Agricultural photovoltaic panel cleaning trolley based on unmanned aerial vehicle cooperative supply

Abstract

The invention discloses an agricultural photovoltaic panel cleaning trolley based on unmanned aerial vehicle collaborative replenishment, and belongs to the technical field of agricultural solar equipment cleaning, and the agricultural photovoltaic panel cleaning trolley comprises an intelligent collaborative replenishment unmanned aerial vehicle and at least one walking cleaning trolley body. The walking cleaning vehicle body is provided with a water-saving cleaning mechanism and an all-terrain self-adaptive walking mechanism; the water-saving cleaning mechanism adopts a'micro-mist spraying-mechanical scraping 'dual-mode cleaning technology, and efficient water-saving cleaning is realized through a pressurizing water tank, an atomizing nozzle and a bionic hydrophobic scraping plate; the all-terrain self-adaptive walking mechanism adopts an anti-skid crawler belt and a liftable reversing mechanism, so that the vehicle body can stably walk on a photovoltaic panel with a complex inclination angle; and the unmanned aerial vehicle quickly replaces the water tank and the modular battery for the vehicle body through the magnetic suction type quick-change interface. The problems that water resources are deficient, terrain adaptation is difficult and continuous operation capacity is poor in photovoltaic panel cleaning in drought areas, mountainous areas and the like are solved, intelligent, low-water-consumption and all-terrain unmanned operation and maintenance are achieved, and the operation and maintenance cost is remarkably reduced.

Description

Technical Field

[0001] This invention belongs to the field of solar energy equipment cleaning technology, specifically relating to an agricultural photovoltaic panel cleaning vehicle based on drone-assisted resupply, which is suitable for continuous cleaning of the surface of agricultural photovoltaic panels in terraced fields or rural mountainous areas. Background Technology

[0002] The Loess Plateau region, one of the richest areas in my country in terms of solar energy resources, has seen a continuous increase in photovoltaic (PV) installations in terraced fields and rural mountainous areas. However, the region is arid with little rainfall and frequent sandstorms, leading to a large accumulation of dust on the surface of PV panels. Studies have shown that dust deposition can reduce the light transmittance of PV modules by 40%-50% and decrease power generation efficiency by up to 30%. Traditional manual washing requires a large amount of water, resulting in high maintenance costs in water-scarce areas and difficulty in covering distributed power stations.

[0003] Current mainstream cleaning technologies have three limitations:

[0004] Firstly, water-dependent solutions (such as high-pressure water guns and sprinkler systems) require the laying of fixed pipelines, and the cost per kilometer of pipeline is too high in remote areas;

[0005] Secondly, track-based cleaning robots are limited by flat, continuous arrays and cannot adapt to the slopes of the Loess Plateau or dispersed layouts;

[0006] Third, the automation level of vehicle-mounted mobile equipment is low, requiring manual transfer and water replenishment, and the average daily cleaning area per unit is small.

[0007] Although drones have been applied to photovoltaic inspections, there are still key technical bottlenecks in the field of active cleaning: direct spraying solutions result in uneven cleaning due to small payload and poor hovering stability, and lack a mechanism for coordinated energy and material replenishment of cleaning equipment, making it difficult to support continuous operation. Summary of the Invention

[0008] To address the aforementioned problems in existing technologies, this invention provides an agricultural photovoltaic panel cleaning vehicle based on drone-assisted resupply. The vehicle includes an intelligent collaborative resupply drone and at least one mobile cleaning vehicle body communicatively connected to the drone. The mobile cleaning vehicle body comprises a body, a water-saving cleaning mechanism, an all-terrain adaptive walking mechanism, a controller, and a high-energy-density battery. Through the efficient collaboration between the drone-assisted resupply mechanism and the mobile cleaning vehicle body, intelligent and efficient cleaning of solar photovoltaic panels is achieved, providing an innovative solution for the efficient and stable operation of photovoltaic power generation in arid, remote, and mountainous areas.

[0009] The objective of this invention is achieved through the following technical solution:

[0010] This invention provides an agricultural photovoltaic panel cleaning vehicle based on drone-assisted resupply, characterized in that it includes an intelligent collaborative resupply drone and at least one mobile cleaning vehicle body that is communicatively connected to the intelligent collaborative resupply drone;

[0011] The mobile cleaning vehicle body includes a body, a water-saving cleaning mechanism, an all-terrain adaptive walking mechanism, a controller, and a high-energy-density battery.

[0012] The water-saving cleaning mechanism is installed on the vehicle body and includes a pressurized water tank and at least one cleaning component. The top of the pressurized water tank is equipped with a magnetic buckle for adsorption connection with the intelligent collaborative supply drone. The cleaning component includes a cleaning mechanism housing fixed to the vehicle body, a high-pressure atomizing nozzle and a biomimetic hydrophobic scraper installed at the bottom of the cleaning mechanism housing, and a counterweight chamber set above the biomimetic hydrophobic scraper. The high-pressure atomizing nozzle is connected to the pressurized water tank through a water pipe and a quick connector.

[0013] The all-terrain adaptive walking mechanism is installed at the bottom of the vehicle body and is used to drive the walking cleaning vehicle to walk on the surface of the photovoltaic panel;

[0014] The controller and the high-energy-density battery are installed inside the vehicle body, and the controller is electrically connected to the all-terrain adaptive walking mechanism and the water-saving cleaning mechanism.

[0015] The intelligent collaborative supply drone is used to monitor and dispatch mobile cleaning vehicles, deploy mobile cleaning vehicles, and replenish the mobile cleaning vehicles with water and electricity.

[0016] Furthermore, the water-saving cleaning mechanism includes two cleaning components, which are respectively installed at the front and rear of the vehicle body.

[0017] Furthermore, the pressurized water tank is a closed pressurization structure, and a vibration-damping spring baffle is provided between the pressurized water tank and the vehicle body.

[0018] Furthermore, the all-terrain adaptive walking mechanism includes anti-slip tracks, a drive wheel, a driven wheel, a support frame, and a reversing mechanism; the reversing mechanism is installed at the center of the bottom of the vehicle body via a vertically arranged electric push rod; the drive wheel and the driven wheel are connected to both ends of the reversing mechanism via the support frame, and the anti-slip tracks are tensioned and wrapped around the drive wheel and the driven wheel.

[0019] Furthermore, the high-energy-density battery is modular in design, and it is connected to the controller through a standard power interface. The outer surface of the high-energy-density battery is provided with a magnetic attraction structure for magnetic adsorption connection with the intelligent collaborative resupply drone.

[0020] Furthermore, the mobile cleaning vehicle also includes an environmental sensor component that is communicatively connected to the controller for acquiring surrounding environmental image information. The controller identifies the soiled areas of the photovoltaic panels and / or plans the cleaning path based on the image information.

[0021] Furthermore, the mobile cleaning vehicle adopts a tailless structural design.

[0022] Furthermore, the intelligent collaborative supply drone includes a drone fuselage, drone rotors, a bracket fixed below the drone fuselage for mounting the mobile cleaning vehicle, and a magnetic head fixed to the bottom of the drone fuselage for magnetic adsorption connection with the pressurized water tank or high-energy-density battery.

[0023] Furthermore, the photovoltaic panel cleaning vehicle with drone-assisted resupply also includes a remote monitoring platform, and the intelligent collaborative resupply drone and the at least one mobile cleaning vehicle are respectively connected to the remote monitoring platform.

[0024] The present invention has the following beneficial effects:

[0025] Through innovative "micro-mist spraying-mechanical scraping" dual-mode cleaning technology, only an 8.5L pressurized water tank and micron-level atomizing nozzles are needed to achieve efficient cleaning of large areas, saving more than 60% of water compared to traditional manual rinsing methods. The biomimetic hydrophobic scraper not only has super scraping power, but its unique flow guiding structure can also effectively guide sewage, avoiding secondary pollution during the cleaning process, and effectively solving the core pain point of water scarcity in arid areas such as the Loess Plateau.

[0026] Employing an all-terrain adaptive walking mechanism composed of a controller and anti-slip tracks, the equipment can operate stably in complex terrains through real-time center of gravity adjustment technology. This design overcomes the stringent requirements of track-mounted equipment for site flatness, effectively handling complex terrains such as slopes and gullies common in the Loess Plateau, filling the technological gap in automated cleaning of photovoltaic arrays on undulating terrain.

[0027] The innovative magnetic quick-change interface, combined with a multi-drone scheduling algorithm, enables drones to quickly replace water tanks and batteries, with a single drone serving multiple cleaning vehicles. This aerial resupply mode completely eliminates the limitations of fixed pipeline networks, significantly reduces infrastructure investment, and enables unmanned operation and maintenance of distributed photovoltaic power plants, greatly reducing labor costs compared to traditional operation and maintenance methods.

[0028] It is also equipped with a remote monitoring platform, which can monitor the equipment status and cleaning progress in real time, greatly reducing the need for manual intervention.

[0029] The modular design and application of high-energy-density batteries in this invention enable the equipment to have longer battery life and lower energy consumption. By combining drone technology, intelligent navigation, and mechanical cleaning, it provides an effective solution for the operation and maintenance of photovoltaic power plants in special environments such as arid and mountainous areas, with significant economic benefits and environmental value. Attached Figure Description

[0030] Figure 1 This is a front view schematic diagram of the overall structure of an agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in Embodiment 1 of the present invention.

[0031] Figure 2 This is a top view schematic diagram of the overall structure of an agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in Embodiment 1 of the present invention.

[0032] Figure 3 This is a right-side view of the overall structure of an agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply, as described in Embodiment 1 of the present invention.

[0033] Figure 4 This is a top view schematic diagram of the water-saving and cleaning mechanism structure described in an embodiment of the present invention.

[0034] Figure 5 for Figure 4 Schematic diagram of the cross-section at position AA.

[0035] Figure 6 for Figure 5 A magnified view of a portion of point A in the middle.

[0036] Figure 7 for Figure 5 A magnified view of a portion of point B in the middle.

[0037] Figure 8 This is a schematic diagram of the all-terrain adaptive walking mechanism described in an embodiment of the present invention.

[0038] Figure 9 This is a schematic diagram of the intelligent collaborative resupply UAV structure described in an embodiment of the present invention.

[0039] In the above figures:

[0040] 1-Water-saving cleaning mechanism; 2-All-terrain adaptive walking mechanism; 3-Vehicle body; 4-High energy density battery; 5-Controller; 6-Baffle; 7-Connection port; 8-Intelligent collaborative resupply drone;

[0041] 101-Cleaning mechanism housing; 102-Water pipe; 103-Spring baffle; 104-Pressurized water tank; 105-Magnetic buckle; 106-Block; 107-Counterweight chamber; 108-Bionic hydrophobic scraper; 109-High-pressure atomizing nozzle;

[0042] 201-Anti-slip track; 202-Driven wheel; 203-Support frame; 204-Reversing mechanism; 205-Drive wheel;

[0043] 801-UAV rotor; 802-UAV fuselage; 803-Drive motor; 804-Bracket; 805-Magnetic head. Detailed Implementation

[0044] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments:

[0045] This embodiment describes an agricultural photovoltaic panel cleaning vehicle based on drone-assisted resupply. Figures 1 to 3 As shown, the system includes an intelligent collaborative supply drone 8 and at least one mobile cleaning vehicle, which is communicatively connected to the intelligent collaborative supply drone 8. The mobile cleaning vehicle includes a water-saving cleaning mechanism 1, an all-terrain adaptive walking mechanism 2, a vehicle body 3, a high-energy-density battery 4, and a controller 5. The water-saving cleaning mechanism 1 is mounted on the vehicle body 3 and is used for mechanical scraping and micro-mist spraying cleaning of the photovoltaic panel surface. The all-terrain adaptive walking mechanism 2 is mounted at the bottom of the vehicle body 3 to support the mobile cleaning vehicle in moving across photovoltaic panel surfaces at different angles. The controller 5 and the high-energy-density battery 4 are installed inside the vehicle body 3. The controller 5 is electrically connected to the all-terrain adaptive walking mechanism 2, the water-saving cleaning mechanism 1, and various environmental sensors via a wiring port 7. A baffle 6 is provided above the wiring port 7. The high-energy-density battery 4 is modularly designed and connected to the controller 5 via a standard power interface, providing the mobile cleaning vehicle with high endurance and enabling it to perform cleaning operations for extended periods. The intelligent collaborative supply drone 8 is used for real-time monitoring and scheduling of the mobile cleaning vehicle, deployment of the mobile cleaning vehicle, and monitoring of water and electricity usage.

[0046] like Figures 1 to 7As shown, the water-saving cleaning mechanism 1 consists of a water tank 104, a magnetic buckle 105, and two cleaning components. The pressurized water tank 104 is installed on the top of the vehicle body 3. The pressurized water tank 104 is a closed pressurization structure, and a vibration-damping spring baffle 103 is provided between the pressurized water tank 104 and the vehicle body. The top of the pressurized water tank 104 is provided with a magnetic buckle 105, which is used to connect the pressurized water tank 104 with the intelligent collaborative supply drone 8. Two cleaning components are installed at the front and rear of the vehicle body, respectively. The cleaning components include a cleaning mechanism housing 101, a water pipe 102, a baffle 106, a counterweight chamber 107, a biomimetic hydrophobic scraper 108, and a high-pressure atomizing nozzle 109. The cleaning mechanism housing 101 is fixedly connected to a mounting base at the front or rear of the vehicle body. Baffles 106 are fixed at both ends of the cleaning mechanism housing 101. The high-pressure atomizing nozzle 109 is fixed at the bottom of the cleaning mechanism housing 101. The high-pressure atomizing nozzle 109 is connected to the pressurized water tank 104 through the water pipe 102, and the water pipe 102 is connected to the pressurized water tank 104 through a quick-connect interface. The biomimetic hydrophobic scraper 108 is installed at the bottom of the cleaning mechanism housing 101 and adjacent to the high-pressure atomizing nozzle 109. The counterweight chamber 107 is located inside the cleaning mechanism housing 101 above the biomimetic hydrophobic scraper 108. The counterweight chamber 107 can be filled with counterweights to enhance the pressure of the biomimetic hydrophobic scraper 108 on the surface of the photovoltaic panel. The biomimetic hydrophobic scraper 108 is made of hydrophobic material and has both scraping and wastewater diversion functions. The water-saving cleaning mechanism 1 is mainly used to clean stains on the surface of photovoltaic panels. It has two cleaning methods: micro-mist spraying and mechanical scraping, which effectively saves water resources while having good cleaning ability.

[0047] like Figures 1 to 3 , Figure 8 As shown, the all-terrain adaptive walking mechanism 2 mainly consists of anti-slip tracks 201, driven wheels 202, support frames 203, reversing mechanisms 204, and drive wheels 205. The reversing mechanism 204 is installed at the center of the bottom of the vehicle body 3 via a vertically positioned electric push rod. When the electric push rod extends, it drives the vehicle body 3 and its connected components to move upward, facilitating the reversing operation of the cleaning vehicle. The drive wheels 205 and driven wheels 202 are respectively connected to both ends of the reversing mechanism 204 via the support frames 203, and the anti-slip tracks are tensioned and wrapped around the drive wheels 203 and driven wheels 202. The main function of the all-terrain adaptive walking mechanism 2 is to adjust the vehicle's center of gravity in real time to ensure its stable operation in various complex terrains, while combining with intelligent path planning algorithms to achieve efficient and safe cleaning operations.

[0048] like Figures 1 to 3 , Figure 9As shown, the intelligent collaborative supply drone 8 is set independently of the mobile cleaning vehicle and mainly consists of a drone rotor 801, a drone body 802, a drive motor 803, a bracket 804, and a magnetic head 805. The bracket 804 is fixed to the bottom of the drone body 802 for mounting the mobile cleaning vehicle. The magnetic head 805 is fixed to the bottom of the drone body 802 for magnetic attachment to the water-saving cleaning mechanism 1 or the high-energy-density battery 4, enabling quick replacement of the water tank or battery. When replenishing the water tank, the drone's magnetic head 805 attaches to the magnetic buckle 105 on the top of the spare pressurized water tank, transporting it to the vicinity of the mobile cleaning vehicle. Through the coordinated positioning of the drone and the mobile cleaning vehicle, the pressurized water tank with insufficient water is removed. The outlet of the spare pressurized water tank is connected to the water pipe of the water-saving cleaning mechanism 1 of the mobile cleaning vehicle through a quick-connect interface. The magnetic head 805 is then released, completing the water tank replacement. The main function of the intelligent collaborative supply drone 8 is to achieve precise deployment and cluster scheduling management of cleaning vehicles. It can monitor the status of cleaning vehicles in real time and complete the replenishment of battery packs and water tanks in a timely manner. A single intelligent collaborative supply drone 8 can provide replenishment services to multiple mobile cleaning vehicles at the same time.

[0049] The mobile cleaning vehicle is also equipped with an environmental sensor assembly to acquire image information of the surrounding environment. The environmental sensor assembly is connected to the controller 5. The controller 5 can identify the cleaning status of the photovoltaic panels and the soiled areas based on the acquired image information, and can further optimize the cleaning path of the mobile cleaning vehicle.

[0050] The high-energy-density battery 4 adopts a modular design, supports quick replacement, and has a magnetic structure on its outer surface for magnetic adsorption connection with the intelligent collaborative supply drone 8.

[0051] The mobile cleaning vehicle adopts a tailless structure design.

[0052] The working principle of this embodiment is briefly described below:

[0053] Preparation Phase: The intelligent collaborative supply drone 8 precisely deploys the mobile cleaning vehicle onto the solar photovoltaic panel. During deployment, the mobile cleaning vehicle is carried by the bracket 804. Once placed on the photovoltaic panel, the mobile cleaning vehicle's center of gravity is adjusted by the all-terrain adaptive walking mechanism 2 controlled by the controller 5, allowing the mobile cleaning vehicle to adapt to the tilt angle of the photovoltaic panel and ensuring smooth subsequent cleaning operations.

[0054] Cleaning Phase: The all-terrain adaptive walking mechanism 2, controlled by controller 5, drives the mobile cleaning vehicle to perform cleaning operations along the planned cleaning trajectory. During operation, the anti-slip tracks 201 provide stable traction, ensuring operational stability. The vehicle's turning is achieved by the reversing mechanism 204. During reversal, the reversing mechanism 204 gradually presses down, lifting the vehicle and supporting it to complete a certain angle of turn. After reversal, the reversing mechanism 204 retracts, and the vehicle continues cleaning along the predetermined trajectory. The water-saving cleaning mechanism 1 primarily performs cleaning. First, a biomimetic hydrophobic scraper 108 mechanically scrapes away surface dust from the photovoltaic panels. This cleaning mechanism has a counterweight chamber 107, which provides counterweight to the cleaning process, enabling the biomimetic hydrophobic scraper 108 to effectively clean. For stubborn stains, the biomimetic hydrophobic scraper 108 is used in conjunction with a high-pressure atomizing nozzle 109. During the cleaning process, pressure is provided by the pressurized water tank 104. The water tank has a fully enclosed structure. Pressure is generated inside the tank during the water filling process. When the high-pressure atomizing nozzle 109 is opened during use, high-pressure water mist can be sprayed out to clean the surface of the photovoltaic panel with micro-mist spray.

[0055] Maintenance Phase: The intelligent collaborative supply drone 8 has a built-in cluster scheduling system, enabling real-time monitoring and scheduling of multiple mobile cleaning vehicles. Since the mobile cleaning vehicles have a tailless structure, issues such as insufficient battery power or water tank volume may arise during cleaning. To address this, the intelligent collaborative supply drone 8 will replenish the water supply to each mobile cleaning vehicle based on its real-time status. When the pressurized water tank 104 of the cleaning vehicle is low on water, it will send a signal to the intelligent collaborative supply drone 8. The drone will then use its magnetic head 805 to attach to the magnetic buckle 105 of the spare pressurized water tank, transport the spare tank to the vicinity of the mobile cleaning vehicle with insufficient water, remove the low-water tank from the mobile cleaning vehicle, and install the spare tank, completing the water tank replacement. After replacement, the mobile cleaning vehicle will continue its operation. After a mobile cleaning vehicle completes cleaning work on the photovoltaic panels in a certain area, it will also send a signal. At this time, the drone will use its carrier 804 to reload the mobile cleaning vehicle and deploy it to another area to continue cleaning work. If the mobile cleaning vehicle malfunctions, the drone will tow it back for repair and then redeploy a spare mobile cleaning vehicle to clean the area.

[0056] Example 2:

[0057] This embodiment is an agricultural photovoltaic panel cleaning vehicle based on drone-assisted resupply, which includes a remote monitoring platform, an intelligent collaborative resupply drone 8, and multiple mobile cleaning vehicle bodies as described in Embodiment 1. The intelligent collaborative resupply drone 8 and the multiple mobile cleaning vehicle bodies are respectively connected to the remote monitoring platform, which monitors the status information of each mobile cleaning vehicle body, the status information of the intelligent collaborative resupply drone 8, and the mobile cleaning vehicle body information obtained by the cluster scheduling system of the intelligent collaborative resupply drone 8 in real time. The status information of the mobile cleaning vehicle body includes at least the location and cleaning trajectory of the mobile cleaning vehicle body, the water volume in the pressurized water tank of the mobile cleaning vehicle body, and the power of the high-energy-density battery 4 of the mobile cleaning vehicle body. The status information of the intelligent collaborative resupply drone 8 includes at least the location information, planned path, and planned resupply information of the intelligent collaborative resupply drone 8.

[0058] The advantages of this embodiment are as follows:

[0059] Through innovative "micro-mist spraying-mechanical scraping" dual-mode cleaning technology, only an 8.5L pressurized water tank and micron-level atomizing nozzles are needed to achieve efficient cleaning of large areas, saving more than 60% of water compared to traditional manual rinsing methods. The biomimetic hydrophobic scraper not only has super scraping power, but its unique flow guiding structure can also effectively guide sewage, avoiding secondary pollution during the cleaning process, and effectively solving the core pain point of water scarcity in arid areas such as the Loess Plateau.

[0060] Employing an all-terrain adaptive walking mechanism composed of a controller and anti-slip tracks, the equipment can operate stably in complex terrains through real-time center of gravity adjustment technology. This design overcomes the stringent requirements of track-mounted equipment for site flatness, effectively handling complex terrains such as slopes and gullies common in the Loess Plateau, filling the technological gap in automated cleaning of photovoltaic arrays on undulating terrain.

[0061] The innovative magnetic quick-change interface, combined with a multi-drone scheduling algorithm, enables drones to quickly replace water tanks and batteries, with a single drone serving multiple cleaning vehicles. This aerial resupply mode completely eliminates the limitations of fixed pipeline networks, enabling unmanned operation and maintenance of distributed photovoltaic power plants, and significantly reducing labor costs compared to traditional operation and maintenance methods.

[0062] The controller can be expanded to integrate a multi-sensor fusion navigation system and a deep learning path planning algorithm, enabling autonomous identification of contaminated areas and optimization of cleaning paths. When used in conjunction with a remote monitoring platform, maintenance personnel can monitor equipment status and cleaning progress in real time, significantly improving cleaning efficiency.

Claims

1. A drone-based agricultural photovoltaic panel cleaning vehicle, characterized in that, Includes an intelligent collaborative resupply drone (8) and at least one mobile cleaning vehicle body that is communicatively connected to the intelligent collaborative resupply drone (8); The mobile cleaning vehicle body includes a body (3), a water-saving cleaning mechanism (1), an all-terrain adaptive walking mechanism (2), a controller (5), and a high-energy-density battery (4). The water-saving cleaning mechanism (1) is installed on the vehicle body (3) and includes a pressurized water tank (104) and at least one cleaning component; the pressurized water tank (104) is provided with a magnetic buckle (105) on the top for adsorption connection with the intelligent collaborative supply drone (8); the cleaning component includes a cleaning mechanism housing (101) fixed to the vehicle body (3), a high-pressure atomizing nozzle (109) and a biomimetic hydrophobic scraper (108) installed at the bottom of the cleaning mechanism housing (101), and a counterweight chamber (107) set above the biomimetic hydrophobic scraper (108); the high-pressure atomizing nozzle (109) is connected to the pressurized water tank (104) through a water pipe (102) and a quick connector; The all-terrain adaptive walking mechanism (2) is installed at the bottom of the vehicle body (3) and is used to drive the walking cleaning vehicle body to walk on the photovoltaic panel surface; The controller (5) and the high-energy-density battery (4) are installed inside the vehicle body (3). The controller (5) is electrically connected to the all-terrain adaptive walking mechanism (2) and the water-saving cleaning mechanism (1). The intelligent collaborative supply drone (8) is used to monitor and schedule the mobile cleaning vehicle, deploy the mobile cleaning vehicle, and replenish the mobile cleaning vehicle with water and electricity.

2. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The water-saving cleaning mechanism (1) includes two cleaning components, which are respectively installed at the head and tail of the vehicle body (3).

3. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The pressurized water tank (104) is a closed pressurization structure, and a vibration damping spring baffle (103) is provided between the pressurized water tank (104) and the vehicle body (3).

4. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The all-terrain adaptive walking mechanism (2) includes an anti-slip track (201), a drive wheel (205), a driven wheel (202), a support frame (203), and a reversing mechanism (204). The reversing mechanism (204) is installed at the center of the bottom of the vehicle body (3) via a vertically arranged electric push rod. The drive wheel (205) and the driven wheel (202) are connected to both ends of the reversing mechanism (204) via the support frame (203). The anti-slip track (201) is tensioned and wrapped around the drive wheel (205) and the driven wheel (202).

5. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The high-energy-density battery (4) is modularly designed and is connected to the controller (5) through a standard power interface. The outer surface of the high-energy-density battery (4) is provided with a magnetic structure for magnetic adsorption connection with the intelligent collaborative supply drone (8).

6. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The mobile cleaning vehicle also includes an environmental sensor component that is communicatively connected to the controller (5) for acquiring surrounding environmental image information. The controller (5) identifies the contaminated areas of the photovoltaic panels and / or plans the cleaning path based on the image information.

7. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The mobile cleaning vehicle adopts a tailless structure design.

8. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, The intelligent collaborative supply drone (8) includes a drone body (802), a drone rotor (801), a bracket (804) fixed below the drone body (802) for mounting the mobile cleaning vehicle, and a magnetic head (805) fixed at the bottom of the drone body (802) for magnetic adsorption connection with the pressurized water tank (104) or the high energy density battery (4).

9. The agricultural photovoltaic panel cleaning vehicle based on UAV collaborative resupply as described in claim 1, characterized in that, It also includes a remote monitoring platform, and the intelligent collaborative supply drone (8) and the at least one mobile cleaning vehicle are respectively connected to the remote monitoring platform.

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