Array photovoltaic panel cleaning robot and column crossing method

Abstract

The array photovoltaic panel cleaning robot comprises a cleaning robot body and a foldable telescopic arm, the two independent cleaning robot bodies with negative pressure adsorption mechanisms are matched with the foldable telescopic arm to cooperate, a first motor drives the first telescopic arm to rotate in the column crossing process, and the negative pressure adsorption mechanisms of the two cleaning robot bodies are matched to be opened and closed alternately; the first cleaning robot is fixed to the first column of photovoltaic panels, the second cleaning robot is suspended and spanned to the second column of photovoltaic panels, the rotation angle of the two telescopic arms is controlled through a first motor, the complex loading and transporting process of a traditional carrying device is avoided, the movement of moving parts and transferring of the ground is reduced, and the working efficiency is improved. The adaptive capacity to a complex site is enhanced; meanwhile, the negative pressure adsorption mechanisms arranged on the cleaning robots ensure the adsorption stability of the cleaning robots when the cleaning robots operate on the surfaces of the inclined photovoltaic panels, safety and balance of the cross-column action are guaranteed, the continuity and efficiency of cleaning operation are improved, and automatic cleaning of the multiple columns of photovoltaic arrays is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an array photovoltaic panel cleaning robot and a cross-row method. Background Art

[0002] The existing photovoltaic panel cross-row cleaning robot includes a robot and a carrier. After the robot cleans a row of photovoltaic panels, it relies on the collaboration of the carrier and the robot. The carrier needs to complete multiple steps such as robot positioning and recovery, carrier transportation, and robot installation and release before transferring the robot to the next row of photovoltaic panels. The cross-row transfer operation process is cumbersome and time-consuming, and the carrier is easily affected by the flatness of the ground in complex terrain, resulting in low work efficiency.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute prior art known to ordinary technicians in the field. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, an embodiment of the present invention discloses an array photovoltaic panel cleaning robot to solve the problem of relying on the coordination between a carrier device and a robot. The carrier device needs to complete multiple steps including robot positioning and recovery, carrier device transportation, and robot installation and release before transferring the robot to the next row of photovoltaic panels. The cross-row transfer operation process is cumbersome and time-consuming, and the carrier device is easily affected by the flatness of the ground in complex terrain, resulting in low work efficiency.

[0005] The technical solutions adopted in the present invention are as follows: A photovoltaic panel array cleaning robot, comprising: The cleaning robot has two, and the cleaning robot includes a main frame, track wheels, a cleaning component and a negative pressure adsorption mechanism. The track wheels have two, and the two track wheels are symmetrically arranged on the left and right sides of the main frame. The cleaning component is arranged on the front and rear sides of the bottom end of the main frame. The negative pressure adsorption mechanism is arranged at the bottom end of the main frame. The negative pressure adsorption mechanism is configured to adsorb the surface of the photovoltaic panel to balance the force exerted on the cleaning robot on the inclined surface of the photovoltaic panel; A foldable telescopic arm includes a telescopic arm and a first motor. The telescopic arm has two, and the bottom ends of the two telescopic arms are respectively hinged to the top ends of the two main frames of the cleaning robots, and the top ends of the two telescopic arms are hinged to each other through the first motor.

[0006] A further technical solution is that a third motor is connected to the connection between the telescopic arm and the top of the main frame, the bottom end of the telescopic arm is hinged to the top of the main frame through the third motor, and the third motor drives the main frame to rotate relative to the telescopic arm.

[0007] Its further technical solution is that a connecting shaft is also rotatably provided on the main frame, the bottom end of the telescopic arm is hinged to the top end of the connecting shaft through a third motor, and a second motor is also provided at the top end inside the main frame, the output end of the second motor is connected to the bottom end of the connecting shaft, and the second motor drives the main frame to rotate relative to the connecting shaft.

[0008] Its further technical solution is that the cleaning component includes a cleaning side brush, a dust suction component and a cleaning mop, there are two cleaning side brushes, the two cleaning side brushes are rotatably connected to the bottom end of the main frame and are located at the front end of the negative pressure adsorption mechanism, the dust suction component is arranged at the bottom end of the main frame, the dust suction port of the dust suction component faces the cleaning side brush, and the cleaning mop is arranged at the bottom end of the main frame and is located at the rear end of the negative pressure adsorption mechanism.

[0009] A further technical solution is that the cleaning mop includes a support plate and a cleaning water tank, the support plate is arranged at the bottom end of the main frame and located at the rear end of the negative pressure adsorption mechanism, and the cleaning water tank is arranged at the top end of the support plate and connected to the support plate.

[0010] A further technical solution is that a battery is also provided in the main frame, and the battery is electrically connected to the track wheel, the negative pressure adsorption mechanism, the cleaning component, the first motor, the second motor and the third motor.

[0011] A further technical solution is that a solar panel is further provided on the main frame, and the solar panel is electrically connected to the battery.

[0012] A cross-column method, using the aforementioned array photovoltaic panel cleaning robot, includes the following steps: Step S1: When the two cleaning robots complete cleaning on the first row of photovoltaic panels and drive the track wheels to move together to the upper edge of the first row of photovoltaic panels, the first cleaning robot is adsorbed and fixed to the upper edge of the first row of photovoltaic panels, and the second cleaning robot turns off the negative pressure adsorption mechanism; Step S2: starting the first motor to rotate the second telescopic arm, extending the two telescopic arms, and simultaneously starting the third motor to rotate the second cleaning robot, so that the second cleaning robot is suspended above the second row of photovoltaic panels; Step S3: The second cleaning robot activates the negative pressure adsorption mechanism to adsorb and fix on the second row of photovoltaic panels; Step S4: The first cleaning robot turns off the negative pressure adsorption mechanism, shortens the two telescopic arms, starts the first motor to rotate the first telescopic arm, and simultaneously starts the third motor to rotate the first cleaning robot. The first cleaning robot is suspended above the second row of photovoltaic panels. Step S5: The first cleaning robot restarts the negative pressure adsorption mechanism to complete the cross-column movement of the two cleaning robots.

[0013] The beneficial effects of the embodiments of the present invention are as follows: (1) A photovoltaic panel array cleaning robot includes a cleaning robot and a foldable telescopic arm. Two independent cleaning robots with negative pressure adsorption mechanisms cooperate with the foldable telescopic arm. When crossing rows, the first telescopic arm is driven by a first motor to rotate. The negative pressure adsorption mechanisms of the two cleaning robots are alternately opened and closed, so that the first cleaning robot is fixed on the first row of photovoltaic panels and the second cleaning robot is suspended and crossed to the second row of photovoltaic panels. The rotation angle of the two telescopic arms is controlled by the first motor, thereby avoiding the complicated loading and transportation process of traditional carriers, reducing the movement of moving parts and ground transfer, and enhancing the adaptability to complex sites. At the same time, the negative pressure adsorption mechanism equipped on each cleaning robot ensures the adsorption stability when it operates on the inclined photovoltaic panel surface, ensures the safety and balance of the crossing row movement, improves the consistency and efficiency of the cleaning operation, and realizes the automated cleaning of multi-row photovoltaic arrays.

[0014] (2) Furthermore, a third motor is connected to the connection between the telescopic arm and the main frame. The bottom end of the telescopic arm is hinged to the top end of the main frame via the third motor, and the third motor drives the main frame to rotate relative to the telescopic arm. The third motor drives the main frame to rotate independently relative to the telescopic arm fixed at this point. When transferring across rows, the third motor controls the tilt angle of the suspended cleaning robot in mid-air, so that before landing on the adjacent array, the chassis tilt angle is actively matched to the slope angle of the target row of photovoltaic panels, ensuring that the negative pressure adsorption mechanism can smoothly adhere to the new panel surface, improving the safety and consistency of the cross-row movement.

[0015] (3) Furthermore, a connecting shaft is rotatably mounted on the main frame. The bottom end of the telescopic arm is hinged to the top end of the connecting shaft via a third motor. A second motor is also mounted at the top end of the main frame. The output end of the second motor is connected to the bottom end of the connecting shaft. The second motor drives the main frame to rotate relative to the connecting shaft. The second motor drives the main frame to rotate around the fixed connecting shaft, allowing the track wheels to change their direction of travel when operating on the surface of the photovoltaic panel, adapting to edges or irregular paths. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an axonometric diagram of a cleaning robot in an array photovoltaic panel cleaning robot of the present invention.

[0017] Figure 2 This is a front structural schematic diagram of a cleaning robot in an array photovoltaic panel cleaning robot of the present invention.

[0018] Figure 3 The diagram is a top view of the structure of a cleaning robot in an array photovoltaic panel cleaning robot of the present invention.

[0019] Figure 4 This is a front view structural schematic diagram of an array photovoltaic panel cleaning robot according to the present invention.

[0020] Figure 5 This is a working schematic diagram of an array photovoltaic panel cleaning robot according to the present invention.

[0021] In the picture: 1. Photovoltaic panel; 2. Cleaning robot; 21. Main frame; 22. Track wheel; 23. Cleaning component; 231. Cleaning side brush; 232. Dust collection component; 2321. Dust collection port; 233. Cleaning mop; 2331. Support plate; 2332. Cleaning water tank; 24. Negative pressure adsorption mechanism; 25. Connecting shaft; 26. Second motor; 27. Battery; 3. Foldable telescopic arm; 31. Telescopic arm; 32. First motor; 33. Third motor. DETAILED DESCRIPTION

[0022] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0023] First embodiment: This embodiment discloses a photovoltaic panel array cleaning robot.

[0024] Figure 1 This is an axonometric diagram of a cleaning robot in an array photovoltaic panel cleaning robot of the present invention. Figure 2 This is a front structural schematic diagram of a cleaning robot in an array photovoltaic panel cleaning robot of the present invention. Figure 3 This is a schematic diagram of the top view of the cleaning robot in the photovoltaic array cleaning robot of the present invention. Figures 1-3As shown, a photovoltaic panel array cleaning robot includes a cleaning robot 2 and a foldable telescopic arm 3. The cleaning robot 2 has two, main frames 21, track wheels 22, a cleaning assembly 23, and a negative pressure adsorption mechanism 24. The track wheels 22 are two, symmetrically arranged on the left and right sides of the main frame 21, and the cleaning assembly 23 is arranged on the front and rear sides of the bottom end of the main frame 21. Exemplarily, the cleaning assembly 23 includes a cleaning side brush 231, a dust collection assembly 232, and a cleaning mop 233. The cleaning side brushes 231 are two, rotatably connected to the bottom end of the main frame 21 and located at the front end of the negative pressure adsorption mechanism 24. The dust collection assembly 232 is arranged at the bottom end of the main frame 21, and the dust collection port 2321 of the dust collection assembly 232 faces the cleaning side brush 231. The cleaning mop 233 is arranged at the bottom end of the main frame 21 and located at the rear end of the negative pressure adsorption mechanism 24. The cleaning mop 233 includes a support plate 2331 and a cleaning water tank 2332 . The support plate 2331 is disposed at the bottom end of the main frame 21 and at the rear end of the negative pressure adsorption mechanism 24 . The cleaning water tank 2332 is disposed at the top end of the support plate 2331 and is connected to the support plate 2331 .

[0025] like Figure 3 As shown, the negative pressure adsorption mechanism 24 is provided at the bottom end of the main frame 21. The negative pressure adsorption mechanism 24 is configured to adsorb the surface of the photovoltaic panel 1 to balance the force exerted on the cleaning robot 2 on the inclined surface of the photovoltaic panel 1. Specifically, the negative pressure adsorption mechanism 24 includes an adsorption chamber and a negative pressure fan. The negative pressure chamber is provided in the middle of the bottom end of the main frame 21. It is a chamber structure that is open downward and closed at the top. The lower end extends to the inclined surface of the photovoltaic panel 1. The negative pressure fan is installed above the adsorption chamber. When the fan is running, the air in the adsorption chamber is extracted at high speed, forming a negative pressure environment in the chamber relative to the external atmospheric environment. Due to the pressure difference between the inside and outside of the chamber, the external atmospheric pressure presses the entire cleaning robot 2 onto the surface of the photovoltaic panel 1 through the opening of the chamber, offsetting the downward force component faced by the robot on the inclined panel surface and the disturbance during operation, thereby maintaining the stability of the operation.

[0026] Figure 4 This is a front view structural diagram of an array photovoltaic panel cleaning robot of the present invention. Figure 4As shown, the foldable telescopic arm 3 includes a telescopic arm 31 and a first motor 32. The telescopic arm 31 has two motors. For example, a third motor 33 is connected to the connection between the telescopic arm 31 and the main frame 21. The bottom ends of the two telescopic arms 31 are hinged to the top ends of the main frames 21 of the two cleaning robots 2 via the third motor 33. The third motor 33 drives the connecting shaft 25 to rotate relative to the telescopic arm 31. Specifically, one of the bottom ends of the telescopic arm 31 and the top end of the main frame 21 is fixedly connected to the main body of the third motor 33, while the other is fixedly connected to the output end of the third motor 33. The third motor 33 drives one of the three motors to rotate relative to the other about the axis of its output end. The third motor 33 drives the main frame 21 to rotate independently of the telescopic arm 31 fixed at that point. During cross-row transfer, the suspended cleaning robot 2 is controlled to tilt in mid-air, so that before landing on the adjacent array, the chassis's tilt angle is actively aligned with the slope angle of the target row of photovoltaic panels 1. This ensures that the negative pressure adsorption mechanism 24 can smoothly adhere to the new panel surface, improving the safety and consistency of the cross-row movement.

[0027] The top ends of the two telescopic arms 31 are hinged to each other through the first motor 32, that is, one of the top ends of the two telescopic arms 31 is fixedly connected to the main body of the first motor 32, and the other is fixedly connected to the output end of the first motor 32. The first motor 32 drives one of the top ends of the two telescopic arms 31 to rotate relative to the other around the axis of its output end.

[0028] like Figure 2 As shown, further, a connecting shaft 25 is rotatably provided on the main frame 21, and the bottom end of the telescopic arm 31 is hinged to the top end of the connecting shaft 25 via a third motor 33. That is, one of the bottom end of the telescopic arm 31 and the top end of the connecting shaft 25 is fixedly connected to the main body of the third motor 33, and the other is fixedly connected to the output end of the third motor 33. The third motor 33 drives one of the two to rotate relative to the other around the axis of its output end. A second motor 26 is also fixedly provided at the top end of the main frame 21. The output end of the second motor 26 is connected to the bottom end of the connecting shaft 25. The second motor 26 drives the main frame 21 to rotate relative to the connecting shaft 25. The second motor 26 drives the main frame 21 to rotate around the fixed connecting shaft 25, instantly changing the travel direction of the track wheel 22 when operating on the surface of the photovoltaic panel 1 to adapt to the edge or irregular path.

[0029] like Figure 2 As shown, further, a battery 27 is provided within the main frame 21. The battery 27 is electrically connected to the track wheel 22, the negative pressure adsorption mechanism 24, the cleaning assembly 23, the first motor 32, the second motor 26, and the third motor 33. The battery 27 provides a power source for the device, ensuring the autonomous operation capability of the cleaning robot 2 in unmanned scenarios.

[0030] Furthermore, a solar panel is provided on the main frame 21, which is electrically connected to the battery 27. The solar panel is integrated into the outer surface of the main frame 21 and converts light energy into electrical energy during operation. The solar panel then recharges the built-in battery 27 through a charging circuit, thereby improving the operating endurance of the device.

[0031] During cleaning work, the present embodiment: After the two cleaning robots 2 are started, they are powered by the internal battery 27. The two cleaning robots 2 work synchronously on the photovoltaic array. The track wheels 22 drive them to move on the surface of the photovoltaic panel 1. If they need to turn and adjust the path during movement, the second motor 26 drives the main frame 21 to rotate relative to the connecting shaft 25, changing the overall direction of the robot track wheels 22. The negative pressure adsorption mechanism 24 continues to work to provide adsorption force. When moving forward, the two rotating cleaning side brushes 231 at the front end of the negative pressure adsorption mechanism 24 are the first to clean the dust and debris on the panel surface. At the same time, the dust suction component 232 timely sucks the dust raised by the side brushes. Then the support plate 2331 at the rear end of the main frame 21 moves in contact with the surface of the photovoltaic panel 1, and the cleaning water tank 2332 above it sprays cleaning liquid onto the panel surface or wets the support plate 2331, and cooperates with the scraping action to complete deep cleaning.

[0032] This embodiment also discloses a cross-column method.

[0033] Figure 5 This is a working diagram of a photovoltaic panel cleaning robot according to the present invention. Figure 5 As shown, a cross-column method using the aforementioned array photovoltaic panel cleaning robot includes the following steps: Step S1: After the two cleaning robots 2 have completed cleaning the first row of photovoltaic panels 1 and driven their track wheels 22 to move together to the upper edge of the first row of photovoltaic panels 1, the first cleaning robot 2 is fixed to the upper edge of the first row of photovoltaic panels 1 by suction, while the second cleaning robot 2 deactivates its negative pressure suction mechanism 24. The first cleaning robot 2 remains in the suction state, acting as a fixed fulcrum and providing the stability required for the second cleaning robot 2 to operate across the rows. The second cleaning robot 2 then deactivates its negative pressure suction mechanism 24 to release its restraint, preparing to be subsequently suspended by the foldable telescopic arm 3 and transferred to the second row of photovoltaic panels 1.

[0034] Step S2: Extend the two telescopic arms 31, activate the first motor 32 to rotate the second telescopic arm 31, and simultaneously activate the third motor 33 to rotate the second cleaning robot 2, causing the second cleaning robot 2 to hover above the second row of photovoltaic panels 1. By extending the telescopic arms 31, the required distance across the rows is provided to the second cleaning robot 2, and the first motor 32 is driven to rotate the telescopic arms 31, causing the second cleaning robot 2 to move above the second row of photovoltaic panels 1. Simultaneously, the third motor 33 drives the connecting shaft 25 to rotate, actively adjusting the inclination angle of the chassis of the second robot 2 to pre-align it with the inclined surface of the second row of photovoltaic panels 1, preparing for the subsequent attachment of the second cleaning robot 2 to the second row of photovoltaic panels 1.

[0035] Step S3: The second cleaning robot 2 activates the negative pressure adsorption mechanism 24 to adsorb and fix to the second row of photovoltaic panels 1. The second cleaning robot 2 adsorbs and lands on the second row of photovoltaic panels 1, providing the second cleaning robot 2 with the stability required for cross-row operation.

[0036] Step S4: The first cleaning robot 2 deactivates the negative pressure adsorption mechanism 24, shortens the two telescopic arms 31, activates the first motor 32 to rotate the first telescopic arm 31, and synchronously activates the third motor 33 to rotate the first cleaning robot 2. The first cleaning robot 2 is then suspended above the second row of photovoltaic panels 1. Deactivating the negative pressure adsorption mechanism 24 of the first cleaning robot 2 releases it from the first row of photovoltaic panels 1, allowing the first cleaning robot 2 to be moved. The telescopic arms 31 are simultaneously shortened and the third motor 33 is activated to rotate the first cleaning robot 2. During the process of suspending the first cleaning robot 2 above the second row of photovoltaic panels 1, the inclination angle of its chassis is pre-adjusted to match the inclined surface of the second row of photovoltaic panels 1, preparing for the subsequent adsorption of the first cleaning robot 2 to the second row of photovoltaic panels 1.

[0037] Step S5: The first cleaning robot 2 restarts the negative pressure adsorption mechanism 24, completing the cross-column operation of the two cleaning robots 2. The negative pressure adsorption mechanism 24 of the first cleaning robot 2 is restarted, causing it to be adsorbed and fixed on the second row of photovoltaic panels 1, completing the complete cross-column operation and preparing for the coordinated cleaning operation on the second row of photovoltaic panels 1.

[0038] In this embodiment, the two telescopic arms 31 control the rotation angle through the first motor 32, avoiding the complicated loading and transportation process of traditional carriers, reducing the movement of moving parts and ground transfer, and enhancing the adaptability to complex sites; at the same time, the negative pressure adsorption mechanism 24 equipped with each cleaning robot 2 ensures its adsorption stability when operating on the surface of the inclined photovoltaic panel 1, ensures the safety and balance of the cross-column movement, improves the continuity and efficiency of the cleaning operation, and realizes the automatic cleaning of multi-column photovoltaic arrays.

[0039] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A photovoltaic panel array cleaning robot, characterized in that: include: The cleaning robot has two, and the cleaning robot includes a main frame, track wheels, a cleaning component and a negative pressure adsorption mechanism. The track wheels have two, and the two track wheels are symmetrically arranged on the left and right sides of the main frame. The cleaning component is arranged on the front and rear sides of the bottom end of the main frame. The negative pressure adsorption mechanism is arranged at the bottom end of the main frame. The negative pressure adsorption mechanism is configured to adsorb the surface of the photovoltaic panel to balance the force exerted on the cleaning robot on the inclined surface of the photovoltaic panel; A foldable telescopic arm includes a telescopic arm and a first motor. The telescopic arm has two, and the bottom ends of the two telescopic arms are respectively hinged to the top ends of the two main frames of the cleaning robots, and the top ends of the two telescopic arms are hinged to each other through the first motor.

2. The photovoltaic panel array cleaning robot according to claim 1, characterized in that: A third motor is connected to the connection between the telescopic arm and the top of the main frame. The bottom end of the telescopic arm is hinged to the top of the main frame through the third motor. The third motor drives the main frame to rotate relative to the telescopic arm.

3. The photovoltaic panel array cleaning robot according to claim 2, characterized in that: The main frame is also provided with a rotatable connecting shaft, and the bottom end of the telescopic arm is hinged to the top end of the connecting shaft through a third motor. A second motor is also provided at the top end inside the main frame, and the output end of the second motor is connected to the bottom end of the connecting shaft. The second motor drives the main frame to rotate relative to the connecting shaft.

4. The photovoltaic panel array cleaning robot according to claim 1, characterized in that: The cleaning component includes a cleaning side brush, a dust suction component and a cleaning mop. There are two cleaning side brushes, which are rotatably connected to the bottom end of the main frame and located at the front end of the negative pressure adsorption mechanism. The dust suction component is arranged at the bottom end of the main frame, and the dust suction port of the dust suction component faces the cleaning side brushes. The cleaning mop is arranged at the bottom end of the main frame and located at the rear end of the negative pressure adsorption mechanism.

5. The photovoltaic panel array cleaning robot according to claim 4, characterized in that: The cleaning mop includes a supporting plate and a cleaning water tank. The supporting plate is arranged at the bottom end of the main frame and located at the rear end of the negative pressure adsorption mechanism. The cleaning water tank is arranged at the top end of the supporting plate and is connected to the supporting plate.

6. The photovoltaic panel array cleaning robot according to claim 3, characterized in that: A battery is also provided in the main frame, and the battery is electrically connected to the track wheel, the negative pressure adsorption mechanism, the cleaning component, the first motor, the second motor and the third motor.

7. The photovoltaic panel array cleaning robot according to claim 6, characterized in that: A solar panel is also provided on the main frame, and the solar panel is electrically connected to the battery.

8. A cross-column method, using the array photovoltaic panel cleaning robot according to claim 2, characterized in that: The following steps are involved: Step S1: When the two cleaning robots complete cleaning on the first row of photovoltaic panels and drive the track wheels to move together to the upper edge of the first row of photovoltaic panels, the first cleaning robot is adsorbed and fixed to the upper edge of the first row of photovoltaic panels, and the second cleaning robot turns off the negative pressure adsorption mechanism; Step S2: Extend the two telescopic arms, start the first motor to rotate the second telescopic arm, and simultaneously start the third motor to rotate the second cleaning robot, so that the second cleaning robot is suspended above the second row of photovoltaic panels; Step S3: The second cleaning robot activates the negative pressure adsorption mechanism to adsorb and fix on the second row of photovoltaic panels; Step S4: The first cleaning robot turns off the negative pressure adsorption mechanism, shortens the two telescopic arms, starts the first motor to rotate the first telescopic arm, and simultaneously starts the third motor to rotate the first cleaning robot. The first cleaning robot is suspended above the second row of photovoltaic panels. Step S5: The first cleaning robot restarts the negative pressure adsorption mechanism to complete the cross-column movement of the two cleaning robots.

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