Photovoltaic cleaning robot and path planning method thereof

Abstract

The invention relates to the technical field of photovoltaic module cleaning, in particular to a photovoltaic cleaning robot and a path planning method thereof. The robot comprises a front foot, a middle foot, a rear foot, a gait moving mechanism, a cleaning mechanism and a guide rail, the front foot, the gait moving mechanism and the rear foot are sequentially arranged on the front portion, the middle portion and the rear portion of the guide rail, the middle foot and the cleaning mechanism are arranged on the gait moving mechanism, and the front foot, the middle foot and the rear foot all have telescopic and vacuum adsorption functions; when the front foot and the rear foot are in an adsorption state, the gait moving mechanism can drive the middle foot and the cleaning mechanism to walk on the guide rail; or in the middle foot adsorption state, the gait moving mechanism can drive the guide rail, the front foot and the rear foot to move, and advancing, retreating and steering are achieved; the cleaning mechanism is used for completing cleaning operation; and a front foot infrared sensor and a rear foot infrared sensor are respectively arranged on the front foot and the rear foot. The robot can be guided to accurately and stably advance on the photovoltaic panel along the preset path, the repetition rate of the cleaning path is reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic component cleaning, and in particular to a photovoltaic cleaning robot and a path planning method thereof. Background Art

[0002] In today's society, energy demand is rapidly growing, while traditional energy resources, considered non-renewable, are gradually being depleted, creating an increasingly stark contradiction between the two. Rapid economic growth in countries around the world is accompanied by significant energy losses and environmental pollution. Solar photovoltaic power generation, as a renewable energy technology, is increasingly becoming a key technology for reducing carbon emissions. Photovoltaic panels are often installed in remote areas with high light intensity, wide expanses, and good solar radiation. The accumulation of foreign matter such as dust, bird droppings, and snow can affect power generation efficiency. Excessive accumulation can also cause localized hot spots, potentially damaging photovoltaic panels. To prevent these problems, regular cleaning and maintenance of photovoltaic panels is essential. Currently, robots are widely used to autonomously clean photovoltaic panels, effectively improving their efficiency while avoiding the inefficiencies and safety risks associated with manual cleaning.

[0003] Currently, photovoltaic cleaning robots typically use negative pressure suction to attach to photovoltaic panels and clean along a "J"-shaped path. When navigating over the panels, the robot struggles to detect its own posture and position, making it unable to accurately and stably follow the planned path, determine its next move, or accurately detect edges. If the robot's suction cup happens to attach to a groove, failure to detect suction will occur if pressure loss detection is not performed. Furthermore, due to the robot's large motion amplitude, the dragging of the suction cup caused by slow air valve deflation, and mechanical errors, the robot will veer off course, gradually deviating from its original path over time. Without effective path planning, these phenomena can lead to missed areas, low cleaning efficiency, edge dropouts, suction failure, and a disrupted cleaning path. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to provide a photovoltaic cleaning robot and a path planning method thereof to solve the problems of existing robots such as missed cleaning, low cleaning efficiency, edge falling, adsorption failure and disordered cleaning path.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] On the one hand, the present invention provides a photovoltaic cleaning robot, comprising a front foot, a middle foot, a hind foot, a gait movement mechanism, a cleaning mechanism and a guide rail, wherein the front foot, the gait movement mechanism and the hind foot are respectively arranged at the front, middle and rear parts of the guide rail, the middle foot and the cleaning mechanism are arranged on the gait movement mechanism, and the front foot, the middle foot and the hind foot all have telescopic and vacuum adsorption functions; when the front foot and the hind foot are in the adsorption state, the gait movement mechanism can drive the middle foot and the cleaning mechanism to walk on the guide rail; or when the middle foot is in the adsorption state, the gait movement mechanism can drive the guide rail, the front foot and the hind foot to move, and realize forward and backward and turning; the cleaning mechanism is used to complete the cleaning operation; the front foot and the hind foot are respectively provided with a front foot infrared sensor and a hind foot infrared sensor for identifying the position relationship between the robot and the photovoltaic panel.

[0007] The midfoot is divided into three states:

[0008] State 1: the midfoot contracts, the forefoot and hindfoot contact the photovoltaic panel and adsorb;

[0009] State 2: The midfoot is extended and is on the same level as the forefoot and hindfoot;

[0010] In state three, the midfoot extends to lift the forefoot and the hindfoot, so that the forefoot and the hindfoot are separated from the photovoltaic panel.

[0011] The midfoot includes a rotation mechanism, a midfoot telescopic mechanism and a midfoot adsorption component, wherein the rotation mechanism is arranged on the gait movement mechanism, the midfoot telescopic mechanism is arranged on the rotation mechanism and connected to the midfoot adsorption component, the rotation mechanism is used to drive the guide rail to rotate, and the midfoot telescopic mechanism is used to drive the midfoot adsorption component to expand and contract.

[0012] The cleaning mechanism includes a mounting frame and a plurality of brush assemblies arranged on the mounting frame, and the mounting frame is arranged at the bottom of the gait movement mechanism;

[0013] The brush assembly includes a guide column, a spring, a passive telescopic mechanism and a brush, wherein the upper end of the guide column is connected to the mounting frame, the spring is sleeved on the guide column, and is connected to the brush after being connected in parallel with the passive telescopic mechanism.

[0014] Another aspect of the present invention provides a path planning method for the photovoltaic cleaning robot as described above, comprising the following steps:

[0015] Step 1: The robot is positioned at the lower left corner of the photovoltaic panel in its initial position, with its head facing upward and its tail facing downward, its front and rear legs adsorbed, and its mid-leg retracted to position 1.

[0016] Step 2: The cleaning mechanism is activated, and the gait movement mechanism drives the retracted midfoot and the cleaning mechanism to clean along the guide rail from the tail to the head. After reaching the head position, the cleaning mechanism is closed;

[0017] Step 3: The midfoot is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot and hindfoot are lifted off the photovoltaic panel, and the midfoot pressure loss detection process is required;

[0018] Step 4: The gait movement mechanism is activated, and the guide rail moves forward with the forefoot and hindfoot until the midfoot is in the middle of the guide rail;

[0019] Step 5: The cleaning mechanism starts, and the rotating mechanism starts, causing the robot to rotate 180° counterclockwise. The number of rotations counts as one. At this time, the head and tail positions are swapped, and the cleaning mechanism is turned off.

[0020] Step 6: The gait movement mechanism is activated, and the guide rail moves the forefoot and hindfoot forward together until the midfoot is at the head position of the robot;

[0021] Step 7: The midfoot retracts to state 2, the forefoot and hindfoot descend and adsorb the photovoltaic panel, and the midfoot continues to retract to state 1, detaching from the photovoltaic panel. Pressure loss detection of the forefoot and hindfoot is required.

[0022] Step 8: Perform linear motion according to steps 1 to 7 as one cycle;

[0023] Step 9: During the movement, the front and rear infrared sensors are used to detect gaps and edges. If the edge is triggered, the steering operation is performed.

[0024] In step 3, the midfoot pressure loss detection process includes the following steps:

[0025] Step 31: The robot's front and rear feet adhere, and the mid-foot retracts to state 1, separating from the photovoltaic panel. After the cleaning mechanism completes the cleaning, it descends to state 2 and attempts to adhere. If pressure loss is detected, the mid-foot separates from the photovoltaic panel.

[0026] Step 32: Determine based on the current number of robot rotations. If the number of robot rotations is an even number, the mid-foot moves a relative distance L1 along the guide rail toward the tail position. If the number of robot rotations is an odd number, the mid-foot moves a relative distance L1 toward the head position.

[0027] Step 33: The midfoot is lowered and adsorbed. If pressure loss is detected, the above process is repeated;

[0028] Step 34: The midfoot is lowered to state three, and the front and rear feet are separated from the photovoltaic panel. If the number of rotations of the robot is even, the guide rail moves so that the midfoot is at the head; if the number of rotations is odd, the guide rail moves so that the midfoot is at the tail.

[0029] In step 7, the pressure loss detection process of the forefoot and hindfoot includes the following steps:

[0030] Step 71: The robot's midfoot is in state 2 adsorption, and the front and rear feet are lowered and attempt to adsorb. If decompression is detected, the midfoot is lowered to state 3, and the front and rear feet are separated.

[0031] Step 72: Determine based on the current number of rotations of the robot. If the number of rotations of the robot is an odd number, the guide rail moves a relative distance L2 toward the head, so that the mid-foot is offset from the head position by L2. If the number of rotations of the robot is an even number, the guide rail moves a relative distance L2 toward the tail position.

[0032] Step 73: The midfoot retracts to state 2, the forefoot and the rearfoot descend and attempt to adsorb. If decompression is detected, the above process is repeated.

[0033] Step 74: The mid-foot disengages and retracts to state 1. If the number of rotations of the robot is odd, the mid-foot moves to the head position; if the number of rotations is even, the mid-foot moves to the tail position.

[0034] In step 9, gap and edge detection are performed during the movement process. If the edge is triggered, the steering operation is performed, including the following steps:

[0035] Step 9a1: During robot movement, the robot uses its front or rear infrared sensors to detect 0-1-0 transitions, where 0 represents the board surface and 1 represents a groove. If the transition trigger time is less than 50ms, it indicates a gap. The number of gaps crossed is increased by 1. The robot's position on the board is calculated based on this. If the trigger time is greater than 100ms, it indicates that the robot has reached the edge of the board.

[0036] Step 9a2: In both steps 4 and 6, there is a chance that the guide rail will be edge-triggered when it moves forward. After the trigger, the guide rail stops and the edge direction is determined.

[0037] Step 9a3: Determine whether the extended part is the head or the tail. If the robot rotates an even number of times, the extended part is the head; if the robot rotates an odd number of times, the extended part is the tail. Retract the distance L3 to ensure that the suction cup falls within the edge of the board.

[0038] Step 9a4: The midfoot retracts to state 2, the forefoot and hindfoot descend and adsorb, the midfoot detaches and retracts to state 1, and the gait movement mechanism is activated to move the midfoot along the guide rail so that the midfoot is in the middle position;

[0039] Step 9a5: If the edge is determined to be the lower right corner, the cleaning ends; if not, proceed to the next step;

[0040] Step 9a6: The midfoot is lowered to state 2, and after adsorption, it is lowered to state 3 to separate the forefoot and the hindfoot, which is a correction in one step;

[0041] Step 9a7: The cleaning mechanism is activated, the rotation mechanism is activated, the robot turns 90°, and the 90° turning direction is determined by its own absolute motion direction and orientation. The cleaning mechanism is turned off.

[0042] Step 9a8: The guide rail moves the front and rear feet forward. If a right edge is detected, the process returns to step 9a2; otherwise, the process continues to the next step.

[0043] Step 9a9: The midfoot retracts to state 2, the forefoot and the rearfoot descend and adsorb, and the midfoot detaches and retracts to state 1;

[0044] Step 9a10: The cleaning mechanism is activated, and the midfoot moves along the guide rail with the cleaning mechanism to the other end, and the cleaning mechanism is closed;

[0045] Step 9a11: The midfoot is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot and the rearfoot are separated, and the guide rail moves so that the midfoot is in the middle position;

[0046] Step 9a12: The cleaning mechanism is activated, the rotation mechanism is activated, the robot turns 90° in the opposite direction, and the cleaning mechanism is closed;

[0047] Step 9a13: Secondary correction;

[0048] Step 9a14: The guide rail moves to the head or tail, the midfoot retracts to state 2, the forefoot and hindfoot descend and adsorb, and the midfoot detaches and retracts to state 1;

[0049] Step 9a15: Return to the straight-line driving process.

[0050] The one-time deviation correction comprises the following steps:

[0051] Step 9b1: The guide rail extends a fixed distance L4;

[0052] Step 9b2: The robot turns left. The front or rear infrared sensors detect a 1-0 change. The rotation mechanism stops, the rotation angle α1 is recorded, and the rotation mechanism returns to the zero position.

[0053] Step 9b3: The robot turns right. The front or rear infrared sensors detect a 1-0 change, the rotation mechanism stops, and the rotation angle position α2 is recorded.

[0054] Step 9b4: The robot turns left by an angle of (α1+α2) / 2 to correct the deflection error.

[0055] Step 9b5: The guide rail retracts and stops when the limit is triggered.

[0056] The secondary deviation correction comprises the following steps:

[0057] Step 9c1: The guide rail extends and the secondary correction state is enabled;

[0058] Step 9c2: Edge detection. If no edge is detected, proceed to the next step. If an edge is detected, proceed to the correction process, determine the secondary correction, and return to step 9a14 after completion.

[0059] Step 9c3: The midfoot retracts to state 2, the forefoot and hindfoot descend and adsorb, and the midfoot detaches and retracts to state 1;

[0060] Step 9c4: The guide rail extends in the opposite direction to that of step 9c1;

[0061] Step 9c5: Edge detection. If no edge is detected, proceed to the next step. If an edge is detected, proceed to the correction process, determine the secondary correction, and return to step 9a14 after completion.

[0062] Step 9c6: The midfoot is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot and the hindfoot are separated, and the process returns to step 9c1 and repeats the outward exploration.

[0063] The advantages and positive effects of the present invention are:

[0064] Efficient cleaning: The photovoltaic cleaning robot provided by the present invention can move accurately and stably along a preset path, reduce the repetition rate of the cleaning path, and improve work efficiency.

[0065] Strong adaptability: The photovoltaic cleaning robot provided by the present invention can maintain stable adsorption under different circumstances and avoid adsorption failure through three-state switching and pressure loss detection processing of the mid-foot.

[0066] Precise positioning: The photovoltaic cleaning robot provided by the present invention utilizes an infrared sensor and a rotating mechanism to accurately identify the positional relationship between the robot and the photovoltaic panel, ensuring comprehensive cleaning coverage.

[0067] Deviation correction capability: The photovoltaic cleaning robot provided by the present invention can perform steering operations when an edge is detected through edge detection and deviation correction methods, thereby avoiding edge falling and path disorder.

[0068] High degree of automation: The path planning method of the present invention is simple and reliable, relies on fewer sensors, and can complete path planning by relying on multiple movements of the robot itself, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0070] Figure 1 This is a schematic structural diagram of a photovoltaic cleaning robot according to the present invention;

[0071] Figure 2 is a schematic structural diagram of the gait movement mechanism and the midfoot in the present invention;

[0072] Figure 3 It is a structural schematic diagram of the cleaning mechanism of the present invention;

[0073] Figure 4 Schematic diagrams of three states of the midfoot in the present invention: (a) is state one; (b) is state two; (c) is state three;

[0074] Figure 5 This is a flow chart of a path planning method for a photovoltaic cleaning robot according to the present invention;

[0075] Figure 6 Schematic diagram of a cleaning path of a photovoltaic cleaning robot according to an embodiment of the present invention;

[0076] Figure 7 is a schematic diagram of a method for detecting midfoot pressure loss in an embodiment of the present invention;

[0077] Figure 8 2 is a schematic diagram of a method for detecting front and rear foot pressure loss in an embodiment of the present invention;

[0078] Figure 9 is a schematic diagram of an edge detection method in an embodiment of the present invention, taking an absolute upward direction and a robot facing upward as an example;

[0079] Figure 10 Schematic diagram of the correction method in an embodiment of the present invention.

[0080] In the figure: 1 is the forefoot, 2 is the midfoot, 3 is the rearfoot, 4 is the forefoot connecting column, 5 is the forefoot infrared sensor, 6 is the forefoot air valve, 7 is the forefoot air pump, 8 is the forefoot suction cup, 9 is the gait movement mechanism, 10 is the rotation mechanism, 11 is the midfoot telescopic mechanism, 12 is the midfoot air valve, 13 is the midfoot air pump, 14 is the midfoot suction cup, 15 is the cleaning mechanism, 16 is the rearfoot connecting column, 17 is the rearfoot infrared sensor, 18 is the rearfoot air valve, 19 is the rearfoot air pump, 20 is the rearfoot Suction cup, 21 is the guide rail, 22 is the guide column, 23 is the spring, 24 is the passive telescopic mechanism, 25 is the brush, 26 is the gear II, 27 is the gear IV, 28 is the gait horizontal axis, 29 is the gear III, 30 is the rack, 31 is the midfoot connecting column, 32 is the inner sleeve, 33 is the rotation drive motor, 34 is the outer sleeve, 35 is the small gear, 36 is the large gear, 37 is the gear I, 38 is the gait motor, 39 is the frame, 40 is the lifting drive gear, and 41 is the connecting frame. DETAILED DESCRIPTION

[0081] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0082] See also Figure 1 As shown, an embodiment of the present invention provides a photovoltaic cleaning robot, characterized in that it includes a front foot 1, a middle foot 2, a hind foot 3, a gait movement mechanism 9, a cleaning mechanism 15 and a guide rail 21, wherein the front foot 1, the gait movement mechanism 9 and the hind foot 3 are respectively arranged at the front, middle and rear parts of the guide rail 21, the middle foot 2 and the cleaning mechanism 15 are arranged on the gait movement mechanism 9, and the front foot 1, the middle foot 2 and the hind foot 3 all have telescopic and vacuum adsorption functions; when the front foot 1 and the hind foot 3 are in the adsorption state, the gait movement mechanism 9 can drive the middle foot 2 and the cleaning mechanism 15 to walk on the guide rail 21; or when the middle foot 2 is in the adsorption state, the gait movement mechanism 9 can drive the guide rail 21, the front foot 1 and the hind foot 3 to move, realizing forward and backward and turning; the cleaning mechanism 15 is used to complete the cleaning operation; the front foot 1 and the hind foot 3 are respectively provided with a front foot infrared sensor 5 and a hind foot infrared sensor 17 for identifying the position relationship between the robot and the photovoltaic panel.

[0083] See also Figure 1 As shown, in the embodiment of the present invention, the forefoot 1 includes a forefoot connecting column 4, a forefoot air valve 6, a forefoot air pump 7 and a forefoot suction cup 8, wherein the forefoot connecting column 4 and the forefoot air pump 7 are mounted on the front of the guide rail 21, the forefoot suction cup 8 is mounted on the lower end of the forefoot connecting column 4, and the forefoot suction cup 8 is connected to the forefoot air pump 7 through the forefoot air valve 6. The hindfoot 3 includes a hindfoot connecting column 16, a hindfoot air valve 18, a hindfoot air pump 19 and a hindfoot suction cup 20, wherein the hindfoot connecting column 16 and the hindfoot air pump 19 are mounted on the rear of the guide rail 21, the hindfoot suction cup 20 is mounted on the lower end of the hindfoot connecting column 16, and the hindfoot suction cup 20 is connected to the hindfoot air pump 19 through the hindfoot air valve 18, and the hindfoot connecting column 16 is capable of extension and contraction.

[0084] See also Figure 2As shown, in the embodiment of the present invention, the gait movement mechanism 9 includes gear II 26, gear IV 27, a gait transverse axis 28, gear III 29, a rack 30, gear I 37, a gait motor 38, and a frame 39. Two racks 30 are mounted on and parallel to the guide rail 21. Gears II 26 and IV 27 are located at one end of the gait transverse axis 28, with gear IV 27 located inside gear II 26. Gear III 29 is located at the other end of the gait transverse axis 28, and gears II 26 and III 29 respectively mesh with the two racks 30. The frame 39 is slidably connected to the guide rail 21 via a slider. The gait motor 38 is mounted at the top of the frame 39, with its output end connected to gear I 37, which meshes with gear IV 27. The gait motor 38 drives gear I 37 to rotate, thereby driving the gait transverse axis 28 and the gears II 26 and III 29 at its ends to rotate, which in turn drives the frame 39 to slide along the guide rail 21. When the frame 39 is fixed, the gait motor 38 drives the guide rail 21 to move relative to the frame 39 .

[0085] See also Figure 1 As shown, in an embodiment of the present invention, the midfoot 2 includes a rotating mechanism 10, a midfoot telescopic mechanism 11 and a midfoot adsorption assembly, wherein the rotating mechanism 10 is arranged on the frame 39 of the gait movement mechanism 9, the midfoot telescopic mechanism 11 is arranged on the rotating mechanism 10 and connected to the midfoot adsorption assembly, the rotating mechanism 10 is used to drive the guide rail 21 to rotate, and the midfoot telescopic mechanism 11 is used to drive the midfoot adsorption assembly to telescope.

[0086] See also Figure 2 As shown in the embodiment of the present invention, the rotation mechanism 10 includes a rotation drive motor 33, an outer sleeve 34, an inner sleeve 32, a pinion gear 35, and a gear 36. The outer sleeve 34 is connected to the frame 39 via a connecting structure. The inner sleeve 32 is embedded in the inner side of the outer sleeve 34 and can rotate relative to the outer sleeve 34. The gear 36 is mounted on the outer side of the lower end of the inner sleeve 32 and is fixed relative to the inner sleeve 32. The rotation drive motor 33 is mounted on a mounting platform provided at the lower end of the outer sleeve 34. The output end of the rotation drive motor 33 is connected to the pinion gear 35, which meshes with the gear 36. The rotation drive motor 33 drives the pinion gear 35 to rotate, thereby driving the gear 36 and the inner sleeve 32 to rotate. When the inner sleeve 32 is fixed, the pinion gear 35 rotates and rolls along the gear 36, driving the frame 39 and the guide rail 21 to rotate. The rotation angle range is 0-270 degrees.

[0087] In an embodiment of the present invention, the midfoot telescopic mechanism 11 includes a telescopic servo, a lifting rack, a midfoot connecting column 31, a lifting drive gear 40, and a connecting frame 41. The midfoot connecting column 31 is inserted into and slidably engages with an inner sleeve 32. The lifting rack is vertically mounted on the midfoot connecting column 31. The connecting frame 41 is connected to the outer side of the inner sleeve 32. The telescopic servo is mounted on the connecting frame 41, and its output end is connected to the lifting drive gear 40, which meshes with the lifting rack. The midfoot suction assembly includes a midfoot air valve 12, a midfoot air pump 13, and a midfoot suction cup 14. The midfoot suction cup 14 is mounted at the lower end of the midfoot connecting column 31. The midfoot air pump 13 is mounted on the connecting frame 41 and connected to the midfoot suction cup 14 via the midfoot air valve 12. The telescopic servo drives the lifting drive gear 40 to rotate, thereby driving the midfoot connecting column 31 and the midfoot suction cup 14 to extend and retract.

[0088] See also Figure 3 As shown, in an embodiment of the present invention, the cleaning mechanism 15 includes a mounting frame and a plurality of brush assemblies arranged on the mounting frame, and the mounting frame is arranged at the bottom of the gait movement mechanism 9; the brush assembly includes a guide column 22, a spring 23, a passive telescopic mechanism 24 and a brush 25, wherein the upper end of the guide column 22 is connected to the mounting frame, the spring 23 is sleeved on the guide column 22, and is connected to the brush 25 in parallel with the passive telescopic mechanism 24, and the spring 23 makes the brush 25 always pressed on the ground.

[0089] See also Figure 4 As shown, in the embodiment of the present invention, the midfoot 2 is divided into three states:

[0090] State 1: The midfoot 2 contracts, the forefoot 1 and the hindfoot 3 contact the photovoltaic panel and adsorb. Figure 4 (a)

[0091] State 2, midfoot 2 is extended, midfoot 2 is on the same horizontal line as forefoot 1 and hindfoot 3, see Figure 4 (b)

[0092] State 3: The mid-foot 2 extends to lift the front foot 1 and the rear foot 3, so that the front foot 1 and the rear foot 3 are separated from the photovoltaic panel. Figure 4 (c) shown.

[0093] The photovoltaic cleaning robot provided by the present invention can guide the robot to move as horizontally and vertically as possible on the photovoltaic panels, and advance accurately and stably along the preset path. It can improve the robot's coverage of photovoltaic panel cleaning and reduce the repetition rate of the cleaning path.

[0094] The present invention can ensure the operating efficiency of the robot, reduce the risk of the robot falling from the edge of the photovoltaic panel, improve the robot's autonomous navigation capability, reduce the need for human intervention, reduce the burden on operators, and further improve the automation level of photovoltaic cleaning operations.

[0095] See also Figure 5 As shown, another embodiment of the present invention provides a path planning method for the photovoltaic cleaning robot as described above, comprising the following steps:

[0096] Step 1: The robot is positioned at the lower left corner of the photovoltaic panel in its initial position, with its head facing upward and its tail facing downward. The front legs 1 and hind legs 3 are adsorbed, and the middle leg 2 is retracted to state 1. Figure 4 (a)

[0097] The initial position refers to: from the perspective of looking down, see Figure 1 As shown, the robot is composed of the front foot 1, the middle foot 2, and the back foot 3 from top to bottom. The position of the front foot 1 is called the head of the robot, and the position of the back foot 3 is called the tail of the robot. During adsorption, the air pump is turned on and the air valve is closed; during detachment, the air pump is turned off and the air valve is turned on. After detachment, the air pump is turned off and the air valve is closed. The air valve is a two-position three-way valve. When it is open, the suction cup is connected to the atmosphere, and when it is closed, the suction cup is connected to the air pump. At this time, the front foot air pump 7 of the front foot 1 and the back foot air pump 19 of the back foot 3 are turned on, the front foot air valve 6 and the back foot air valve 18 are closed, and they are in an adsorption state, while the middle foot air pump 13 and the middle foot air valve 12 of the middle foot 2 are closed, and they are in a detached and retracted state.

[0098] Step 2: The cleaning mechanism 15 is activated, and the gait movement mechanism 9 drives the retracted midfoot 2 and the cleaning mechanism 15 to clean from the tail to the head along the guide rail 21. After reaching the head position, the cleaning mechanism 15 is closed. Figure 7 (a)

[0099] Step 3: The mid-foot 2 is lowered to state 2, and then lowered to state 3 after adsorption, so that the front foot 1 and the rear foot 3 are lifted and separated from the photovoltaic panel. The mid-foot 2 pressure loss detection process needs to be performed;

[0100] Specifically, the midfoot telescopic mechanism 1 is activated to lower the midfoot 2 to state 2, the midfoot air pump 13 is turned on, the midfoot air valve 12 is closed, and the midfoot 2 is adsorbed; the forefoot air pump 7 and the rearfoot air pump 19 are turned off, the forefoot air valve 6 and the rearfoot air valve 18 are opened, and the midfoot telescopic mechanism 11 is activated to lower the midfoot 2 to state 3, the forefoot 1 and the rearfoot 3 are lifted, and then the forefoot air valve 6 and the rearfoot air valve 18 are closed;

[0101] Step 4: The gait movement mechanism 9 is activated, and the guide rail 21 moves forward with the forefoot 1 and the hindfoot 3 until the midfoot 2 is located in the middle of the guide rail 21;

[0102] Specifically, the midfoot 2 is in an adsorption state and is fixed, and the guide rail 21 moves relative to the midfoot 2 via the gait movement mechanism 9;

[0103] Step 5: The cleaning mechanism 15 is started, and the rotating mechanism 10 is started, and the robot is rotated 180 degrees counterclockwise. The number of rotations is counted as one. At this time, the head and tail positions are exchanged, and the cleaning mechanism 15 is closed. Figure 8 (a)

[0104] Specifically, the robot moves forward by rotating itself. The number of rotations is accumulated to record its absolute orientation and determine its position. Due to the limitation of the servo rotation angle, the next turn should be opposite to the current turn.

[0105] Step 6: The gait movement mechanism 9 is activated, and the guide rail 21 moves forward with the front foot 1 and the rear foot 3 until the middle foot 2 is at the head position of the robot, see Figure 8 (b)

[0106] Specifically, in step 5, the positions of the robot's head and tail are swapped. At this point, from a top-down perspective, the robot is represented by the hind leg 3, the mid-leg 2, and the front leg 1. At this point, the tail is facing upward, the head is facing downward, the mid-leg 2 is fixed by suction, and the guide rail 21 moves upward. At this point, the position of the mid-leg 2 is constantly approaching the position of the robot's head.

[0107] Step 7: The midfoot 2 retracts to state 2, the front foot 1 and the rear foot 3 descend and adsorb the photovoltaic panel, and the midfoot 2 continues to retract to state 1 and detaches from the photovoltaic panel. The front foot 1 and the rear foot 3 need to be tested for pressure loss.

[0108] Specifically, the midfoot telescopic mechanism 11 is activated, causing the midfoot 2 to retract to state two, the forefoot 1 and the rearfoot 3 to descend, the forefoot air pump 7 and the rearfoot air pump 19 to open, the forefoot air valve 6 and the rearfoot air valve 18 to close, and the forefoot 1 and the rearfoot 3 to be adsorbed; the midfoot air pump 13 is closed, the midfoot air valve 12 is opened, the midfoot telescopic mechanism 11 is activated, causing the midfoot 2 to retract to state one, and then the midfoot air valve 12 is closed;

[0109] Step 8: Perform linear motion according to steps 1 to 7 as one cycle;

[0110] Step 9: During the movement, the front foot infrared sensor 5 and the rear foot infrared sensor 17 are used to detect gaps and edges. If the edge is triggered, a turning operation is performed.

[0111] See also Figure 6 As shown, in this embodiment, the robot's cleaning path takes the shape of a "J", starting from point A and passing through points B, C, D...L in sequence, performing a roundabout motion.

[0112] See also Figure 7As shown, in the embodiment of the present invention, in step 3, the pressure loss detection process of the midfoot 2 includes the following steps:

[0113] Step 31: The robot's front foot 1 and rear foot 3 are adsorbed, and the middle foot 2 retracts to state 1 and detaches from the photovoltaic panel. Figure 7 (a) As shown; after the gait movement mechanism 9 is cleaned with the cleaning mechanism 15, the midfoot 2 is lowered to the state 2 and attempts to adsorb. Figure 7 (b) shows that if a loss of pressure is detected, the middle foot 2 is separated from the photovoltaic panel;

[0114] Specifically, the front foot air pump 7 of the front foot 1 and the rear foot air pump 19 of the rear foot 3 are turned on, the front foot air valve 6 and the rear foot air valve 18 are closed, and they are in the adsorption state, while the midfoot air pump 13 and the midfoot air valve 12 of the midfoot 2 are closed, and they are in the disengaged and retracted state. At this time, the gait movement mechanism 9 drives the midfoot 2 and the cleaning mechanism 15 to clean from one end of the robot to the other. The pressure loss detection adopts the air pressure sensor. If the air pressure in the suction cup does not reach the preset value, the next step is carried out;

[0115] Step 32: Based on the current number of robot rotations, if the number of robot rotations is an even number, the mid-leg 2 moves along the guide rail 21 toward the tail position by a relative distance L1. If the number of robot rotations is an odd number, the mid-leg 2 moves toward the head position by a relative distance L1. L1 is a set value selected based on the size of the gap. The value of L1 ensures that the mid-leg 2 can avoid the gap. Figure 7 (c) shown.

[0116] Specifically, when the midfoot detects a loss of pressure, the midfoot 2 will continuously move its position to attempt adsorption;

[0117] Step 33: The midfoot 2 is lowered and adsorbed. If pressure loss is detected, the above process is repeated until the midfoot 2 is completely adsorbed.

[0118] Step 34: The mid-foot 2 is lowered to state three, and the front foot 1 and the rear foot 3 are separated from the photovoltaic panel. If the number of rotations of the robot is even, the guide rail 21 moves so that the mid-foot 2 is at the head; if the number of rotations is odd, the guide rail 21 moves so that the mid-foot 2 is at the tail.

[0119] See also Figure 8 As shown, in the embodiment of the present invention, in step 7, the pressure loss detection process of the front foot 1 and the rear foot 3 includes the following steps:

[0120] Step 71: The robot's mid-foot 2 is adsorbed in state 2, and the front foot 1 and rear foot 3 are lowered and try to adsorb. Figure 8 (b); if decompression is detected, the midfoot 2 is lowered to state three, so that the forefoot 1 and the hindfoot 3 are separated;

[0121] Step 72: According to the current number of rotations of the robot, if the number of rotations of the robot is an odd number, the guide rail 21 moves a relative distance L2 toward the head, so that the mid-foot 2 deviates from the head position L2. Figure 8 (c) As shown; if the number of rotations of the robot is an even number, the guide rail 21 moves a relative distance L2 toward the tail position; similarly, L2 is a set value selected according to the gap size.

[0122] Step 73: The midfoot 2 retracts to state 2, and the forefoot 1 and the hindfoot 3 are lowered and attempted to be adsorbed. If pressure loss is detected, the above process is repeated until the forefoot 1 and the hindfoot 3 are fully adsorbed.

[0123] Step 74: The mid-foot 2 disengages and retracts to state 1. If the number of rotations of the robot is odd, the mid-foot 2 moves to the head position; if the number of rotations of the robot is even, the mid-foot 2 moves to the tail position.

[0124] Furthermore, the robot rotates 180° once and then performs linear motion, which specifically includes the following steps:

[0125] Step 81: The robot's tail is upward, its head is downward, its front leg 1 and rear leg 3 are attracted to each other, and its mid-leg 2 is retracted.

[0126] Specifically, the forefoot air pump 7 of the forefoot 1 and the rearfoot air pump 19 of the rearfoot 3 are turned on, the forefoot air valve 6 and the rearfoot air valve 18 are closed, and are in an adsorption state, while the midfoot air pump 13 and the midfoot air valve 12 of the midfoot 2 are closed, and are in a disengaged and retracted state;

[0127] Step 82: The cleaning mechanism 15 is activated and cleans from the head to the tail along the guide rail 21 together with the retracted mid-leg 2. When the cleaning mechanism 15 reaches the tail position, it is closed.

[0128] Step 83: The midfoot 2 is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot 1 and the hindfoot 3 are separated;

[0129] Specifically, the midfoot telescopic mechanism 11 is activated to lower the midfoot 2 to state two, the midfoot air pump 13 is turned on, the midfoot air valve 12 is closed, and the midfoot 2 is adsorbed; the forefoot air pump 7 and the rearfoot air pump 19 are turned off, the forefoot air valve 6 and the rearfoot air valve 18 are opened, and the midfoot telescopic mechanism 11 is activated to lower the midfoot 2 to state three, the forefoot 1 and the rearfoot 3 are lifted, and then the forefoot air valve 6 and the rearfoot air valve 18 are closed;

[0130] Step 84: The guide rail 21 moves forward with the forefoot 1 and the hindfoot 3 until the midfoot 2 is located in the middle of the guide rail 21;

[0131] Step 85: The cleaning mechanism 15 is activated, and the rotating mechanism 10 is activated, causing the robot to rotate 180° clockwise as a whole. The number of rotations is counted as two. At this time, the head and tail positions of the robot are swapped, that is, the head of the robot is upward and the tail is downward, and the cleaning mechanism 15 is closed.

[0132] Step 86: The guide rail 21 moves forward with the front foot 1 and the rear foot 3 until the middle foot 2 is at the tail position of the robot;

[0133] Step 87: The midfoot 2 retracts to state 2, the forefoot 1 and the hindfoot 3 descend and adsorb, and the midfoot 2 detaches and retracts to state 1;

[0134] Specifically, the midfoot telescopic mechanism 11 is activated to cause the midfoot 2 to retract to state two, the forefoot 1 and the rearfoot 3 are lowered, the forefoot air pump 7 and the rearfoot air pump 19 are turned on, the forefoot air valve 6 and the rearfoot air valve 18 are closed, and the forefoot 1 and the rearfoot 3 are adsorbed; the midfoot air pump 13 is closed, the midfoot air valve 12 is opened, the midfoot telescopic mechanism 11 is activated to cause the midfoot 2 to retract to state one, and then the midfoot air valve 12 is closed.

[0135] See also Figure 9 As shown, in an embodiment of the present invention, in step 9, gap and edge detection is performed during the movement process, and if the edge is triggered, a steering operation is performed, including the following steps:

[0136] Step 9a1: During the robot's movement, the front infrared sensor 5 or the rear infrared sensor 17 detects a 0-1-0 transition, where 0 represents the board surface and 1 represents a groove. If the transition trigger time is less than 50ms, it indicates a gap. The number of gaps crossed is increased by 1. The robot's position on the board is calculated based on this. If the trigger time is greater than 100ms, it indicates that the robot has reached the edge of the board.

[0137] Step 9a2: In both steps 4 and 6, there is a chance that the guide rail 21 will be edge-triggered when it moves forward. After the edge is triggered, the guide rail 21 stops and the edge direction is determined.

[0138] Step 9a3: Determine whether the extended part is the head or the tail. If the number of revolutions is even (including 0), the extended part is the head. If the number of revolutions is odd, the extended part is the tail. Retract the distance L3 to ensure that the suction cup falls within the edge of the board. Figure 9 (a)

[0139] Step 9a4: The midfoot 2 retracts to state 2, the forefoot 1 and the hindfoot 3 descend and adsorb, the midfoot 2 detaches and retracts to state 1, and the gait movement mechanism 9 starts to move the midfoot 2 along the guide rail 21 so that the midfoot 2 is in the middle position;

[0140] Step 9a5: If the edge is determined to be the lower right corner, the cleaning ends; if not, proceed to the next step;

[0141] Specifically, when the robot's absolute motion direction is upward, if the upper edge is detected but the right edge is not detected, the robot is located at the upper edge that is not the upper right corner; if the upper edge and the right edge are detected, the robot is located at the upper right corner; when the robot's absolute motion direction is downward, if the lower edge is detected but the right edge is not detected, the robot is located at the lower edge that is not the lower right corner; if the lower edge and the right edge are detected, the robot is located at the lower right corner and the cleaning is completed;

[0142] Step 9a6: The midfoot 2 is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot 1 and the hindfoot 3 are separated, which is a correction.

[0143] Step 9a7: The cleaning mechanism 15 is activated, the rotating mechanism 10 is activated, the robot turns 90°, and the 90° turning direction is determined by its own absolute motion direction and orientation. The cleaning mechanism 15 is closed. Figure 9 (b) As shown; Due to structural limitations, the guide rail 21d has a rotation range of 0-270°. To ensure straight line cleaning, it rotates within the range of 0-180°. According to the absolute direction of movement before turning, the 90° turning direction is determined to avoid turning beyond the structural limit and ensure smooth completion of the turning action;

[0144] Specifically, when the robot's absolute motion direction is upward, such as Figure 6 Point C and point I in the figure, if the number of rotations of the robot is even, that is, when the head is facing upward, it rotates 90° counterclockwise; if the number of rotations of the robot is odd, that is, when the tail is facing upward, it rotates 90° clockwise; when the absolute movement direction of the robot is downward, such as Figure 6 For points F and L in the figure, if the number of revolutions is even, that is, when the head is facing upward, the robot rotates 90° counterclockwise; if the number of revolutions is odd, that is, when the tail is facing upward, the robot rotates 90° clockwise.

[0145] Step 9a8: The guide rail 21 moves forward with the front foot 1 and the rear foot 3. If a right edge is detected, the process returns to step 9a2; otherwise, the process continues to the next step.

[0146] Step 9a9: The midfoot 2 retracts to state 2, the forefoot 1 and the hindfoot 3 descend and adsorb, and the midfoot 2 detaches and retracts to state 1;

[0147] Step 9a10: The cleaning mechanism 15 is activated, and the midfoot 2 moves along the guide rail 21 with the cleaning mechanism 15 to the other end, and the cleaning mechanism 15 is closed. Figure 9 (c)

[0148] Step 9a11: The midfoot 2 is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot 1 and the rear foot 3 are separated, and the guide rail 21 moves so that the midfoot 2 is in the middle position, see Figure 9 (d)

[0149] Step 9a12: The cleaning mechanism 15 is activated, the rotating mechanism 10 is activated, the robot turns 90° in the opposite direction, and the cleaning mechanism 15 is closed. Figure 9 (e)

[0150] Specifically, when the robot's absolute motion direction is upward, such as Figure 6 Point D and point J in the figure, if the number of rotations of the robot is even, that is, when the head is facing upward, it rotates 90° clockwise; if the number of rotations of the robot is odd, that is, when the tail is facing upward, it rotates 90° counterclockwise; when the absolute movement direction of the robot is downward, such as Figure 6 At point G in the figure, if the robot's rotation number is an even number, that is, with its head facing upward, it rotates 90° counterclockwise. If the robot's rotation number is an odd number, that is, with its tail facing upward, it rotates 90° clockwise. After this rotation is completed, the robot's absolute direction changes.

[0151] Step 9a13: Secondary correction;

[0152] Step 9a14: The guide rail 21 moves to the head or tail, the midfoot 2 retracts to state 2, the forefoot 1 and the hindfoot 3 descend and adsorb, and the midfoot 2 detaches and retracts to state 1;

[0153] Specifically, when the robot has completed two 90° rotations and the absolute direction is downward, the number of rotations is an even number, that is, the head is facing upward, the guide rail 21 moves to the head; when the number of rotations is an odd number, that is, the tail is facing upward, the guide rail 21 moves to the tail; when the robot has completed two 90° rotations and the absolute direction is upward, the number of rotations is an even number, that is, the head is facing upward, the guide rail 21 moves to the tail; when the number of rotations is an odd number, that is, the tail is facing upward, the guide rail 21 moves to the head;

[0154] Step 9a15: Return to the straight-line driving process.

[0155] join Figure 10 As shown, in the embodiment of the present invention, a correction process includes the following steps:

[0156] Step 9b1: When the edge is detected, the first correction process begins. The guide rail 21 extends out of the panel edge by a fixed distance L4 and moves to the relative position. Figure 10 (a)

[0157] Specifically, when the absolute motion direction of the robot is upward, if the number of revolutions of the robot is an even number, that is, when the head is facing upward, the guide rail 21 extends toward the head; if the number of revolutions of the robot is an odd number, that is, when the tail is facing upward, the guide rail 21 extends toward the tail; when the absolute motion direction of the robot is downward, if the number of revolutions of the robot is an even number, that is, when the head is facing upward, the guide rail 21 extends toward the tail; if the number of revolutions of the robot is an odd number, that is, when the tail is facing upward, the guide rail 21 extends toward the head;

[0158] Step 9b2: The robot turns left, the front foot infrared sensor 5 or the rear foot infrared sensor 17 detects a 1-0 change, the rotating mechanism 10 stops, the angle position α1 is recorded, and then the rotating mechanism 10 returns to the zero position, see Figure 10 (b)

[0159] Step 9b3: The robot turns right. The front foot infrared sensor 5 or the rear foot infrared sensor 17 detects a 1-0 change. The rotating mechanism 10 stops and the rotation angle position α2 is recorded. Figure 10 (b)

[0160] Step 9b4: The robot turns left by an angle of (α1+α2) / 2 to correct the deflection error.

[0161] Step 9b5: The guide rail 21 retracts and stops when the limit is triggered.

[0162] In an embodiment of the present invention, the secondary deviation correction includes the following steps:

[0163] Step 9c1: The guide rail 21 is extended, and the secondary deviation correction state is started;

[0164] Specifically, the direction in which the guide rail 21 extends is opposite to that in step 9b1, but the distance is the same;

[0165] Step 9c2: Edge detection. If no edge is detected, proceed to the next step. If an edge is detected, proceed to the correction process, determine the secondary correction, and return to the corresponding position after completion (step 9a14).

[0166] Step 9c3: the midfoot 2 retracts to state 2, the forefoot 1 and the hindfoot 3 descend and adsorb, and the midfoot 2 detaches and retracts to state 1;

[0167] Step 9c4: The guide rail 21 extends in the opposite direction to that in step 9c1;

[0168] Step 9c5: Edge detection. If no edge is detected, proceed to the next step. If an edge is detected, proceed to the correction process, determine the secondary correction, and return to the corresponding position after completion (step 9a14).

[0169] Step 9c6: The midfoot 2 is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot 1 and the hindfoot 3 are separated, and the process returns to step 9c1 and repeats the outward exploration.

[0170] The present invention provides a photovoltaic cleaning robot with a "J"-shaped cleaning path. Path planning uses the number of rotations the robot makes to identify its head and tail orientation, and the number of edge turns to identify its absolute direction of motion. During operation, an infrared sensor uses features such as grooves to identify the positional relationship between the robot and the panel, enabling accurate planning of its forward and rotational directions. At the edge of the photovoltaic panel, the robot's own rotation is used to measure the robot's angular offset and perform deviation correction. The present invention relies on a relatively simple sensor, and path planning can be accomplished through multiple robot movements, reducing costs and achieving superior results.

[0171] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the scope of protection of the present invention.

Claims

1. A photovoltaic cleaning robot, characterized in that: The invention comprises a forefoot (1), a midfoot (2), a hindfoot (3), a gait movement mechanism (9), a cleaning mechanism (15) and a guide rail (21), wherein the forefoot (1), the gait movement mechanism (9) and the hindfoot (3) are arranged on the front, middle and rear parts of the guide rail (21) in sequence, the midfoot (2) and the cleaning mechanism (15) are arranged on the gait movement mechanism (9), and the forefoot (1), the midfoot (2) and the hindfoot (3) all have telescopic and vacuum adsorption functions; when the forefoot (1) and the hindfoot (3) are in the adsorption state, The gait movement mechanism (9) can drive the middle foot (2) and the cleaning mechanism (15) to walk on the guide rail (21); or when the middle foot (2) is in an adsorption state, the gait movement mechanism (9) can drive the guide rail (21), the front foot (1) and the rear foot (3) to move, thereby realizing forward and backward movement and turning; the cleaning mechanism (15) is used to complete the cleaning operation; the front foot (1) and the rear foot (3) are respectively provided with a front foot infrared sensor (5) and a rear foot infrared sensor (17) for identifying the positional relationship between the robot and the photovoltaic panel.

2. The photovoltaic cleaning robot according to claim 1, characterized in that: The midfoot (2) is divided into three states: State 1: the midfoot (2) contracts, the forefoot (1) and the hindfoot (3) contact the photovoltaic panel and adsorb; State 2: the midfoot (2) is extended and is on the same horizontal line as the forefoot (1) and the hindfoot (3); In state three, the middle foot (2) extends to lift the front foot (1) and the rear foot (3), so that the front foot (1) and the rear foot (3) are in a state of being separated from the photovoltaic panel.

3. The photovoltaic cleaning robot according to claim 2, characterized in that: The midfoot (2) includes a rotating mechanism (10), a midfoot telescopic mechanism (11) and a midfoot adsorption component, wherein the rotating mechanism (10) is arranged on the gait movement mechanism (9), the midfoot telescopic mechanism (11) is arranged on the rotating mechanism (10) and connected to the midfoot adsorption component, the rotating mechanism (10) is used to drive the guide rail (21) to rotate, and the midfoot telescopic mechanism (11) is used to drive the midfoot adsorption component to telescope.

4. The photovoltaic cleaning robot according to claim 2, characterized in that: The cleaning mechanism (15) comprises a mounting frame and a plurality of brush assemblies arranged on the mounting frame, wherein the mounting frame is arranged at the bottom of the gait movement mechanism (9); The brush assembly comprises a guide column (22), a spring (23), a passive telescopic mechanism (24) and a brush (25), wherein the upper end of the guide column (22) is connected to a mounting frame, the spring (23) is sleeved on the guide column (22), and is connected to the passive telescopic mechanism (24) in parallel and then connected to the brush (25).

5. A path planning method for a photovoltaic cleaning robot according to claim 3, characterized in that: The following steps are involved: Step 1: The robot is positioned at the lower left corner of the photovoltaic panel in its initial posture, with its head facing upward and its tail facing downward, its front legs (1) and rear legs (3) adsorbed, and its mid-leg (2) retracted to state 1; Step 2: The cleaning mechanism (15) is activated, and the gait movement mechanism (9) drives the retracted midfoot (2) and the cleaning mechanism (15) to clean from the tail to the head along the guide rail (21). After reaching the head position, the cleaning mechanism (15) is closed; Step 3: The mid-foot (2) is lowered to state 2, and then lowered to state 3 after adsorption, so that the front foot (1) and the rear foot (3) are lifted and separated from the photovoltaic panel, and the mid-foot (2) needs to be tested for pressure loss; Step 4: The gait movement mechanism (9) is activated, and the guide rail (21) moves the front foot (1) and the rear foot (3) forward together until the midfoot (2) is located in the middle position of the guide rail (21); Step 5: The cleaning mechanism (15) is started, and the rotating mechanism (10) is started, and the robot is rotated 180° counterclockwise as a whole. The number of rotations is counted as one. At this time, the head and tail positions are exchanged, and the cleaning mechanism (15) is closed. Step 6: The gait movement mechanism (9) is activated, and the guide rail (21) moves the front foot (1) and the rear foot (3) forward together until the middle foot (2) is at the head position of the robot; Step 7: The mid-foot (2) retracts to state 2, the front foot (1) and the rear foot (3) descend and adsorb the photovoltaic panel, and the mid-foot (2) continues to retract to state 1 and detaches from the photovoltaic panel. It is necessary to perform a pressure loss detection process on the front foot (1) and the rear foot (3); Step 8: Perform linear motion according to steps 1 to 7 as one cycle; Step 9: During the movement, the front foot infrared sensor (5) and the rear foot infrared sensor (17) are used to detect gaps and edges. If the edge is triggered, a turning operation is performed.

6. The path planning method for a photovoltaic cleaning robot according to claim 5, characterized in that: In step 3, the midfoot (2) decompression detection process includes the following steps: Step 31: The robot's front foot (1) and rear foot (3) are adsorbed, and the middle foot (2) is retracted to state 1, separated from the photovoltaic panel. After cleaning, the robot is lowered to state 2 with the cleaning mechanism (15) and attempts to adsorb. If pressure loss is detected, the middle foot (2) is separated from the photovoltaic panel. Step 32: judging based on the current number of robot rotations, if the number of robot rotations is an even number, the middle foot (2) moves a relative distance L1 along the guide rail (21) toward the tail position; if the number of robot rotations is an odd number, the middle foot (2) moves a relative distance L1 toward the head position; Step 33: The midfoot (2) is lowered and adsorbed. If pressure loss is detected, the above process is repeated; Step 34: The middle foot (2) is lowered to state three, and the front foot (1) and the rear foot (3) are separated from the photovoltaic panel. If the number of rotations of the robot is an even number, the guide rail (21) moves so that the middle foot (2) is at the head; if the number of rotations is an odd number, the guide rail (21) moves so that the middle foot (2) is at the tail.

7. The path planning method for a photovoltaic cleaning robot according to claim 5, characterized in that: In step 7, the pressure loss detection process of the front foot (1) and the rear foot (3) includes the following steps: Step 71: The robot's mid-foot (2) is adsorbed in state 2, and the front foot (1) and the rear foot (3) are lowered and attempt to adsorb. If decompression is detected, the mid-foot (2) is lowered to state 3, and the front foot (1) and the rear foot (3) are separated. Step 72: judging based on the current number of rotations of the robot, if the number of rotations of the robot is an odd number, the guide rail (21) moves a relative distance L2 toward the head direction, so that the mid-foot (2) deviates relatively from the head position L2; if the number of rotations of the robot is an even number, the guide rail (21) moves a relative distance L2 toward the tail position direction; Step 73: The midfoot (2) retracts to state 2, the forefoot (1) and the rearfoot (3) are lowered and attempt adsorption. If decompression is detected, the above process is repeated; Step 74: The mid-foot (2) disengages and retracts to state 1. If the number of rotations of the robot is an odd number, the mid-foot (2) moves to the head position; if the number of rotations is an even number, the mid-foot (2) moves to the tail position.

8. The path planning method for a photovoltaic cleaning robot according to claim 5, characterized in that: In step 9, gap and edge detection are performed during the movement process. If the edge is triggered, the steering operation is performed, including the following steps: Step 9a1: During the robot's movement, the front foot infrared sensor (5) or the rear foot infrared sensor (17) detects a 0-1-0 jump, where 0 represents the board surface and 1 represents the groove. If the jump trigger time is less than 50ms, it means there is a gap, and the number of gaps is increased by 1. The robot's own position on the board is calculated based on this. If the trigger time is greater than 100ms, it means it has reached the edge of the board. Step 9a2: In Step 4 and Step 6, the guide rail (21) moves forward with a probability of being edge-triggered. After the triggering, the guide rail (21) stops and the edge direction is determined; Step 9a3: Determine whether the extended part is the head or the tail. If the robot rotates an even number of times, the extended part is the head; if the robot rotates an odd number of times, the extended part is the tail. Retract the distance L3 to ensure that the suction cup falls within the edge of the board. Step 9a4: The midfoot (2) retracts to state 2, the forefoot (1) and the hindfoot (3) are lowered and adsorbed, the midfoot (2) detaches and retracts to state 1, and the gait movement mechanism (9) starts to move the midfoot (2) along the guide rail (21) so that the midfoot (2) is in the middle position; Step 9a5: If the edge is determined to be the lower right corner, the cleaning ends; if not, proceed to the next step; Step 9a6: The midfoot (2) is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot (1) and the rear foot (3) are separated, and the deviation is corrected once; Step 9a7: The cleaning mechanism (15) is activated, the rotating mechanism (10) is activated, the robot turns 90°, and the turning direction of 90° is determined by its own absolute motion direction and orientation, and the cleaning mechanism (15) is turned off; Step 9a8: The guide rail (21) moves forward with the front foot (1) and the rear foot (3). If the right edge is detected, return to step 9a2; otherwise, proceed to the next step. Step 9a9: the midfoot (2) retracts to state 2, the forefoot (1) and the hindfoot (3) descend and adsorb, and the midfoot (2) detaches and retracts to state 1; Step 9a10: The cleaning mechanism (15) is activated, and the middle foot (2) moves along the guide rail (21) with the cleaning mechanism (15) to the other end, and the cleaning mechanism (15) is closed; Step 9a11: The midfoot (2) is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot (1) and the rear foot (3) are separated, and the guide rail (21) moves so that the midfoot (2) is in the middle position; Step 9a12: The cleaning mechanism (15) is started, the rotating mechanism (10) is started, the robot turns 90° in the opposite direction, and the cleaning mechanism (15) is turned off; Step 9a13: Secondary correction; Step 9a14: The guide rail (21) moves to the head or tail, the midfoot (2) retracts to state two, the front foot (1) and the rear foot (3) are lowered and adsorbed, and the midfoot (2) detaches and retracts to state one; Step 9a15: Return to the straight-line driving process.

9. The path planning method for a photovoltaic cleaning robot according to claim 8, characterized in that: The one-time deviation correction comprises the following steps: Step 9b1: The guide rail (21) extends a fixed distance L4; Step 9b2: The robot turns left, the front foot infrared sensor (5) or the rear foot infrared sensor (17) detects a 1-0 change, the rotating mechanism (10) stops, the rotation angle position α1 is recorded, and then the rotating mechanism (10) returns to the zero position; Step 9b3: The robot turns right, the front foot infrared sensor (5) or the rear foot infrared sensor (17) detects a 1-0 change, the rotation mechanism (10) stops, and the rotation angle position α2 is recorded; Step 9b4: The robot turns left by an angle of (α1+α2) / 2 to correct the deflection error. Step 9b5: The guide rail (21) retracts and stops when the limit is triggered.

10. The path planning method for a photovoltaic cleaning robot according to claim 8, characterized in that: The secondary deviation correction comprises the following steps: Step 9c1: The guide rail (21) extends and the secondary deviation correction state is turned on; Step 9c2: Edge detection. If no edge is detected, proceed to the next step. If an edge is detected, proceed to the correction process, determine the secondary correction, and return to step 9a14 after completion. Step 9c3: the midfoot (2) retracts to state 2, the forefoot (1) and the hindfoot (3) descend and adsorb, and the midfoot (2) detaches and retracts to state 1; Step 9c4: The guide rail (21) extends in the opposite direction to that in step 9c1; Step 9c5: Edge detection. If no edge is detected, proceed to the next step. If an edge is detected, proceed to the correction process, determine the secondary correction, and return to step 9a14 after completion. Step 9c6: The midfoot (2) is lowered to state 2, and then lowered to state 3 after adsorption, so that the forefoot (1) and the hindfoot (3) are separated, and the process returns to step 9c1 to repeat the outward exploration.

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