narrow areas. The running belt 15 can be made of anti-slip rubber, and V-shaped anti-slip textures can be arranged on the surface of the running belt 15 to enhance the grip.

[0044] In some embodiments, a motor controller, a remote control module, and two first driving motors 16 are arranged inside the vehicle body 1. The input end of the motor controller is connected to the output end of the remote control module. The motor controller is used to receive the instructions of the remote control module and control the operation of the two first driving motors 16 according to the instructions. The first output shafts 161 of the two first driving motors 16 are respectively drivingly connected to the two driving shafts 12.

[0045] Inside the vehicle body 1 of this embodiment, there are a motor controller, a remote control module, and two first driving motors 16. The controller receives instructions to control the operation of the two first driving motors 16. This embodiment combines remote instructions with local control, supports manual intervention or automatic mode switching, and adapts to the requirements of complex scenarios. The two first driving motors 16 are independently controlled to achieve precise speed matching, avoiding the deviation of the walking belt caused by rotational speed differences.

[0046] The motor controller can have a function of self-checking for faults. When there is overload protection or communication interruption, the motor controller can cause the two first driving motors 16 to stop automatically.

[0047] In some embodiments, the solar panel cleaning robot based on Beidou RTK cruise further includes an energy storage module 17, and the energy storage module 17 is electrically connected to the motor controller, the electric cleaning brush 3, and the two first driving motors 16; and / or,

[0048] An antenna 18 is provided on the vehicle body 1, and the output end of the antenna 18 is connected to the input end of the remote control module.

[0049] This embodiment introduces the energy storage module 17 and the antenna 18. The energy storage module 17 supplies power, and the antenna 18 enhances signal reception. The energy storage module 17 can adopt a capacitive energy storage module (such as a lithium battery) to support long-term continuous operation (such as 8 hours of battery life), adapting to remote power stations without grid coverage. The antenna 18 can adopt a high-gain antenna to ensure the stability of Beidou RTK signals and remote control instructions, reducing positioning drift caused by occlusion.

[0050] The energy storage module 17 can have a fast charging function and support solar supplementary charging.

[0051] Alternatively, an engine can be provided to charge the energy storage module 17, and the engine will stop automatically after being fully charged.

[0052] In some embodiments, the robotic arm includes a large arm 21, a small arm 22, a support frame, and a rotation drive module 23. The large arm 21 is rotatably arranged on the vehicle body 1. The small arm 22 is connected to one end of the large arm 21 away from the vehicle body 1. The support frame is arranged on the side of the small arm 22 away from the large arm 21. The electric cleaning brush 3 is rotatably arranged on the support frame. The rotation drive module 23 is arranged between the support frame and the small arm 22 to drive the support frame to rotate;

[0053] Wherein, the rotation axis of the rotation drive module 23 is parallel to the length direction of the small arm 22.

[0054] The robotic arm of this embodiment includes a large arm 21, a small arm 22, a support frame, and a rotation drive module 23. The rotation axis of the rotation drive module 23 is parallel to the length direction of the small arm 22, so that the rotation axis of the rotation drive module 23 is in the same direction as the small arm 22, making the rotation trajectory of the support frame perpendicular to the cleaning direction of the electric cleaning brush 3, and optimizing the cleaning coverage area.

[0055] The modular design facilitates the quick disassembly and assembly of the robotic arm and adapts to solar panel arrays of different sizes.

[0056] The rotation angle of the rotation drive module 23 can be ±30°, and dynamic angle compensation can be achieved in combination with the distance acquisition module 4. The rotation angle can be dynamically adjusted by combining the data of the double distance acquisition module 4 through the PID algorithm, and the error range is controlled within ±30°.

[0057] In some embodiments, the robotic arm further includes a first telescopic assembly 24, and both ends of the first telescopic assembly 24 are rotatably connected to the large arm 21 and the small arm 22 respectively; and / or,

[0058] The robotic arm further includes a second telescopic assembly 25, a rotating disk 26, and a second drive motor 27. The rotating disk 26 is rotatably arranged on the top of the vehicle body 1 and has a transmission shaft 261 extending into the vehicle body 1. The second output shaft 271 of the second drive motor 27 is drivingly connected to the transmission shaft 261. The large arm 21 is rotatably connected to the rotating disk 26, and both ends of the second telescopic assembly 25 are rotatably connected to the large arm 21 and the rotating disk 26 respectively.

[0059] The robotic arm of this embodiment is provided with a first telescopic assembly 24, a second telescopic assembly 25, and a rotating disk 26. The rotation of the rotating disk 26 is realized by driving the transmission shaft 261 of the rotating disk 26 through the second output shaft 271 of the second drive motor 27. The first telescopic assembly 24 and the second telescopic assembly 25 can expand the working radius of the robotic arm (which can be 1.5 - 3 meters), cover multiple rows of solar panels, and reduce the movement frequency. The rotating disk 26 realizes the 360° horizontal rotation of the robotic arm and supports the cleaning path planning in multiple horizontal and vertical directions. The second drive motor 27 can be powered by the energy storage module 17.

[0060] The rotation of the rotating disk 26 can also be realized by using the transmission structure of a worm and a worm gear, and this structure can ensure the rotation accuracy and self-locking ability.

[0061] In some embodiments, the rotation drive module 23 includes a third drive motor 231 and two rotatably inserted rotating shafts 232. The third drive motor 231 is arranged on any one of the rotating shafts 232, and the third output shaft 2311 of the third drive motor 231 is drivingly connected to the other rotating shaft 232.

[0062] In this embodiment, the rotation driving module 23 includes a third driving motor 231 and a double rotating shaft (two rotatably inserted rotating shafts 232). The third driving motor 231 is arranged on any one of the rotating shafts 232, and the third output shaft 2311 of the third driving motor 231 drives the other rotating shaft 232 to realize the rotation of the two rotating shafts 232. The compact structure of the rotation driving module 23 in this embodiment saves space and is suitable for the narrow installation area of the robotic arm. The third driving motor 231 can be powered by the energy storage module 17.

[0063] The bearing type of the rotating shaft 232 can be an angular contact ball bearing to improve the rotation smoothness.

[0064] In some embodiments, the support frame includes a base rod 281 and two cross-shaped support rods 282 arranged at one end of the base rod 281. Both ends of the electric cleaning roller brush 3 are rotatably arranged on the two support rods 282 respectively, and the two distance acquisition modules 4 are respectively arranged on the two support rods 282.

[0065] In this embodiment, the support frame is composed of a base rod 281 and two cross-shaped support rods 282. The two distance acquisition modules 4 are respectively arranged on the two support rods 282, and both ends of the electric cleaning roller brush 3 are rotatably arranged on the two support rods 282 respectively. The cross-shaped arrangement of the two support rods 282 and the base rod 281 enhances the structural rigidity, suppresses the vibration during the high-speed rotation of the electric cleaning roller brush 3, and ensures the accuracy of the ranging data. The installation positions of the two distance acquisition modules 4 are close to both ends of the electric cleaning roller brush 3, which can reduce the transmission of measurement errors.

[0066] In some embodiments, the distance acquisition module 4 is a laser ranging module. The distances from the laser emission ends of the two laser ranging modules to the axis of the electric cleaning roller brush 3 are equal, and the emission directions of the laser emission ends of the two laser ranging modules are the same.

[0067] In this embodiment, the distance acquisition module 4 is a laser ranging module, and the laser emission ends of the laser ranging modules are arranged at equal distances and in the same direction. The same-direction emission of the laser emission ends of the double laser ranging modules ensures the consistency of the measurement reference and avoids the included angle calculation error caused by the angle difference.

[0068] The laser ranging module has a self-cleaning lens, and the lens is designed with anti-fouling to ensure the reliability of long-term outdoor use.

[0069] In some embodiments, the solar panel cleaning robot based on Beidou RTK further includes a water tank 51, a pumping module 52, a spray head 53 and a water delivery pipe. The water tank 51 is arranged on the vehicle body 1. The spray head 53 is arranged on the support frame and has a plurality of water outlets 531 spaced along the axis of the electric cleaning brush 3. The water outlets 531 face the electric cleaning brush 3. The inlet of the pumping module 52 is connected to the water tank 51, and the two ends of the water delivery pipe are respectively connected to the outlet of the pumping module 52 and the spray head 53.

[0070] In this embodiment, by adding a water tank 51, a pumping module 52, a spray head 53 and a water delivery pipe, and the spray head 53 is provided with a plurality of water outlets 531. The electric cleaning brush 3 performs wet cleaning on the solar panel. Wet cleaning can dissolve the adhered dust (such as bird droppings, oil stains), and the cleaning efficiency is increased by more than 30%. The plurality of water outlets 531 spray evenly, avoiding local over-wetting or water resource waste, and meeting the water-saving requirements in arid areas.

[0071] The spray head 53 can have an atomization function and can adjust the water spray amount in combination with the rotation speed of the electric cleaning brush 3 to realize intelligent switching between dry and wet modes.

[0072] Specifically, the spray head 53 is internally provided with an ultrasonic atomization sheet, which can decompose the water flow into micron-sized particles to achieve uniform spraying.

[0073] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described devices, apparatuses and units can refer to the corresponding processes in the foregoing method embodiments and will not be described herein again.

[0074] The above is only the specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A solar panel cleaning robot based on Beidou RTK cruise, characterized in that, The solar panel cleaning robot based on Beidou RTK cruise includes a vehicle body assembly, a robotic arm, an electric cleaning brush roll (3), and two distance acquisition modules (4). The robotic arm is arranged on the vehicle body assembly, the electric cleaning brush roll (3) is arranged on the robotic arm, and the two distance acquisition modules (4) are arranged at intervals along the axial direction of the electric cleaning brush roll (3) for feeding back the distances between two positions at intervals along the axial direction of the electric cleaning brush roll (3) and the solar panel, so that the robotic arm adjusts the angle between the axis of the electric cleaning brush roll (3) and the solar panel.

2. The solar panel cleaning robot based on Beidou RTK cruise according to claim 1, characterized in that, The vehicle body assembly includes a vehicle body (1) and a remote controller. The vehicle body (1) is wirelessly connected to the remote controller. A driven shaft (11) and two coaxial and spaced-apart driving shafts (12) are arranged inside the vehicle body (1). The end parts of the two driving shafts (12) facing away from each other extend outside the vehicle body (1), and the two ends of the driven shaft (11) extend outside the vehicle body (1). Driving wheels (13) are arranged on the two driving shafts (12), and the two driving wheels (13) are located on both sides of the vehicle body (1). Driven wheels (14) are arranged at both ends of the driven shaft (11), and the two driven wheels (14) are located on both sides of the vehicle body (1); a traveling belt (15) is sleeved and engaged on the driving wheel (13) and the driven wheel (14) on the same side of the vehicle body (1).

3. The solar panel cleaning robot based on Beidou RTK cruise according to claim 2, characterized in that, A motor controller, a remote control module, and two first driving motors (16) are arranged inside the vehicle body (1). The input end of the motor controller is connected to the output end of the remote control module. The motor controller is used to receive instructions from the remote control module and control the operation of the two first driving motors (16) according to the instructions. The first output shafts (161) of the two first driving motors (16) are respectively drivingly connected to the two driving shafts (12).

4. The solar panel cleaning robot based on Beidou RTK cruise according to claim 3, characterized in that, The solar panel cleaning robot based on Beidou RTK cruise further includes an energy storage module (17). The energy storage module (17) is electrically connected to the motor controller, the electric cleaning brush roll (3), and the two first driving motors (16); and / or, An antenna (18) is arranged on the vehicle body (1). The output end of the antenna (18) is connected to the input end of the remote control module.

5. The solar panel cleaning robot based on Beidou RTK cruise according to claim 2, characterized in that, The robotic arm includes a big arm (21), a small arm (22), a support frame, and a rotation driving module (23). The big arm (21) is rotatably arranged on the vehicle body (1). The small arm (22) is connected to one end of the big arm (21) away from the vehicle body (1). The support frame is arranged on the side of the small arm (22) away from the big arm (21). The electric cleaning brush roll (3) is rotatably arranged on the support frame. The rotation driving module (23) is arranged between the support frame and the small arm (22) to drive the support frame to rotate; Wherein, the rotation axis of the rotation driving module (23) is parallel to the length direction of the small arm (22).

6. The solar panel cleaning robot based on Beidou RTK cruise according to claim 5, characterized in that, The robotic arm further includes a first telescopic assembly (24), and both ends of the first telescopic assembly (24) are respectively connected to the large arm (21) and the small arm (22); and / or, The robotic arm further includes a second telescopic assembly (25), a rotating disc (26), and a second driving motor (27). The rotating disc (26) is rotatably arranged on the top of the vehicle body (1) and has a transmission shaft (261) extending into the vehicle body (1). The second output shaft (271) of the second driving motor (27) is drivingly connected to the transmission shaft (261). The large arm (21) is rotatably connected to the rotating disc (26), and both ends of the second telescopic assembly (25) are respectively connected to the large arm (21) and the rotating disc (26).

7. The solar panel cleaning robot based on Beidou RTK cruise according to claim 5, characterized in that, The rotation driving module (23) includes a third driving motor (231) and two rotatably inserted rotating shafts (232). The third driving motor (231) is arranged on any one of the rotating shafts (232), and the third output shaft (2311) of the third driving motor (231) is drivingly connected to the other rotating shaft (232).

8. The solar panel cleaning robot based on Beidou RTK cruise according to claim 5, characterized in that The support frame includes a base rod (281) and two cross-shaped support rods (282) arranged at one end of the base rod (281). Both ends of the electric cleaning brush (3) are respectively rotatably arranged on the two support rods (282), and the two distance acquisition modules (4) are respectively arranged on the two support rods (282).

9. The solar panel cleaning robot based on Beidou RTK cruise according to claim 8, wherein, The distance acquisition module (4) is a laser ranging module. The distances from the laser emission ends of the two laser ranging modules to the axis of the electric cleaning brush (3) are equal, and the emission directions of the laser emission ends of the two laser ranging modules are the same.

10. The solar panel cleaning robot based on Beidou RTK cruise according to claim 5, characterized in that, The solar panel cleaning robot based on Beidou RTK cruise further includes a water tank (51), a pumping module (52), a nozzle (53), and a water delivery pipe. The water tank (51) is arranged on the vehicle body (1). The nozzle (53) is arranged on the support frame and has a plurality of water outlets (531) spaced along the axial direction of the electric cleaning brush (3). The water outlets (531) face the electric cleaning brush (3). The inlet of the pumping module (52) is connected to the water tank (51), and both ends of the water delivery pipe are respectively connected to the outlet of the pumping module (52) and the nozzle (53).

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