High-altitude solar panel cleaning robot and cleaning method

Abstract

The invention discloses a high-altitude solar panel cleaning robot and a cleaning method, and relates to the technical field of cleaning, and the high-altitude solar panel cleaning robot comprises a carrier, a climbing obstacle avoidance mechanism and a cleaning mechanism. The climbing obstacle avoidance mechanism comprises a first driver and two climbing obstacle avoidance units, and the first driver is mounted on the carrier; each climbing obstacle avoidance unit comprises an obstacle avoidance assembly and a clamping assembly, each obstacle avoidance assembly is installed on the first driver, the clamping assembly is installed on the corresponding obstacle avoidance assembly, and each clamping assembly has a clamping state and a loosening state which are switched mutually. The first driver is used for driving the two climbing obstacle avoidance units to move oppositely in the extension direction of the first axis; the obstacle avoidance assembly is used for driving the corresponding clamping assembly to reciprocate in the extension direction of the second axis, so that the clamping assembly retreats or advances relative to the rod body; the clamping assembly is used for clamping or loosening the rod body; the sweeping mechanism is installed on the carrier and used for sweeping the solar panel body. Climbing is flexible, stability is high, energy consumption is low, and cost is low.

Description

Technical Field

[0001] The present invention relates to the field of cleaning technology, and in particular to a high-altitude solar panel cleaning robot and a cleaning method. Background Art

[0002] With technological advancements and capacity expansion, the photovoltaic industry has experienced rapid growth, leading to widespread adoption of solar panels. However, during use, dust, pollen, bird droppings, and other debris accumulate on the surface of solar panels. These contaminants block sunlight, reducing power generation efficiency and heat dissipation, shortening their service life.

[0003] Existing photovoltaic solar panel cleaning robots are designed for use on large-scale solar panels at power plants. They are not designed to clean high-altitude solar panels, such as those on streetlights. Furthermore, water cleaning is not suitable for the arid and semi-arid regions of Northwest China. Therefore, a robot specifically designed to clean everyday equipment like high-altitude solar panels is crucial to fill this gap in the field. Summary of the Invention

[0004] The purpose of the present invention includes, for example, providing a high-altitude solar panel cleaning robot and cleaning method, which can reduce the difficulty of high-altitude cleaning of solar panels, reduce cleaning costs, and improve adaptability, reduce the impact of environmental factors, thereby expanding the scope of use.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a high-altitude solar panel cleaning robot, which is used to crawl on a pole body and can clean the solar panel body mounted on the pole body, including a carrier, a climbing obstacle avoidance mechanism and a cleaning mechanism;

[0007] The climbing obstacle avoidance mechanism includes a first driver and two climbing obstacle avoidance units, the first driver being mounted on the carrier; each climbing obstacle avoidance unit including an obstacle avoidance assembly and a clamping assembly, each obstacle avoidance assembly being mounted on the first driver, and the two climbing obstacle avoidance units being arranged in the extension direction of the first axis; the clamping assembly being mounted on the corresponding obstacle avoidance assembly, and each clamping assembly having a clamping state and a release state that can be switched between each other;

[0008] The first driver is used to drive the two climbing obstacle avoidance units to move toward each other relative to the carrier in the extension direction of the first axis; the obstacle avoidance assembly is used to drive the corresponding clamping assembly to reciprocate relative to the carrier in the extension direction of the second axis, so that the clamping assembly moves backward or forward relative to the rod; the clamping assembly is used to clamp or release the rod; the first axis and the second axis are perpendicular to each other;

[0009] The cleaning mechanism is installed on the carrier, and is used to clean the solar panel body.

[0010] In an optional embodiment, the first driver includes a first motor, a transmission assembly, and two first lead screws, wherein the first motor, the transmission assembly, and the two first lead screws are all mounted on the carrier; the two first lead screws are arranged in parallel and spaced apart, and each first lead screw extends along the first axis; the first motor is simultaneously connected to the two first lead screws through the transmission assembly; and each obstacle avoidance assembly is simultaneously threadedly engaged with the two first lead screws;

[0011] The first motor is used to drive the two first lead screws to rotate simultaneously through the transmission assembly, so that the two obstacle avoidance assemblies move closer to or farther away from each other.

[0012] In an optional embodiment, the transmission assembly includes a driving gear and two driven gears, the driving gear is fixed to the output shaft of the first motor; the two driven gears are rotatably matched with the carrier, and the two driven gears are located on both sides of the driving gear and are meshed with the driving gear;

[0013] The two first lead screws are fixedly connected to the two driven gears respectively; each of the first lead screws is provided with a first thread groove and a second thread groove with opposite rotation directions, the first obstacle avoidance component of the two obstacle avoidance components is screwed together with the two first thread grooves at the same time, and the second obstacle avoidance component of the two obstacle avoidance components is screwed together with the two second thread grooves at the same time.

[0014] In an optional embodiment, the obstacle avoidance assembly includes a connecting beam, a telescopic unit, a driving slider, a guide beam, and a guide slider; the connecting beam is simultaneously threadedly engaged with the two lead screws; the telescopic unit and the guide unit are both fixed to the connecting beam and arranged at intervals in the extension direction of the third axis; the telescopic unit is connected to the driving slider; the guide slider is slidably engaged with the guide member in the extension direction of the second axis; and the clamping assembly is simultaneously connected to the driving slider and the guide slider.

[0015] The first axis, the second axis and the third axis are perpendicular to each other.

[0016] In an optional embodiment, the clamping assembly includes a second motor, a second lead screw, a first clamping arm, a second clamping arm and a guide rail; the second motor is fixed to the first driving slider, one end of the second lead screw is fixed to the output shaft of the first motor, and the other end is rotatably connected to the first guide slider; the second lead screw has a first threaded segment and a second threaded segment with opposite rotation directions; the two ends of the guide rail are respectively fixed to the driving slider and the guide slider; the first clamping arm is threadedly engaged with the first threaded segment, and the second clamping arm is threadedly engaged with the second threaded segment; the first clamping arm and the second clamping arm are both slidably engaged with the guide rail in the extension direction of the third axis;

[0017] The second motor is used to drive the second lead screw to rotate, so that the first clamping arm and the second clamping arm move closer to each other or farther away from each other.

[0018] In an optional embodiment, the clamping assembly further includes an ultrasonic probe and a pressure sensor, wherein the ultrasonic probe is mounted on the first clamp arm or the second clamp arm, and the pressure sensor is provided on the side of the first clamp arm or the second clamp arm that is used for contacting the rod body; the ultrasonic probe is used to obtain obstacles around the rod body, and the pressure sensor is used to obtain the pressure between the first clamp arm or the second clamp arm and the rod body.

[0019] In an optional embodiment, the cleaning mechanism includes a second driver, a base, a robotic arm and a brush; the second driver is mounted on the carrier, the base is rotatably mounted on the second driver, the robotic arm is mounted on the base, and the brush is mounted on the robotic arm; the second driver is used to drive the base to rotate; the robotic arm is used to adjust the angle and height of the brush.

[0020] In an optional embodiment, the cleaning mechanism further includes a third driver, the third driver is mounted on the robotic arm, the brush is mounted on the third driver, and the third driver is used to drive the brush to rotate.

[0021] In a second aspect, the present invention provides a cleaning method, which is applied to the high-altitude solar panel cleaning robot described in any of the aforementioned embodiments, and the cleaning method comprises the following steps:

[0022] Step s100: adjusting the first clamping assembly of the two clamping assemblies to a clamping state to clamp the rod, and adjusting the second clamping assembly of the two clamping assemblies to a loose state to loosen the rod; starting the first driver, and using the first driver to drive the carrier and the second clamping assembly of the two clamping assemblies to climb together along the extension direction of the first axis;

[0023] Step s200: After climbing a set distance, turning off the first actuator, clamping the rod with the second clamping assembly, and releasing the rod with the first clamping assembly, and then driving the first actuator again to drive the carrier and the first clamping assembly to climb along the extension direction of the first axis.

[0024] Step s300: After climbing the set distance, return to step s100;

[0025] Step s400: After climbing to a set position on the pole, the cleaning mechanism is used to clean the solar panel body.

[0026] In an optional embodiment, in step s100 or step s200, when there is an obstacle in the climbing direction of the first clamping assembly or the second clamping assembly, before starting the first drive, the first clamping assembly or the second clamping assembly is driven by the corresponding obstacle avoidance assembly to retreat a target distance relative to the rod body along the extension direction of the second axis to avoid the obstacle; after climbing the set distance, the first clamping assembly or the second clamping assembly that has completed the avoidance action is first driven by the corresponding obstacle avoidance assembly to advance the target distance relative to the rod body along the extension direction of the second axis, and then the rod body is clamped by the first clamping assembly or the second clamping assembly.

[0027] The beneficial effects of the embodiments of the present invention include, for example:

[0028] In summary, the high-altitude solar panel cleaning robot provided in this embodiment utilizes a climbing obstacle avoidance mechanism and a cleaning mechanism provided on a carrier. The climbing obstacle avoidance mechanism can drive the carrier and cleaning mechanism to move together relative to the rod. For example, the cleaning mechanism can be driven to a high altitude to perform cleaning operations on solar panels located at a high altitude. Furthermore, the two climbing obstacle avoidance units of the climbing obstacle avoidance mechanism are arranged in the direction of the first axis. The two climbing obstacle avoidance units cooperate with each other, resulting in high climbing efficiency, the ability to avoid obstacles during climbing, flexible climbing, minimal impact from environmental factors, and a wide range of applications, thereby expanding the cleaning range and improving cleaning effectiveness. During the climbing process, the two clamping assemblies cooperate. When one clamping assembly clamps the rod and the other clamping assembly releases the rod, the first actuator can drive the carrier and the other clamping assembly to rise or descend together. After the carrier has traveled a set distance, the other clamping assembly is also positioned to serve as a fulcrum. This eliminates the need to individually adjust the positions of the clamping assemblies, enabling a continuous and efficient climbing motion. The first driver drives the two clamping components to move toward each other at the same time. Compared with the solution of using different drivers to drive multiple clamping components to move separately, it reduces parts, reduces assembly difficulty, improves assembly efficiency, reduces failure rate, and reduces energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0030] Figure 1 is a schematic diagram of the high-altitude solar panel cleaning robot of this embodiment;

[0031] Figure 2 Schematic diagram of the carrier of this embodiment;

[0032] Figure 3 Schematic diagram of the cooperation between the carrier and the climbing obstacle avoidance mechanism of this embodiment;

[0033] Figure 4 is a schematic diagram of the climbing obstacle avoidance mechanism of this embodiment;

[0034] Figure 5 This is a schematic diagram of a cutaway bottom shell of this embodiment;

[0035] Figure 6 Schematic diagram of the cleaning mechanism of this embodiment;

[0036] Figure 7This is a schematic diagram of the application of the high-altitude solar panel cleaning robot of this embodiment;

[0037] Figure 8 Schematic diagram of the climbing process of the high-altitude solar panel cleaning robot of this embodiment;

[0038] Figure 9 Schematic diagram of the climbing and obstacle-crossing process of the high-altitude solar panel cleaning robot of this embodiment.

[0039] icon:

[0040] 001-rod body; 002-support arm; 003-first axis; 004-second axis; 005-third axis; 100-carrier; 110-bottom shell; 120-fixed beam; 130-top plate; 300-climbing obstacle avoidance mechanism; 310-first driver; 311-first motor; 312-driving gear; 313-driven gear; 314-first lead screw; 3141-first thread groove; 3142-second thread groove; 3 30-first climbing obstacle avoidance unit; 331-first obstacle avoidance assembly; 3311-first connecting beam; 3312-first telescopic unit; 3313-first driving slider; 3314-first guide beam; 3315-first guide slider; 332-first clamping assembly; 3321-second motor; 3322-second lead screw; 3323-first lower clamping arm; 3324-second lower clamping arm; 3325-first guide rail; 350-second Climbing obstacle avoidance unit; 351-second obstacle avoidance assembly; 3511-second connecting beam; 3512-second telescopic unit; 3513-second driving slider; 3514-second guide beam; 3515-second guide slider; 352-second clamping assembly; 3521-third motor; 3522-third lead screw; 3523-first upper clamping arm; 3524-second upper clamping arm; 3525-second guide rail; 500-cleaning mechanism; 51 0-second drive; 520-base; 530-robotic arm; 531-fixed arm; 532-first swing arm; 533-second swing arm; 534-third swing arm; 535-fourth swing arm; 536-first hydraulic cylinder; 537-second hydraulic cylinder; 538-third hydraulic cylinder; 540-brush; 550-nozzle; 560-camera; 570-air pump; 580-hydraulic pump; 590-fuel tank; 700-power module. DETAILED DESCRIPTION

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0043] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0044] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0045] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0046] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0047] Please refer to Figures 1-9 This embodiment provides a high-altitude solar panel cleaning robot, which is used to crawl on a pole body 001 and can clean the solar panel body mounted on the pole body 001. The robot includes a carrier 100, a climbing obstacle avoidance mechanism 300, and a cleaning mechanism 500. The climbing obstacle avoidance mechanism 300 includes a first driver 310 and two climbing obstacle avoidance units. The first driver 310 is mounted on the carrier 100. Each climbing obstacle avoidance unit includes an obstacle avoidance assembly and a clamping assembly. Each obstacle avoidance assembly is mounted on the first driver 310. The two climbing obstacle avoidance units are arranged in the extension direction of the first axis 003. The clamping assembly is mounted on the corresponding obstacle avoidance assembly. Each clamping assembly has a switchable clamping state and a release state. The first driver 310 is used to drive the two climbing obstacle avoidance units to move toward each other relative to the carrier 100 in the extension direction of the first axis 003; the obstacle avoidance component is used to drive the corresponding clamping component to reciprocate relative to the carrier 100 in the extension direction of the second axis 004, so that the clamping component moves backward or forward relative to the rod body 001; the clamping component is used to clamp or release the rod body 001; the first axis 003 and the second axis 004 are perpendicular to each other; the cleaning mechanism 500 is installed on the carrier 100, and the cleaning mechanism 500 is used to clean the solar panel body.

[0048] As described above, the high-altitude solar panel cleaning robot provided in this embodiment works as follows:

[0049] Please refer to Figure 8-Figure 9 The following example illustrates a cleaning robot climbing up the pole 001. For ease of description, the lower clamping assembly of the two clamping assemblies is the first clamping assembly 332, and the upper clamping assembly is the second clamping assembly 352. During climbing, the extension direction of the first axis 003 is roughly aligned with the length of the pole 001. The two clamping assemblies can be adjusted to a first state where the distance between them is minimized. At this point, the two clamping assemblies are approximately located in the middle of the carrier 100 along the extension direction of the first axis 003. The first clamping assembly 332 is clamped to the rod 001, while the second clamping assembly 352 is released from the rod 001. The first actuator 310 is activated. The first actuator 310 drives the carrier 100 upward while simultaneously driving the second clamping assembly 352 upward. It should be understood that the second clamping assembly 352 not only moves upward with the carrier 100 by a distance s, but also moves upward relative to the carrier 100 by a distance s, where the distance s is the distance the first actuator 310 drives the carrier 100 to move upward relative to the first clamping assembly 332. That is, the distance the second clamping assembly 352 moves is 2s. In this way, after the carrier 100 moves upward by the set distance, the carrier 100, supported by the lower first clamping assembly 332, reaches its limit position and cannot move further upward. The first clamping assembly 332 is close to the bottom side of the carrier 100, and the second clamping assembly 352 is close to the top side of the carrier 100. The first clamping assembly 332 and the second clamping assembly 352 are in a second state in which the distance between them is the largest.

[0050] Next, the first actuator 310 is turned off, the second clamping assembly 352 is adjusted to clamp the rod 001, and the first clamping assembly 332 is released from the rod 001. The first actuator 310 is then turned on again. The carrier 100 can use the second clamping assembly 352 as a fulcrum. Driven by the first actuator 310, the carrier 100 and the first clamping assembly 332 climb upward together. During this process, the carrier 100 climbs upward, driving the first clamping assembly 332 to climb along with it. Simultaneously, the first clamping assembly 332, under the action of the first actuator 310, also climbs upward relative to the carrier 100 until the first clamping assembly 332 moves upward for 2 seconds. The first clamping assembly 332 and the second clamping assembly 352 return to the first state, and the climbing action is repeated until the robot reaches the set height. During the climbing process, the first clamping assembly 332 and the second clamping assembly 352 operate alternately, achieving a continuous and efficient climb.

[0051] It should be understood that during the climbing process, when there is an obstacle on the climbing path of the first clamping assembly 332 or the second clamping assembly 352, which affects the first clamping assembly 332 or the second clamping assembly 352 from climbing upward, for example, when the first clamping assembly 332 clamps the rod body 001 and the second clamping assembly 352 releases the rod body 001, the upward movement of the second clamping assembly 352 will interfere with and collide with the obstacle. At this time, the first driver 310 is not started first, but the obstacle avoidance assembly connected to the second clamping assembly 352 is started first. The obstacle avoidance assembly drives the second clamping assembly 352 to retreat relative to the rod body 001 along the extension direction of the second axis 004, and the second clamping assembly 352 approaches the carrier 100. The second clamping assembly 352 leaves the bottom of the obstacle. In the extension direction of the first axis 003, the second clamping assembly 352 and the obstacle do not overlap. At this time, the first driver 310 is started, and the second clamping assembly 352 can smoothly cross the obstacle and move to the top of the obstacle. Then, the obstacle avoidance component drives the second clamping component 352 forward again, that is, close to the rod body 001. The rod body 001 is located in the clamping space of the second clamping component 352, and the second clamping component 352 can smoothly clamp the rod body 001. Correspondingly, when the first clamping component 332 still needs to climb upward, the corresponding obstacle avoidance component is first used to drive the first clamping component 332 backward, so that the first clamping component 332 is away from under the obstacle. Then, the first driver 310 is used to drive the carrier 100 and the first clamping component 332 to rise together. After crossing the obstacle, the first clamping component 332 is moved toward the rod body 001, so that the rod body 001 is located in the clamping space of the first clamping component 332 and can be clamped by the first clamping component 332.

[0052] It is worth noting that the maximum distance between the first clamping component 332 and the second clamping component 352 is set to 2s. During the process of the first clamping component 332 and the second clamping component 352 moving from a state of being close to each other to a state of being far away from each other, the distance between the first clamping component 332 and the second clamping component 352 can be less than 2s, and then they move from a state of being far away from each other to a state of being close to each other. The movement distance can be flexibly controlled, the height of the robot can be controlled as needed, and obstacles can be effectively avoided during the climbing process.

[0053] For example, a rangefinder can be installed at the bottom of the first clamping component 332 and the top of the second clamping component 352. When the robot is installed on the rod body 001, the distance between the first clamping component 332 and the obstacle below can be obtained through the rangefinder on the first clamping component 332, and the distance between the second clamping component 352 and the obstacle above can be obtained through the rangefinder on the second clamping component 352, so as to reasonably adjust the distance traveled by the first clamping component 332 and the second clamping component 352 and effectively avoid obstacles.

[0054] It should be noted that pole 001 can be a streetlight pole, on which a solar panel can be mounted. The solar panel can be located above the streetlight arm 002. The streetlight body is mounted below arm 002. When the robot climbs the pole, arm 002 presents an obstacle. The first clamping assembly 332 and the second clamping assembly 352 cooperate to enable the robot to climb over arm 002. Obviously, the solar panel can be mounted higher than arm 002. After climbing over arm 002, the robot can continue climbing to reach a desired height and clean the solar panel.

[0055] Obviously, in other scenarios, the robot can also clean solar panels installed on other poles 001, that is, it is not limited to cleaning solar panels on street lamps. In addition, it can also clean other structures besides solar panels, not limited to cleaning solar panels.

[0056] The following embodiments illustrate the details of the high-altitude solar panel cleaning robot of the present application by way of examples.

[0057] Please refer to Figures 1-9 In this embodiment, optionally, the high-altitude solar panel cleaning robot includes a carrier 100, a climbing obstacle avoidance mechanism 300 and a cleaning mechanism 500.

[0058] Please refer to Figure 1-Figure 2 Optionally, the carrier 100 includes a bottom shell 110, four fixed beams 120, and a top plate 130. The bottom shell 110 is fixedly connected to the top plate 130 via the four fixed beams 120, which are arranged in parallel and spaced apart. The bottom shell 110 has an inner cavity, in which operating components such as a driver can be installed. The bottom shell 110 provides protection, thereby extending the service life of the multiple operating components.

[0059] In addition, the bottom shell 110 and the top plate 130 can both be set to a U-shaped structure, and the directions of the U-shaped opening of the bottom shell 110 and the U-shaped opening of the top plate 130 are consistent, which can not only reduce the weight of the carrier 100, save materials, and reduce processing and operating costs, but the U-shaped structure has a hollow area, which makes it easy to pass. The carrier 100 can avoid some obstacles during the climbing process, so that the carrier 100 has a certain obstacle-crossing ability.

[0060] Please refer to Figure 1 、 Figure 3 and Figure 4Optionally, the climbing obstacle avoidance mechanism 300 includes a first driver 310, a first climbing obstacle avoidance unit 330, and a second climbing obstacle avoidance unit 350. The first driver 310 is mounted on the carrier 100. The first climbing obstacle avoidance unit 330 and the second climbing obstacle avoidance unit 350 can be designed to have the same structure. Both are in transmission connection with the first driver 310. The first driver 310 can drive the first climbing obstacle avoidance unit 330 and the second climbing obstacle avoidance unit 350 to move closer to or away from each other, that is, to move the first climbing obstacle avoidance unit 330 and the second climbing obstacle avoidance unit 350 synchronously toward each other.

[0061] Please refer to Figure 4 The first driver 310 includes a first motor 311, a transmission assembly, and two first lead screws 314. The first motor 311 is connected to the two first lead screws via the transmission assembly. The first climbing obstacle avoidance unit 330 and the second climbing obstacle avoidance unit 350 are both connected to the two first lead screws 314. The first motor 311 is fixed to the top of the bottom shell 110. The rotating shaft of the first motor 311 extends along the first axis 003, and the top of the first motor 311 extends into the inner cavity. The first motor 311 is located approximately in the middle of the bottom shell 110. The transmission assembly includes a driving gear 312 and two driven gears 313. The driving gear 312 is fixed to the rotating shaft of the first motor 311. The two driven gears 313 are both rotatably mounted in the inner cavity of the bottom shell 110. The two driven gears 313 are located on opposite sides of the driving gear 312 and are symmetrically arranged. The two driven gears 313 are both meshed with the driving gear 312. As a result, the two driven gears 313 rotate in the same direction and opposite to the direction of rotation of the driving gear 312. Two first lead screws are arranged in parallel and spaced apart. The top end of each first lead screw 314 is rotatably connected to the top plate 130, and the bottom ends of the two first lead screws 314 are respectively coaxially fixedly connected to the two driven gears 313. As a result, when the first motor 311 is started and the first motor 311 is set to rotate clockwise, the two driven gears 313 both rotate counterclockwise, thereby driving the two first lead screws 314 to rotate counterclockwise.

[0062] At the same time, the outer circumference of each first lead screw 314 is provided with a first thread groove 3141 and a second thread groove 3142. The first thread groove 3141 and the second thread groove 3142 rotate in opposite directions, and there is a distance between the first thread groove 3141 and the second thread groove 3142 to prevent collision between the first climbing obstacle avoidance unit 330 and the second climbing obstacle avoidance unit 350. It should be understood that the distance between the first thread groove 3141 and the second thread groove 3142 is the minimum distance between the two climbing obstacle avoidance units.

[0063] During assembly, the first climbing obstacle avoidance unit 330 is simultaneously threaded into the two first threaded grooves 3141, while the second climbing obstacle avoidance unit 350 is simultaneously threaded into the two second threaded grooves 3142. During normal operation, the first climbing obstacle avoidance unit 330 is positioned below the second climbing obstacle avoidance unit 350. This design allows a single first motor 311 to simultaneously drive the first and second climbing obstacle avoidance units 330, 350 in synchronous operation along the extension direction of the first axis 003, allowing them to move toward or away from each other. This reduces the number of power components, lowers costs, and reduces the failure rate. Furthermore, the synchronous drive of the two first lead screws 314 enhances the operational stability and reliability of the first and second climbing obstacle avoidance units 330, 350, enabling a coherent climbing motion for both units, improving climbing efficiency, and conserving energy required for climbing.

[0064] It should be understood that the first lead screw 314 and the driven gear 313 can be matched through a spline, which has a good positioning effect, is not easy to loosen and slip, and has stable and reliable power transmission.

[0065] Please refer to Figure 3 and Figure 4 Optionally, the first climbing obstacle avoidance unit 330 includes a first obstacle avoidance assembly 331 and a first clamping assembly 332. The first obstacle avoidance assembly 331 is connected to both first lead screws 314, and the first clamping assembly 332 is connected to the first obstacle avoidance assembly 331. The first obstacle avoidance assembly 331 can drive the first clamping assembly 332 to slide back and forth along the second axis 004, causing the first clamping assembly 332 to retract or advance relative to the rod body 001.

[0066] Optionally, the first obstacle avoidance assembly 331 includes a first connecting beam 3311, a first telescopic unit 3312, a first drive slider 3313, a first guide beam 3314, and a first guide slider 3315. The first connecting beam 3311 is threadedly engaged with the first thread grooves 3141 of both first lead screws 314 and extends along the direction of the third axis 005. The first connecting beam 3311 is connected to the first telescopic unit 3312 and the first guide beam 3314 at both ends, respectively. The first drive slider 3313 is connected to the first telescopic unit 3312, and the first guide slider 3315 is slidably connected to the first guide beam 3314 along the direction of the second axis 004. The first telescopic unit 3312 can be configured as a stepper motor. When activated, the first telescopic unit 3312 drives the first drive slider 3313 to reciprocate in the direction of the second axis 004. The first axis 003, the second axis 004, and the third axis 005 are perpendicular to each other.

[0067] Optionally, the first clamping assembly 332 includes a second motor 3321, a second lead screw 3322, a first lower clamping arm 3323, a second lower clamping arm 3324, and two first guide rails 3325. The second motor 3321 is fixed to the first drive slider 3313, and the rotation axis of the second motor 3321 extends along the extension direction of the third axis 005. One end of the second lead screw 3322 is fixed to the rotation axis of the second motor 3321, and the other end of the second lead screw 3322 is rotatably connected to the first guide slider 3315. The two first guide rails 3325 are arranged in parallel and spaced apart. The two first guide rails 3325 are distributed on opposite sides of the second lead screw 3322, and the two ends of each first guide rail 3325 are respectively fixed to the first drive slider 3313 and the first guide slider 3315. At the same time, the outer circumference of the second lead screw 3322 is provided with a first threaded segment and a second threaded segment of opposite rotation. The first lower clamping arm 3323 is threadedly connected to the first threaded segment, and the second lower clamping arm 3324 is threadedly connected to the second threaded segment. When the second motor 3321 is activated, it drives the second lead screw 3322 to rotate, thereby causing the first lower clamping arm 3323 and the second lower clamping arm 3324 to move toward or away from each other in the direction extending from the third axis 005 under the guidance of the two first guide rails 3325. In other words, a first clamping space is formed between the first lower clamping arm 3323 and the second lower clamping arm 3324. When the first lower clamping arm 3323 and the second lower clamping arm 3324 move toward each other, the first clamping space is reduced, and the rod body 001 located within the first clamping space can be clamped. Similarly, when the first lower clamping arm 3323 and the second lower clamping arm 3324 move away from each other, the first lower clamping arm 3323 and the second lower clamping arm 3324 can release the rod body 001.

[0068] It is worth noting that since the first driving slider 3313 and the first guide slider 3315 are connected by two first guide rails 3325, when the first telescopic unit 3312 drives the first driving slider 3313 to slide along the extension direction of the second axis 004, the power can be transmitted to the first guide slider 3315 through the first guide rail 3325, thereby driving the first guide slider 3315 to slide synchronously, and finally realizing the reciprocating sliding of the first clamping assembly 332 in the extension direction of the second axis 004.

[0069] Through the cooperation of the second motor 3321, the second lead screw 3322 and the two first guide rails 3325, the first lower clamping arm 3323 and the second lower clamping arm 3324 move toward each other synchronously, the movement is smooth and reliable, and can provide a stable and reliable clamping force. It is not easy to slip off the rod body 001 and has high safety.

[0070] Please refer to Figure 4It should be understood that the structures of the first climbing obstacle avoidance unit 330 and the second climbing obstacle avoidance unit 350 can be designed to be identical, reducing manufacturing costs, enhancing interchangeability, and lowering maintenance costs. For example, the second climbing obstacle avoidance unit 350 optionally includes a second obstacle avoidance assembly 351 and a second clamping assembly 352. The second obstacle avoidance assembly 351 is connected to both first lead screws 314, and the second clamping assembly 352 is connected to the second obstacle avoidance assembly 351. The second obstacle avoidance assembly 351 can drive the second clamping assembly 352 to slide back and forth along the second axis 004, causing the second clamping assembly 352 to retract or advance relative to the rod body 001.

[0071] Specifically, the second obstacle avoidance assembly 351 includes a second connecting beam 3511, a second telescopic unit 3512, a second drive slider 3513, a second guide beam 3514, and a second guide slider 3515. The second connecting beam 3511 is threadedly engaged with the second thread grooves 3142 of both first lead screws 314 and extends along the direction of the third axis 005. The second connecting beam 3511 is connected to the second telescopic unit 3512 and the second guide beam 3514 at both ends. The second drive slider 3513 is connected to the second telescopic unit 3512, and the second guide slider 3515 is slidably connected to the second guide beam 3514 in the direction of the second axis 004. The second telescopic unit 3512 can be configured as a stepper motor. When activated, the second telescopic unit 3512 can drive the second drive slider 3513 to slide back and forth in the direction of the second axis 004.

[0072] Optionally, the second clamping assembly 352 includes a third motor 3521, a third lead screw 3522, a first upper clamping arm 3523, a second upper clamping arm 3524, and two second guide rails 3525. The third motor 3521 is fixed to the second drive slider 3513, and the rotation axis of the third motor 3521 extends along the extension direction of the third axis 005. One end of the third lead screw 3522 is fixed to the rotation axis of the third motor 3521, and the other end of the third lead screw 3522 is rotatably connected to the second guide slider 3515. The two second guide rails 3525 are arranged in parallel and spaced apart, and the two second guide rails 3525 are distributed on opposite sides of the third lead screw 3522. The two ends of each second guide rail 3525 are respectively fixed to the second drive slider 3513 and the second guide slider 3515. Meanwhile, the outer circumference of the third lead screw 3522 is provided with a third and fourth threaded segments with opposite rotational directions. The first upper clamping arm 3523 is threadedly connected to the third threaded segment, and the second upper clamping arm 3524 is threadedly connected to the fourth threaded segment. When the third motor 3521 is activated, it drives the third lead screw 3522 to rotate, causing the first upper clamping arm 3523 and the second upper clamping arm 3524 to move toward or away from each other in the direction extending from the third axis 005 under the guidance of the two second guide rails 3525. In other words, a second clamping space is formed between the first upper clamping arm 3523 and the second upper clamping arm 3524. When the first upper clamping arm 3523 and the second upper clamping arm 3524 move toward each other, the second clamping space is reduced, allowing the rod 001 to be clamped within the second clamping space. Similarly, when the first upper clamping arm 3523 and the second upper clamping arm 3524 move away from each other, the first upper clamping arm 3523 and the second upper clamping arm 3524 can release the rod 001.

[0073] It is worth noting that since the second driving slider 3513 and the second guide slider 3515 are connected by two second guide rails 3525, when the second telescopic unit 3512 drives the second driving slider 3513 to slide along the extension direction of the second axis 004, the power can be transmitted to the second guide slider 3515 through the second guide rail 3525, thereby driving the second guide slider 3515 to slide synchronously, and finally realizing the reciprocating sliding of the second clamping assembly 352 in the extension direction of the second axis 004.

[0074] Through the cooperation of the third motor 3521, the third lead screw 3522 and the two second guide rails 3525, the first upper clamping arm 3523 and the second upper clamping arm 3524 move toward each other synchronously, the movement is smooth and reliable, and can provide a stable and reliable clamping force. It is not easy to slip off the rod body 001 and has high safety.

[0075] Please refer to Figure 8 and Figure 9In this embodiment, when the first motor 311 rotates clockwise, the two driven gears 313 rotate counterclockwise, driving the two first lead screws 314 to rotate counterclockwise. At this time, the first and second climbing obstacle avoidance units 330 and 350 move away from each other, and the distance between them gradually increases. Similarly, when the first motor 311 rotates counterclockwise, the first and second climbing obstacle avoidance units 330 and 350 move toward each other, and the distance between them gradually decreases. Simultaneously, when the second motor 3321 rotates clockwise, the second lead screw 3322 rotates clockwise, the first lower clamping arm 3323 and the second lower clamping arm 3324 move away from each other, and the first clamping space gradually increases. Conversely, when the second motor 3321 rotates counterclockwise, the first clamping space gradually decreases. When the third motor 3521 rotates clockwise, the third lead screw 3522 rotates clockwise, the first upper clamping arm 3523 and the second upper clamping arm 3524 move away from each other, and the second clamping space gradually increases; conversely, when the third motor 3521 rotates counterclockwise, the second clamping space gradually decreases.

[0076] Thus, combined with the above conditions, the climbing process of the high-altitude solar panel cleaning robot of this embodiment is as follows:

[0077] In the initial state, the first clamping assembly 332 and the second clamping assembly 352 are in the first state, the distance between them is minimal, the first clamping space and the second clamping space are open, and the rod 001 is not clamped. During use, the robot is aligned with the target rod 001, and the second motor 3321 is activated to rotate counterclockwise, causing the first lower clamping arm 3323 and the second lower clamping arm 3324 to move closer together, clamping the rod 001. If the second clamping assembly 352 is not blocked by an obstacle during its ascent, the first actuator 310 can be activated directly, causing it to rotate clockwise, thereby moving the first obstacle avoidance assembly 331 and the second obstacle avoidance assembly 351 away from each other, thereby driving the first clamping assembly 332 and the second clamping assembly 352 away from each other. Since the first clamping assembly 332 is fixed to the rod body 001, the first clamping assembly 332 serves as a fulcrum. According to the principle of relative motion, the carrier 100 moves upward, while the second clamping assembly 352 moves upward along the first lead screw 314. The final upward movement distance of the second clamping assembly 352 is 2s. If the second clamping assembly 352 is blocked by an obstacle during its ascent, the second telescopic unit 3512 can be activated before activating the first actuator 310, causing it to move the second clamping assembly 352 backward relative to the rod body 001, so that the second clamping assembly 352 is clear of the obstacle. The first actuator 310 can then be activated to ascend the carrier 100 and the second clamping assembly 352.

[0078] When the second clamping assembly 352 reaches its limit position at the top of the first lead screw 314, the carrier 100 and the second clamping assembly 352 cannot rise further, and the first actuator 310 is stopped. If the second clamping assembly 352 has not retracted relative to the rod 001, the third motor 3521 is directly activated, rotating it counterclockwise, driving the first upper clamping arm 3523 and the second upper clamping arm 3524 toward each other, clamping the rod 001. If the second clamping assembly 352 retracts relative to the rod body 001, first start the second telescopic unit 3512 to drive the second clamping assembly 352 forward relative to the rod body 001, so that the rod body 001 is located in the second clamping space, and then start the third motor 3521. The third motor 3521 rotates counterclockwise to make the first upper clamping arm 3523 and the second upper clamping arm 3524 cooperate to clamp the rod body 001. Then, start the second motor 3321 to rotate clockwise to drive the first lower clamping arm 3323 and the second lower clamping arm 3324 away from each other, release the rod body 001, and then, the first driver 310 can be used to drive the carrier 100 and the first clamping assembly 332 to rise. If there is no obstacle above the first clamping component 332 that blocks the first clamping component 332 from moving upward, the first driver 310 is directly started to rotate counterclockwise, and the two first screws 314 rotate clockwise, so that the first clamping component 332 and the second clamping component 352 can approach each other. Since the second clamping component 352 is fixed to the rod body 001, the second clamping component 352 serves as a fulcrum. According to the principle of relative motion, the carrier 100 and the first clamping component 332 rise together, and the first clamping component 332 also moves upward relative to the first screw 314 until the distance between the first clamping component 332 and the second clamping component 352 is minimum. At this time, the rising distance of the first clamping component 332 is 2s, and the first driver 310 is stopped. If there is an obstacle above the first clamping assembly 332 that blocks the first clamping assembly 332 from moving upward, the first telescopic unit 3312 is first activated to cause it to move the first clamping assembly 332 backward relative to the rod 001, causing the rod 001 to leave the first clamping space. At the same time, the first clamping assembly 332 also leaves the bottom of the obstacle. The first driver 310 is then driven to rotate counterclockwise, causing the carrier 100 and the first clamping assembly 332 to rise together. When the first clamping assembly 332 moves to the minimum distance from the second clamping assembly 352, the climbing stage is completed. The first clamping assembly 332 is then used to clamp the rod 001, and the second clamping assembly 352 releases the rod 001, returning to the initial state. The above steps are then repeated until the robot reaches the set height. During the climbing process, the first clamping assembly 332 and the second clamping assembly 352 are alternately clamped with the rod body 001, with the clamping assembly clamped with the rod body 001 as support. The shape of the other clamping assembly can be adjusted as needed according to the position of the obstacle, so that obstacles can be effectively avoided during the climbing process, with high climbing efficiency and high climbing safety.

[0079] Optionally, in other embodiments, ultrasonic sensors can be installed on both the first clamping assembly 332 and the second clamping assembly 352 to detect the location of obstacles around the pole 001, thereby facilitating the climbing and obstacle avoidance actions of the first and second clamping assemblies 332 and 352. Furthermore, the degree of opening of the first and second clamping assemblies 332 and 352 during obstacle avoidance can be adaptively adjusted based on the location and size of the obstacle. For example, if an obstacle is located on the climbing path on one side of the U-shaped opening, the opening can be increased to facilitate smooth passage.

[0080] In addition, in some embodiments, pressure sensors can be set on the first lower clamping arm 3323, the second lower clamping arm 3324, the first upper clamping arm 3523 and the second upper clamping arm 3524 to obtain the real-time clamping force, thereby avoiding the situation where the clamping force is not enough to loosen.

[0081] Please refer to Figure 1 、 Figure 5-Figure 7 In this embodiment, the cleaning mechanism 500 optionally includes a second driver 510, a base 520, a robotic arm 530, a brush 540, a nozzle 550, a camera 560, an air pump 570, a hydraulic pump 580, and a fuel tank 590. The second driver 510 can be a motor, which is mounted on the top plate 130. The base 520 is in transmission connection with the second driver 510, and the second driver 510 can drive the base 520 to rotate. One end of the robotic arm 530 is mounted on the base 520, and the other end of the robotic arm 530 is connected to the brush 540. The nozzle 550 is mounted at the front end of the brush 540. The camera 560 can be mounted at the front end of the robotic arm 530 and can capture the surface image of the solar panel body, thereby obtaining the cleaning position and cleaning effect, which is conducive to guiding the cleaning operation of the brush 540 and the nozzle 550. The air pump 570, hydraulic pump 580, and oil tank 590 are all installed in the inner cavity of the bottom shell 110. The air pump 570 can be connected to the nozzle 550 through an air pipe. The hydraulic pump 580 is connected to the oil tank 590. The hydraulic pump 580 and the oil tank 590 can cooperate to provide power for the extension and retraction of the robotic arm 530.

[0082] The robotic arm 530 includes a fixed arm 531, a first swing arm 532, a second swing arm 533, a third swing arm 534, a fourth swing arm 535, a first hydraulic cylinder 536, a second hydraulic cylinder 537, and a third hydraulic cylinder 538. Two fixed arms 531 are fixed to the base 520, with a first shaft disposed between the two fixed arms 531. One end of the first swing arm 532 is rotatably mounted on the first shaft. The first swing arm 532 and the second swing arm 533 are rotatably connected via the second shaft. The second swing arm 533 and the third swing arm 534 are rotatably connected via the third shaft. The third swing arm 534 and the fourth swing arm 535 are rotatably connected via the fourth shaft. The brush 540, nozzle 550, and camera 560 are all mounted on the fourth swing arm 535. One end of the first hydraulic cylinder 536 is mounted to the base 520, and the other end is mounted to the second swing arm 533. One end of the second hydraulic cylinder 537 is connected to the second shaft and the other end is connected to the fourth shaft. One end of the third hydraulic cylinder 538 is connected to the second swing arm 533 and the other end is connected to the fourth swing arm 535. It should be understood that the first hydraulic cylinder 536, the second hydraulic cylinder 537, and the third hydraulic cylinder 538 are all connected to the hydraulic pump 580 and the oil tank 590 via hydraulic pipelines.

[0083] Among them, through the cooperation of the mechanical arm 530 and the second driver 510, the orientation of the brush 540 can be adjusted, and the adjustment is flexible, which makes it easy to use the brush 540 to clean the surface of the solar panel body.

[0084] In addition, the brush 540 is driven by a motor, and the brush 540 rotates during cleaning, thereby using the bristles on the brush 540 to clean impurities. According to the on-site conditions, the rotation speed of the brush 540 and the pressure of the nozzle 550 can be adjusted to effectively clean the solar panel body.

[0085] Obviously, in other embodiments, the robot can also be equipped with a separate power module 700. The power module 700 is installed in the inner cavity of the base 520 and can supply power to multiple electrical devices.

[0086] The high-altitude solar panel cleaning robot provided in this embodiment has intelligent climbing and obstacle-crossing capabilities, can flexibly respond to complex high-altitude environments, and smoothly reach the working position. The flexible rotation and precise operation of the robotic arm 530 can adapt to solar panels of different specifications and installation environments. It uses waterless cleaning to remove dirt with an air pump 570 and a brush 540, which is environmentally friendly and practical. The end camera 560 can provide real-time feedback on the cleaning effect to ensure that the solar panels are cleaned properly. The unique thread rotation design reduces the use of motors, makes the robot run more stable, and extends its service life. The robot can replace manual work, avoid the dangers of high-altitude work, and has a wide range of applications.

[0087] This embodiment also provides a cleaning method, which is applied to a high-altitude solar panel cleaning robot. The cleaning method includes the following steps:

[0088] Step s100: Adjusting the first clamping assembly 332 of the two clamping assemblies to a clamping state to clamp the rod 001, and adjusting the second clamping assembly 352 of the two clamping assemblies to a loose state to loosen the rod 001; activating the first actuator 310, and using the first actuator 310 to drive the carrier 100 and the second clamping assembly 352 of the two clamping assemblies to climb along the extension direction of the first axis 003;

[0089] Step s200: After climbing the set distance, the first actuator 310 is turned off, the second clamping assembly 352 is used to clamp the rod 001, and the first clamping assembly 332 is used to release the rod 001. The first actuator 310 is then driven again, and the first actuator 310 drives the carrier 100 and the first clamping assembly 332 to climb along the extension direction of the first axis 003.

[0090] Step s300: After climbing the set distance, return to step s100;

[0091] Step s400: After climbing to a set position on the pole 001, use the cleaning mechanism 500 to clean the solar panel body.

[0092] Optionally, in step s100 or step s200, when there is an obstacle in the climbing direction of the first clamping component 332 or the second clamping component 352, before starting the first driver 310, it also includes using the corresponding obstacle avoidance component to drive the first clamping component 332 or the second clamping component 352 to retreat a target distance relative to the rod body 001 along the extension direction of the second axis 004 to avoid the obstacle; after climbing the set distance, the first clamping component 332 or the second clamping component 352 that has completed the avoidance action is first driven by the corresponding obstacle avoidance component to advance a target distance relative to the rod body 001 along the extension direction of the second axis 004, and then the first clamping component 332 or the second clamping component 352 is used to clamp the rod body 001.

[0093] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A high-altitude solar panel cleaning robot, used for climbing a rod (001) and capable of cleaning a solar panel body mounted on the rod (001), characterized in that: It comprises a carrier (100), a climbing obstacle avoidance mechanism (300) and a cleaning mechanism (500); The climbing obstacle avoidance mechanism (300) comprises a first driver (310) and two climbing obstacle avoidance units, wherein the first driver (310) is mounted on the carrier (100); each climbing obstacle avoidance unit comprises an obstacle avoidance component and a clamping component, each obstacle avoidance component is mounted on the first driver (310), and the two climbing obstacle avoidance units are arranged in the extension direction of the first axis (003); the clamping component is mounted on the corresponding obstacle avoidance component, and each clamping component has a clamping state and a release state that can be switched between each other; The first driver (310) is used to drive the two climbing obstacle avoidance units to move toward each other relative to the carrier (100) in the extension direction of the first axis (003); the obstacle avoidance assembly is used to drive the corresponding clamping assembly to reciprocate relative to the carrier (100) in the extension direction of the second axis (004), so as to make the clamping assembly retreat or advance relative to the rod body (001); the clamping assembly is used to clamp or release the rod body (001); the first axis (003) and the second axis (004) are perpendicular to each other; The cleaning mechanism (500) is installed on the carrier (100), and the cleaning mechanism (500) is used to clean the solar panel body.

2. The high-altitude solar panel cleaning robot according to claim 1, characterized in that: The first driver (310) comprises a first motor (311), a transmission assembly and two first lead screws (314); the first motor (311), the transmission assembly and the two first lead screws (314) are all mounted on the carrier (100); the two first lead screws (314) are arranged in parallel and spaced apart, and each first lead screw (314) extends along the first axis (003); the first motor (311) is simultaneously connected to the two first lead screws (314) through the transmission assembly; and each obstacle avoidance assembly is simultaneously threadedly engaged with the two first lead screws (314); The first motor (311) is used to drive the two first lead screws (314) to rotate simultaneously through the transmission assembly, so as to move the two obstacle avoidance assemblies closer to or farther away from each other.

3. The high-altitude solar panel cleaning robot according to claim 2, characterized in that: The transmission assembly comprises a driving gear (312) and two driven gears (313), wherein the driving gear (312) is fixed on the output shaft of the first motor (311); the two driven gears (313) are rotatably matched with the carrier (100), and the two driven gears (313) are located on both sides of the driving gear (312) and are meshed with the driving gear (312); The two first lead screws (314) are fixedly connected to the two driven gears (313) respectively; each of the first lead screws (314) is provided with a first thread groove (3141) and a second thread groove (3142) with opposite rotation directions; the first obstacle avoidance component (331) of the two obstacle avoidance components is simultaneously threadedly engaged with the two first thread grooves (3141); and the second obstacle avoidance component (351) of the two obstacle avoidance components is simultaneously threadedly engaged with the two second thread grooves (3142).

4. The high-altitude solar panel cleaning robot according to claim 2, characterized in that: The obstacle avoidance assembly comprises a connecting beam, a telescopic unit, a driving slider, a guide beam and a guide slider; the connecting beam is simultaneously threadedly engaged with the two lead screws; the telescopic unit and the guide unit are both fixed to the connecting beam and arranged at intervals in the extension direction of the third axis (005); the telescopic unit is connected to the driving slider; the guide slider and the guide member are slidably engaged in the extension direction of the second axis (004); the clamping assembly is simultaneously connected to the driving slider and the guide slider; The first axis (003), the second axis (004) and the third axis (005) are perpendicular to each other.

5. The high altitude solar panel cleaning robot according to claim 4, characterized in that: The clamping assembly comprises a second motor (3321), a second lead screw (3322), a first clamping arm, a second clamping arm and a guide rail; the second motor (3321) is fixed to the first driving slider (3313), one end of the second lead screw (3322) is fixed to the output shaft of the first motor (311), and the other end is rotatably connected to the first guide slider (3315); the second lead screw (3322) has a first thread segment and a second thread segment with opposite rotation directions; the two ends of the guide rail are respectively fixed to the driving slider and the guide slider; the first clamping arm is screwed to the first thread segment, and the second clamping arm is screwed to the second thread segment; the first clamping arm and the second clamping arm are both slidably engaged with the guide rail in the extension direction of the third axis (005); The second motor (3321) is used to drive the second lead screw (3322) to rotate so as to move the first clamping arm and the second clamping arm closer to or farther away from each other.

6. The high altitude solar panel cleaning robot according to claim 4, characterized in that: The clamping assembly further comprises an ultrasonic probe and a pressure sensor, wherein the ultrasonic probe is mounted on the first clamping arm or the second clamping arm, and the pressure sensor is provided on the side of the first clamping arm or the second clamping arm that is in contact with the rod body (001); the ultrasonic probe is used to obtain obstacles around the rod body (001), and the pressure sensor is used to obtain the pressure between the first clamping arm or the second clamping arm and the rod body (001).

7. The high-altitude solar panel cleaning robot according to any one of claims 1 to 6, characterized in that: The cleaning mechanism (500) comprises a second driver (510), a base (520), a mechanical arm (530) and a brush (540); the second driver (510) is mounted on the carrier (100), the base (520) is rotatably mounted on the second driver (510), the mechanical arm (530) is mounted on the base (520), and the brush (540) is mounted on the mechanical arm (530); the second driver (510) is used to drive the base (520) to rotate; and the mechanical arm (530) is used to adjust the angle and height of the brush (540).

8. The high-altitude solar panel cleaning robot according to claim 7, characterized in that: The cleaning mechanism (500) further comprises a third driver, the third driver being mounted on the mechanical arm (530), the brush (540) being mounted on the third driver, and the third driver being used to drive the brush (540) to rotate.

9. A cleaning method, characterized in that: The high-altitude solar panel cleaning robot according to any one of claims 1 to 8, wherein the cleaning method comprises the following steps: Step s100: adjusting the first clamping assembly (332) of the two clamping assemblies to a clamping state to clamp the rod body (001), and adjusting the second clamping assembly (352) of the two clamping assemblies to a loose state to loosen the rod body (001); starting the first driver (310), and using the first driver (310) to drive the carrier (100) and the second clamping assembly (352) of the two clamping assemblies to climb together along the extension direction of the first axis (003); Step s200: After climbing a set distance, the first driver (310) is turned off, the second clamping assembly (352) is used to clamp the rod (001), and the first clamping assembly (332) is made to release the rod (001), and then the first driver (310) is driven again, and the first driver (310) is used to drive the carrier (100) and the first clamping assembly (332) to climb along the extension direction of the first axis (003); Step s300: After climbing the set distance, return to step s100; Step s400: After climbing to a set position on the pole (001), the cleaning mechanism (500) is used to clean the solar panel body.

10. The cleaning method according to claim 9, wherein: In step s100 or step s200, when there is an obstacle in the climbing direction of the first clamping component (332) or the second clamping component (352), before starting the first driver (310), the method further includes utilizing the corresponding obstacle avoidance component to drive the first clamping component (332) or the second clamping component (352) to retreat a target distance relative to the rod body (001) along the extension direction of the second axis (004) to avoid the obstacle; after climbing the set distance, the first clamping component (332) or the second clamping component (352) that has completed the avoidance action is first driven by the corresponding obstacle avoidance component to advance the target distance relative to the rod body (001) along the extension direction of the second axis (004), and then the rod body (001) is clamped by utilizing the first clamping component (332) or the second clamping component (352).

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