Photovoltaic cleaning robot based on suspension assistance and control method thereof

Abstract

The application discloses a photovoltaic cleaning robot based on suspension assistance and a control method thereof, and belongs to the technical field of photovoltaic panel cleaning equipment. The photovoltaic cleaning robot comprises a robot body, a vacuum adsorption device arranged at the bottom of the robot body, a front rolling brush installed at the front side of the robot body, and a controller, and further comprises a suspension device comprising a first suspension, wherein a suspension wheel is installed on the first suspension. During the process that the robot moves to the top edge of a photovoltaic panel to perform a turning action, the controller controls the suspension wheel of the first suspension to be hung on the top edge of the photovoltaic panel, and after the first suspension is hung, the controller controls the vacuum adsorption device to reduce the adsorption force or stop working. The application is used for solving the technical problem that how to consider the safety of anti-sliding and the system energy consumption when the existing photovoltaic cleaning robot turns on a large-inclination photovoltaic panel, and the significant reduction of energy consumption is realized while the safety is ensured, which lays a foundation for long-distance and uninterrupted operation of the robot.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning equipment technology, and more specifically, to a suspended-assisted photovoltaic cleaning robot and a control method for the suspended-assisted photovoltaic cleaning robot. Background Technology

[0002] With the widespread application of photovoltaic power generation technology, the need for cleaning and maintenance of photovoltaic panel surfaces is becoming increasingly prominent. For large-tilt photovoltaic arrays installed on sloping roofs, in mountainous areas, and other similar environments, surface cleaning operations face severe challenges. Manual cleaning is inefficient and highly dangerous; therefore, automated cleaning robots have become an important development direction.

[0003] Currently, cleaning robots for steeply tilted photovoltaic panels mostly employ vacuum adsorption devices to provide adhesion friction and prevent them from slipping on the inclined surface. When these robots move in a straight line or with small amplitude along the panel surface, vacuum adsorption provides generally reliable safety. However, when the robot needs to make significant turns on the panel surface (from vertical to lateral movement or adjusting its work path), its center of gravity shifts significantly, and the required anti-slip force increases dramatically. To address this dynamic risk, existing technologies typically employ strategies that continuously maintain or enhance the vacuum adsorption force.

[0004] This single mode of "ensuring safety through strong adsorption" presents a significant technical contradiction: to ensure safety during the turning process, the robot must maintain high-power vacuum adsorption for an extended period, resulting in enormous system energy consumption and severely limiting the robot's single-cycle endurance and operating range. Conversely, if the adsorption force is reduced to extend endurance, the risk of slippage during the turning process will significantly increase. Therefore, how to ensure operational safety while effectively controlling system energy consumption and extending endurance when photovoltaic cleaning robots perform this specific high-risk maneuver of turning has become a pressing technical challenge in this field. Currently, there is a lack of a reliable solution that can synergistically optimize safety and energy efficiency during turning operations. Summary of the Invention

[0005] The present invention aims to overcome at least one of the defects of the prior art and provide a suspension-assisted photovoltaic cleaning robot to solve the technical problem of how to balance anti-slip safety and system energy consumption when the existing photovoltaic cleaning robot turns on the photovoltaic panel at a large tilt angle.

[0006] The technical solution adopted by this invention is a photovoltaic cleaning robot based on suspension assistance, including a robot body, a vacuum adsorption device disposed at the bottom of the robot body, a front roller brush installed on the front side of the robot body, and a controller. It also includes a suspension device, which includes a first suspension with suspension wheels mounted thereon. During the process of the robot moving to the top edge of the photovoltaic panel and performing a turning action, the controller controls the suspension wheels of the first suspension to engage with the top edge of the photovoltaic panel, and after the first suspension engages, controls the vacuum adsorption device to reduce the adsorption force or stop working.

[0007] By attaching the suspension device to the top edge of the photovoltaic panel during the robot's turning process, reliable mechanical tension can be provided, allowing the vacuum adsorption device to reduce power consumption or shut down after attachment. This directly solves the technical contradiction of requiring continuous high-power adsorption for anti-slip purposes when cleaning robots turn on steeply tilted photovoltaic panels, achieving significant energy savings while ensuring safety.

[0008] Furthermore, the suspension device also includes a second suspension. During the steering maneuver, the controller controls the suspension wheel of the first suspension to engage with the top edge of the photovoltaic panel. After the steering maneuver is completed, the controller controls the suspension wheel of the second suspension to engage with the top edge of the photovoltaic panel. By setting up the second suspension and engaging it after the steering maneuver, a step-by-step engagement mechanism is formed with the first suspension, enabling seamless connection and coverage of anti-slip tension throughout the entire steering process. This enhances the robot's stability and safety under complex steering postures and provides stable top support for subsequent side cleaning operations.

[0009] Furthermore, the system includes an IMU module and an ultrasonic sensor array mounted on the robot body. The controller determines whether the robot has reached the edge of the photovoltaic panel based on the detection signals from the ultrasonic sensor array, and controls the robot to perform a turning maneuver based on the heading angle obtained by the IMU module. By combining the position detection of the ultrasonic sensor array with the heading angle feedback from the IMU module, the controller is provided with the precise spatial awareness information required to execute the step-by-step hooking and turning maneuver. This allows key control actions such as "rotating to a hookable position" and "completing the turn" to be accurately triggered and executed.

[0010] Furthermore, the ultrasonic sensor group includes: at least two front ultrasonic sensors, respectively disposed on the left and right sides of the front of the robot body, for detecting the distance between the front of the robot and the edge of the photovoltaic panel; side ultrasonic sensor one and side ultrasonic sensor two, respectively disposed on the left and right sides of the robot body, for detecting the distance between the left and right sides and the edge of the photovoltaic panel; at least one rear ultrasonic sensor, disposed on the rear side of the robot body, for detecting the distance between the rear of the robot and the edge of the photovoltaic panel; the controller determines the position of the robot relative to the edge of the photovoltaic panel based on the detection signals of the ultrasonic sensor group.

[0011] Furthermore, the first suspension also includes a connecting shaft and a telescopic rod. One end of the connecting shaft is rotatably connected to the robot body, and the other end is fitted with a suspension wheel. The telescopic rod is used to drive the connecting shaft to rotate, thereby causing the suspension wheel to rotate and engage. By adopting a drivable rotating structure composed of a connecting shaft and a telescopic rod, a specific and reliable implementation method is provided for the suspension device, ensuring the mechanical feasibility and controllability of the core function of "rotational engagement".

[0012] Furthermore, the system includes a visual recognition unit, comprising a vision camera for capturing images of the photovoltaic panel surface and an image processing module for identifying navigation lines on the photovoltaic panel and outputting deviation information. Based on this deviation information, the controller uses a PID control algorithm to control the robot to perform straight-line tracking. This combination of visual recognition and PID control enables the robot to automatically and accurately navigate along the navigation lines on the photovoltaic panel. This forms the basis for the robot to move from the starting point to the top edge to perform a turning maneuver, thus improving the overall automation level of the operation.

[0013] Furthermore, the system also includes a roller brush retrieval device and side roller brushes. The roller brush retrieval device comprises two wheels respectively positioned in the front and rear directions of the robot body. Each wheel is equipped with a rope, and the free ends of the two ropes are respectively connected to the two ends of the side roller brush. By setting up side roller brushes and a retrieval device controlled by independent ropes, the robot's cleaning capabilities are expanded, enabling it to effectively clean the sides of photovoltaic panels. By controlling the extension and retraction of the ropes separately, the posture of the side roller brushes can be adjusted to better conform to the panel surface, improving cleaning effectiveness and adaptability.

[0014] Furthermore, it also includes a UWB positioning unit, which comprises a UWB module and a UWB tag antenna mounted on the robot body. This unit communicates with an external transport vehicle to provide navigation data for the robot's return and docking. Through UWB ultra-wideband positioning technology, the robot can achieve high-precision relative positioning with the transport vehicle after completing its task, thus enabling automatic return and precise docking. This achieves fully closed-loop automation of the workflow, reducing the need for manual intervention and improving operational efficiency.

[0015] This solution also discloses a control method for a suspension-assisted photovoltaic cleaning robot, applied to the aforementioned suspension-assisted photovoltaic cleaning robot, comprising the following steps:

[0016] After the robot moves to the top edge of the photovoltaic panel, the robot is controlled to perform a turning action, which includes:

[0017] S1: Control the robot to rotate so that the first suspended suspension wheel is in a suspended state;

[0018] S2: Control the first suspension action so that its suspension wheel is engaged with the top edge of the photovoltaic panel;

[0019] S3: Control the vacuum adsorption device to reduce the adsorption force or stop working;

[0020] S4: Control the robot to continue rotating until the turning action is completed;

[0021] S5: Control the rotation of the second suspension so that its suspension wheel is engaged with the top edge of the photovoltaic panel. By solidifying the core control logic of "first engaging the first suspension, then reducing the adsorption force, and finally engaging the second suspension" into a sequentially executed step flow (S1-S5), the standard operating procedure for energy-saving steering operations is clearly defined.

[0022] Further includes:

[0023] Before step S1, an initialization step S0 is included; the initialization step S0 includes:

[0024] S0-1: Obtain the initial heading angle of the robot when it reaches the top edge of the photovoltaic panel;

[0025] S0-2: Calculate the intermediate target heading angle and the final target heading angle based on the initial heading angle according to the preset turning direction;

[0026] In this process, step S1 involves controlling the robot to rotate to the intermediate target heading angle; step S4 involves controlling the robot to continue rotating to the final target heading angle. By adding precise calculation steps based on the initial state (S0-1, S0-2) before the process begins, and specifying the target of subsequent key rotation actions (S1, S4) as the calculated specific angles, the entire steering control process is upgraded from "qualitative execution" to "quantitative execution." This greatly improves control accuracy and repeatability, ensuring the final steering angle is accurate, thereby enhancing the stability of the entire method and its adaptability to different initial conditions.

[0027] Compared with existing technologies, the beneficial effects of this invention are as follows: The collaborative control mechanism of the "suspension device relaying vacuum adsorption device" of this invention. During the high-risk turning phase, the suspension device actively provides stable anti-slip tension while simultaneously reducing or shutting down the energy-intensive vacuum adsorption device. This fundamentally changes the energy-consuming mode that relies on continuous strong adsorption, balancing anti-slip safety with system energy consumption. While ensuring safety, it achieves a significant reduction in energy consumption, laying the foundation for long-distance, uninterrupted robot operation.

[0028] By integrating visual recognition, multiple ultrasonic sensors, and adaptive control algorithms, the robot possesses superior autonomous navigation and decision-making capabilities. Vision and weighted PID algorithms enable the robot to intelligently judge and smoothly correct driving deviations; omnidirectional ultrasonic sensing provides reliable assurance for edge recognition and suspension positioning, collectively achieving high-precision autonomous movement and cleaning on high-altitude, inclined, and complex surfaces. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 This is a schematic diagram of the bottom structure of the cleaning robot of the present invention.

[0031] Figure 3 This is a schematic diagram of the structure of the cleaning robot of the present invention when it initially climbs to the top of the photovoltaic panel.

[0032] Figure 4 This is a schematic diagram of the structure of the present invention when it turns to the intermediate heading angle.

[0033] Figure 5 This is a schematic diagram of the structure of the present invention when it turns to the target heading angle.

[0034] Figure 6 This is a flowchart illustrating the operation of the cleaning robot of the present invention.

[0035] In the diagram: 1. Robot body; 2. Front ultrasonic sensor; 3. Rear ultrasonic sensor; 4. Side ultrasonic sensor one; 5. Side ultrasonic sensor two; 6. IMU module; 7. First suspension; 8. Second suspension; 9. Front roller brush; 10. Side roller brush; 11. Vacuum generator; 12. Vision camera; 13. Suction cup body; 14. Roller brush recovery device; 15. UWB tag antenna. Detailed Implementation

[0036] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the invention. To better illustrate the following embodiments, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions; it is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0037] like Figure 1-6 As shown, this invention provides a suspended photovoltaic cleaning robot and its control method. A suspended photovoltaic cleaning robot (hereinafter referred to as the robot) includes a robot body 1, with a front roller brush 9 and a side roller brush 10 installed at the front and side of the robot body 1, respectively. Both are driven by a brushless motor (or a brushed motor, servo motor, or geared motor) and are used to roll and remove snow or dust from the surface of the photovoltaic panel.

[0038] The robot body 1 integrates a main control board (on which the controller is mounted), a vision recognition processing module, a brushless motor driver, a power supply module, etc., which work together to complete the robot's motion control and function execution. In addition, the robot body 1 is also equipped with a vacuum adsorption device, a suspension device, a vision recognition unit, an IMU module 6, an ultrasonic sensor group, and a UWB module.

[0039] The system also includes a roller brush retrieval device 14, which is mounted on the top of the robot body 1. The device comprises two wheels positioned in the front-rear direction of the robot body 1, each wheel equipped with a rope. The free ends of the two ropes on the two wheels are connected to the two ends of the side roller brush 10. By controlling the retraction and extension speeds of the two wheels, the posture of the side roller brush 10 during descent and retrieval can be adjusted, allowing it to better conform to the surface of the photovoltaic panel for cleaning. After the cleaning task is completed, the side roller brush 10 can be smoothly retracted to the side position of the robot body 1 by synchronously retracting the ropes from the two wheels. The wheels are preferably driven by a servo motor, but stepper motors or other drive devices with precise position and speed control functions can also be used.

[0040] The vacuum adsorption device is located at the bottom of the robot body 1 and is used to provide adsorption force when climbing steep slopes, thereby enhancing the robot's adhesion to the photovoltaic panel surface. The device includes a suction cup 13 located at the bottom of the robot body 1, and a vacuum generator 11 located in the middle of the suction cup 13 and inside the robot body 1.

[0041] The suspension system includes a first suspension 7 and a second suspension 8, respectively installed on the front and rear left sides of the robot body 1. The first suspension 7 and the second suspension 8 have identical structures, each including a connecting shaft, a telescopic rod, and a suspension wheel. One end of the connecting shaft is rotatably connected to the robot body 1, and the rotation of the suspension wheel is achieved by driving the telescopic rod (e.g., ...). Figure 1 (As shown). When the robot moves to the top edge of the photovoltaic panel, the drive shaft causes the suspension wheels to rotate towards the surface of the photovoltaic panel to hook onto the top edge, enabling the robot to suspend and move. This provides tension when the robot turns or pauses, preventing it from slipping. In the suspended state, the vacuum adsorption device can be turned off to save energy.

[0042] The visual recognition unit includes a visual camera 12, mounted on the bottom of the robot body 1, for acquiring images of the photovoltaic panel surface. The visual camera 12 is connected to an image processing module (such as an NVIDIA Jetson Nano embedded computing module), which runs an image processing program based on the Canny edge detection algorithm to identify navigation lines on the photovoltaic panel. The processed line angle and position deviation information is sent to the main control board in real time for PID control, enabling the robot to achieve high-precision straight-line tracking on the photovoltaic panel.

[0043] The IMU module 6 is integrated into the robot body 1. It is used to detect the robot's heading angle in real time and work with the controller to achieve fixed-angle rotation control within a 360° range.

[0044] The ultrasonic sensor assembly includes two front ultrasonic sensors 2 mounted on the left and right sides of the front of the robot body 1, two side ultrasonic sensors 4 mounted on the front and back of the left side, a side ultrasonic sensor 5 mounted on the right side, and a rear ultrasonic sensor 3 mounted on the rear side. The ultrasonic sensor assembly is mainly used to detect the distance between the robot and the edge of the photovoltaic panel. The side ultrasonic sensor 5 is also used to monitor the relative distance between the side roller brush 10 and the robot body 1.

[0045] The UWB module includes a UWB module installed inside the robot body 1 and two UWB tag antennas 15 symmetrically arranged at the tail of the robot. It is used to communicate with the UWB base station on the transport vehicle and to measure the relative distance and angle between the robot and the transport vehicle in real time through ultra-wideband technology, so as to provide navigation data for the robot's automatic return and docking.

[0046] The control method for this robot includes the following steps:

[0047] Step 1: Initial Placement and Startup

[0048] The robot is placed on a transport vehicle, which then moves to the front bottom edge of the photovoltaic panel and aligns with it. The robot receives the start command from the transport vehicle via a wireless communication module (such as a TKM module).

[0049] Step 2: Proceed along a straight line

[0050] The robot activates its front roller brush 9 and turns on the vacuum adsorption device, beginning its linear tracking along the navigation lines on the photovoltaic panel. The tracking control employs a PID algorithm, with the following control formula:

[0051] u(k)=Kp·e(k)+Ki·i=1ke(i)+Kd·[e(k) e(k 1)]

[0052] u(k) is the control output at time k; Kp is the proportional coefficient, Ki is the integral coefficient, and Kd is the derivative coefficient; e(k) is the deviation at time k, i.e., the difference between the setpoint and the actual value; i=1ke(i) is the integral term of the deviation, i.e., the cumulative historical deviation; e(k) e(k 1) is the differential term of the deviation, i.e., the rate of change of the current deviation.

[0053] The PID parameter adjustment process is as follows:

[0054] First, set Kd and Ki to 0, then gradually increase Kp until the robot exhibits high-frequency oscillations, recording this value as the Kp threshold. In actual debugging, Kp for angle control was set to 3, and Kp for distance control was also set to 3. Then, Ki was gradually increased until the robot exhibited low-frequency oscillations, recording this value as Ki. The actual values ​​were: angle = 0.6Ki = 0.6, distance = 0.2Ki = 0.2. If overshoot occurred, Kd was gradually increased until the robot stabilized, with the actual values ​​being: angle = 0.2Kd = 0.2, distance = 0.4Kd = 0.4. During control, if the angle deviation was greater than the distance deviation, the angle PID output weight was set to 0.6, and the distance PID output weight was set to 0.4; conversely, the distance weight was 0.6, and the angle weight was 0.4.

[0055] Step 3: Inspect the top of the photovoltaic panel and prepare to turn it.

[0056] When the ultrasonic sensor 2 detects that the distance from the edge of the photovoltaic panel in front is greater than 25cm, it determines that the robot has reached the top of the photovoltaic panel. At this time, the current heading angle α measured by the IMU module 6 is recorded, and the target heading angle γ (α-90° for left turn, α+90° for right turn) and the intermediate target heading angle β (α-45° for left turn, α+45° for right turn) are calculated.

[0057] Step 4: Suspension-Assisted Steering

[0058] The controller controls the robot to rotate to the intermediate target heading angle β and then move forward until the side ultrasonic sensor 4 detects that the first suspension 7 is in a suspended state (distance greater than 25cm). Then, the suspension wheel of the first suspension 7 is lowered; at this point, the first suspension 7 is attached to the top edge of the photovoltaic panel, as shown below. Figure 4 As shown; in the subsequent process, the vacuum adsorption device is turned off or the suction is reduced to save power (the specific choice depends on the tilt of the photovoltaic panel. When the tilt is small, the robot's track has a large friction with the photovoltaic panel surface. At this time, the vacuum adsorption device can be turned off, and the robot can be rotated to the second suspension 8 in the air by controlling the track; when the tilt is large, the friction between the track and the photovoltaic panel is insufficient. At this time, the vacuum adsorption device cannot be stopped. The suction can be reduced to ensure that the track and the photovoltaic panel surface have sufficient friction so that the robot can rotate to the second suspension 8 in the air). After that, the robot continues to rotate to the target heading angle γ. At this time, the second suspension 8 is in the air. The suspension wheel of the second suspension 8 is lowered to complete the suspension-assisted steering.

[0059] Step 5: Side cleaning operation

[0060] After the robot completes its turn, the front roller brush 9 moves forward 120cm (not necessarily exactly 120cm, as long as this length is the same as the side roller brush 10), and then stops. By releasing the rope connecting the side roller brush 10, the side roller brush 10 moves downward along the surface of the photovoltaic panel under the influence of gravity, cleaning the area below. After cleaning to the bottom, the two wheels retract the wound rope to pull the side roller brush 10 back to the side of the robot. The above process of moving forward, releasing rope, and retracting rope is then repeated until the entire side of the photovoltaic panel is cleaned. The retrieval status of the side roller brush 10 is detected by the side ultrasonic sensor 5; when the detection distance is less than 10cm, it is determined that it has been retrieved.

[0061] Step Six: Return and Docking

[0062] After cleaning, the robot stops its brushing action and reverses back to its initial position along the top edge of the photovoltaic panel. When the ultrasonic sensor detects that it has retreated to the edge of the photovoltaic panel, it retracts its second suspension 8, rotates to the target heading angle of 45°, and activates the vacuum adsorption device. Then, it retracts its first suspension 7 and rotates to the target heading angle γ (this target heading angle γ is the direction of ascent when moving longitudinally to the top of the photovoltaic panel). The robot then initiates tracking and maintains vacuum adsorption, reversing back along the original path while maintaining communication with the transport vehicle via the UWB module to fine-tune its heading for precise docking. When the laser sensor on the transport vehicle detects that the robot has arrived, it sends a stop command. The robot stops moving and shuts down the adsorption device, and the transport vehicle prepares to move to the next photovoltaic panel.

[0063] In addition, as a second feasible implementation, the turning process in step four can also be executed as follows: When the robot determines, based on the information from the front ultrasonic sensor 2, that it has reached the top edge of the photovoltaic panel and needs to turn, the robot is controlled to rotate directly to the target heading angle under the suction of the vacuum adsorption device; after rotating to the correct position, the suspension wheels of the first suspension 7 and the second suspension 8 are simultaneously lowered and attached to the top edge of the photovoltaic panel; after both the first suspension 7 and the second suspension 8 confirm that the attachment is secure, the vacuum adsorption device is completely shut off. This method is suitable for working conditions where the photovoltaic panel has a small tilt angle, little dust on the panel surface, and good working conditions. In this case, after being fixed by the vacuum adsorption device, it can rotate directly without slipping.

[0064] Compared to the aforementioned (i.e., the second method) approach of simultaneously lowering or retracting both suspensions (first suspension 7 and second suspension 8) in conjunction with the vacuum adsorption device, the first method of this solution (i.e., after rotating to the target heading angle, first rotating and engaging the first suspension 7, and then rotating to the target heading angle again before engaging the second suspension 8) has the following advantages: 1. The first method allows the vacuum adsorption device to reduce power or even shut down in advance during the most energy-consuming and dangerous stage of turning. In contrast, the second method requires the adsorption system to maintain high pressure throughout the process before both suspensions are fully engaged, otherwise the robot risks instantaneous slippage. Therefore, the suspension and adsorption coupling solution (i.e., the first method) can achieve significant energy savings while ensuring safety. 2. The first implementation method results in smoother movement and reduced swaying and impact. The step-by-step engagement allows the robot's center of gravity transfer and tension bearing to occur in stages, with smaller changes in the center of gravity at each stage, similar to a person shifting their center of gravity step by step while walking. This is more stable than jumping and landing on both feet simultaneously, reducing the swaying of the robot body and the impact on the edge of the photovoltaic panel, thus improving the reliability and lifespan of the system. 3. The core advantage of the suspension and adsorption coupling scheme in terms of safety lies in its construction of a "step-by-step handover, anti-slip and uninterrupted" guarantee mechanism: the robot first rotates slightly to the middle heading angle. This small rotation angle ensures stable posture and small center of gravity shift, allowing the first suspension 7 to easily and reliably engage first, providing anti-slip tension; preventing accidents (such as slippage) during subsequent rotation or engagement, significantly improving the operational safety and reliability of the system under complex working conditions, and eliminating slippage accidents.

[0065] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention should be included within the protection scope of the claims of the present invention.

Claims

1. A control method for a suspended photovoltaic cleaning robot, applied to a suspended photovoltaic cleaning robot, the robot comprising a robot body (1), a vacuum adsorption device disposed at the bottom of the robot body (1), a front roller brush (9) installed on the front side of the robot body (1), and a controller; It also includes an IMU module (6) installed on the robot body (1); The suspension device includes a first suspension (7) and a second suspension (8), both of which are equipped with suspension wheels; it also includes a roller brush recovery device (14) and a side roller brush (10). The roller brush recycling device (14) includes two discs respectively arranged in the front and rear directions of the robot body (1), each disc is equipped with a rope, and the free ends of the two ropes are respectively connected to the two ends of the side roller brush (10); Its features are, Includes the following steps: After the robot moves to the top edge of the photovoltaic panel, the robot is controlled to perform a turning action, which includes: S0: Obtain the initial heading angle α when the robot reaches the top edge of the photovoltaic panel, and calculate the intermediate target heading angle β and the final target heading angle γ based on the initial heading angle according to the preset turning direction, wherein when turning left, β=α-45° and γ=α-90°, and when turning right, β=α+45° and γ=α+90°. S1: Control the robot to rotate to the intermediate target heading angle β and move forward until the side ultrasonic sensor set on the side of the robot body detects that the suspension wheel of the first suspension (7) is in a suspended state; S2: Control the first suspension (7) to move so that its suspension wheel is attached to the top edge of the photovoltaic panel; S3: Control the vacuum adsorption device to reduce the adsorption force or stop working; S4: Control the robot to continue rotating to the final target heading angle until the turning action is completed; S5: Control the second suspension (8) to rotate so that its suspension wheel is attached to the top edge of the photovoltaic panel.

2. The control method for a photovoltaic cleaning robot based on suspension assistance according to claim 1, characterized in that, The robot also includes an ultrasonic sensor array; The controller determines whether the robot has reached the edge of the photovoltaic panel based on the detection signals from the ultrasonic sensor group.

3. The control method for a suspension-assisted photovoltaic cleaning robot according to claim 2, characterized in that, The ultrasonic sensor group includes: At least two front ultrasonic sensors (2) are respectively set on the left and right sides of the front of the robot body (1) to detect the distance between the front of the robot and the edge of the photovoltaic panel; Side ultrasonic sensor 1 (4) and side ultrasonic sensor 2 (5) are respectively set on the left and right sides of the robot body (1) and are used to detect the distance from the edge of the photovoltaic panel on the left and right sides respectively. At least one rear ultrasonic sensor (3) is disposed on the rear side of the robot body (1) for detecting the distance between the rear side of the robot and the edge of the photovoltaic panel; the controller determines the position of the robot relative to the edge of the photovoltaic panel based on the detection signal of the ultrasonic sensor group.

4. The control method for a photovoltaic cleaning robot based on suspension assistance according to claim 1, characterized in that, The first suspension (7) also includes a connecting shaft and a telescopic rod. One end of the connecting shaft is rotatably connected to the robot body (1), and the other end is equipped with a suspension wheel. The telescopic rod is used to drive the connecting shaft to rotate so as to drive the suspension wheel to rotate and engage.

5. The control method for a photovoltaic cleaning robot based on suspension assistance according to claim 1, characterized in that, The robot also includes a vision recognition unit, which includes a vision camera (12) for acquiring images of the photovoltaic panel surface and an image processing module for recognizing navigation lines on the photovoltaic panel and outputting deviation information; the controller controls the robot to perform straight-line tracking based on the deviation information using a PID control algorithm.

6. The control method for a photovoltaic cleaning robot based on suspension assistance according to claim 1, characterized in that, The robot also includes a UWB positioning unit, which includes a UWB module and a UWB tag antenna (15) disposed on the robot body (1) for communicating with an external transport vehicle.

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