Rocker arm type photovoltaic cleaning robot and obstacle crossing control method

Abstract

The invention provides a rocker arm type photovoltaic cleaning robot and an obstacle crossing control method, and belongs to the technical field of photovoltaic cleaning equipment. The rocker arm is connected with a robot main body through a rocker arm shaft; one end of the electric push rod is hinged to the rocker arm shaft, and the electric push rod is electrically connected with the main controller; the crawler belt walking mechanism comprises a driving wheel, a driven wheel and a crawler belt wound between the driving wheel and the driven wheel, the driving wheel is driven by a crawler belt motor installed in the rocker arm shaft, and the crawler belt motor is electrically connected with the main controller; the rolling brush assembly comprises a rolling brush and a rolling brush motor used for driving the rolling brush to rotate, and the rolling brush motor is electrically connected with the main controller; and the mechanical suspension mechanism is used for controlling the retraction of the suspension wheel through stretching. The electric push rod actively controls the rocker arm to lift and is matched with the symmetrical crawler walking mechanism and the adjustable suspension system, so that stable obstacle crossing between photovoltaic arrays with height fall or gaps, self-adaptive plate surface attachment and efficient cleaning are realized.

Description

Technical Field

[0001] This application belongs to the field of photovoltaic cleaning equipment technology, specifically relating to a rocker-arm photovoltaic cleaning robot and an obstacle-crossing control method. Background Technology

[0002] With the rapid growth of photovoltaic power plant installed capacity, especially the popularization of large-scale centralized and floating photovoltaic power plants, problems such as dust accumulation and bird droppings on the surface of photovoltaic panels have seriously reduced the photoelectric conversion efficiency, and there is an urgent need for efficient and automated cleaning methods.

[0003] Currently, tracked photovoltaic cleaning robots are widely used due to their advantages such as low ground pressure and high traction. However, in actual operation, especially in scenarios with complex terrain or uneven installation (such as mountain photovoltaic systems or floating power stations on water surfaces affected by wind and waves), there are often significant height differences or gaps between adjacent rows of photovoltaic panels. Traditional rigid chassis or single-unit tracked robots are prone to bottoming out, getting stuck, or even overturning when crossing such obstacles, leading to interruptions in cleaning operations and severely limiting the reliability and applicability of automated operation and maintenance. Summary of the Invention

[0004] To address at least one of the technical problems existing in the background art, this application provides a rocker arm photovoltaic cleaning robot. Through the active control of the rocker arm lifting and lowering by an electric actuator, combined with a symmetrical track walking mechanism and an adjustable suspension system, it can smoothly cross obstacles between photovoltaic arrays with height differences or gaps, adaptively fit the panel surface, and clean efficiently, significantly improving the operational stability and automation reliability in complex scenarios.

[0005] The second aspect of this application provides an obstacle crossing control method.

[0006] The technical solution adopted in this application is as follows: The first aspect of this application provides a rocker-arm photovoltaic cleaning robot, comprising: Main controller; A rocker arm, which is connected to the robot body via a rocker arm shaft; An electric actuator, one end of which is hinged to the rocker arm shaft and electrically connected to the main controller, is used to control the lifting or lowering of the rocker arm relative to the rocker arm shaft through a telescopic motion; The tracked traveling mechanism includes a drive wheel, a driven wheel, and a track wound between the drive wheel and the driven wheel. The drive wheel is driven by a track motor installed in the rocker arm shaft, and the track motor is electrically connected to the main controller. A roller brush assembly includes a roller brush and a roller brush motor for driving the roller brush to rotate, the roller brush motor being electrically connected to the main controller; A mechanical suspension mechanism, mounted on the roller brush, includes a suspension push rod and a suspension wheel. One end of the suspension push rod is hinged to the suspension wheel, and the other end is fixed to the roller brush assembly. The suspension push rod is electrically connected to the main controller and is used to control the extension and retraction of the suspension wheel by telescoping.

[0007] According to the first aspect of the present application, the rocker-arm photovoltaic cleaning robot coordinates the actions of each actuator through a main controller, achieving adaptive walking and efficient cleaning on complex photovoltaic array terrain. Specifically, when the robot travels to an area where there is a height difference or gap between adjacent rows of photovoltaic panels, the main controller drives the electric push rod to extend or retract, causing it to push and pull around the hinge point with the rocker arm shaft, thereby actively controlling the lifting or lowering of the rocker arm relative to the robot body. Since the track walking mechanism is integrated into the rocker arm, and its drive wheel is directly driven by the track motor embedded in the rocker arm shaft, the pitching motion of the rocker arm can drive the entire track unit to lift or press down synchronously, allowing the track to detach from the current photovoltaic panel and overlap onto the next row of photovoltaic panels, completing the obstacle crossing action. At the same time, the roller brush assembly rotates continuously under the drive of the roller brush motor to perform cleaning, while the mechanical suspension mechanism installed on the roller brush controls the extension and retraction of the suspension push rod through the main controller, dynamically retracting and extending the suspension wheel to maintain stable contact pressure between the roller brush and the photovoltaic panel on obstacle crossing or uneven surfaces, avoiding cleaning failure or damage to the panel surface due to impact or suspension. Based on the aforementioned collaborative working mechanism, this robot can achieve autonomous, continuous, and stable obstacle crossing and cleaning operations in photovoltaic power stations with significant elevation differences or flexible supports, such as mountainous areas and floating water surfaces, without relying on external tracks or complex auxiliary structures. This effectively solves the problems of traditional rigid chassis robots being prone to jamming, bottoming out, or overturning, significantly improving cleaning efficiency, equipment reliability, and the range of applicable scenarios. At the same time, through a modular, actively controllable integrated design of rocker arm-track-suspension, it balances structural compactness and functional flexibility.

[0008] According to one embodiment of this application, the electric actuator is equipped with a Hall encoder, which is electrically connected to the main controller and is used to collect the extension and retraction displacement data of the electric actuator in order to control the lifting or lowering angle of the rocker arm.

[0009] According to one embodiment of this application, the two ends of the roller brush are provided with shock-absorbing pads to buffer the contact force during the downward pressing of the roller brush.

[0010] According to one embodiment of this application, the diameter of the driving wheel is larger than that of the driven wheel, and the track is arranged to form an inclined envelope structure.

[0011] According to one embodiment of this application, the rocker arm is configured as two sets, respectively disposed on the front and rear sides of the robot body; The tracked walking mechanism is configured in two sets, respectively located on the front and rear sides of the robot body; The electric actuators are configured in two sets, respectively located at the front and rear ends of the robot body.

[0012] According to one embodiment of this application, each of the tracked walking mechanisms includes a left driving wheel, a left driven wheel and a left track, as well as a right driving wheel, a right driven wheel and a right track.

[0013] According to one embodiment of this application, the left driving wheel and the right driving wheel, the left driven wheel and the right driven wheel, and the left track and the right track are arranged symmetrically with respect to the longitudinal center plane of the robot body.

[0014] According to one embodiment of this application, the outer surface of the track is provided with rubber anti-slip texture.

[0015] According to one embodiment of this application, a central support beam is provided in the middle of the robot body, and the main controller and power module are both installed on the central support beam.

[0016] The second aspect of this application provides an obstacle-crossing control method for a rocker-arm photovoltaic cleaning robot based on any of the embodiments of the first aspect described above, including: Identify the gaps or height differences between rows of photovoltaic panels ahead; Control the front electric actuator to pull the front rocker arm up, so that the front rocker arm is detached from the current photovoltaic panel; Drive the tracked walking mechanism forward, moving the whole machine forward until the front rocker arm overlaps the surface of the next row of photovoltaic panels; Control the front electric actuator to push the front rocker arm, so that the front rocker arm presses against the new photovoltaic panel, thereby reducing the gap between the rows of photovoltaic panels or the height difference. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of the structure of the rocker-arm photovoltaic cleaning robot provided in the embodiments of this application.

[0018] in, 11. Rocker arm; 12. Robot body; 13. Electric actuator; 14. Rocker arm shaft; 15. Drive wheel; 16. Driven wheel; 17. Track; 18. Roller brush; 19. Roller brush motor; 20. Suspension actuator; 21. Suspension wheel; 22. Central load-bearing beam. Detailed Implementation

[0019] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0020] Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below. It should be noted that, unless otherwise specified, the embodiments of this application and the features thereof can be combined with each other.

[0021] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0023] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0024] like Figure 1 As shown, a first aspect of this application provides a rocker-arm photovoltaic cleaning robot, comprising: Main controller; Rocker arm 11 is connected to robot body 12 via rocker arm shaft 14; Electric actuator 13, one end of which is hinged to rocker arm shaft 14 and electrically connected to main controller, is used to control the lifting or lowering of rocker arm 11 relative to rocker arm shaft 14 through telescopic movement. The tracked walking mechanism includes a drive wheel 15, a driven wheel 16, and a track 17 wound between the drive wheel 15 and the driven wheel 16. The drive wheel 15 is driven by a track motor installed in the rocker arm shaft 14, and the track motor is electrically connected to the main controller. The roller brush assembly includes a roller brush 18 and a roller brush motor 19 for driving the roller brush 18 to rotate, the roller brush motor 19 being electrically connected to the main controller; The mechanical suspension mechanism, mounted on the roller brush 18, includes a suspension push rod 20 and a suspension wheel 21. One end of the suspension push rod 20 is hinged to the suspension wheel 21, and the other end is fixed to the roller brush assembly. The suspension push rod 20 is electrically connected to the main controller and is used to control the extension and retraction of the suspension wheel 21 by telescoping.

[0025] The main controller, as the control center of the entire machine, is responsible for receiving sensor signals and coordinating the action logic of each actuator to ensure the orderly progress of walking, obstacle crossing, and cleaning processes. The rocker arm 11 is hinged to the robot body 12 via the rocker arm shaft 14, forming a pitch-moving support structure that provides a dynamic mounting platform for the tracked walking mechanism and the roller brush assembly, allowing them to actively adjust their posture according to terrain undulations. One end of the electric actuator 13 is hinged to the rocker arm shaft 14. Under the command of the main controller, it precisely drives the rocker arm 11 to rotate around the rocker arm shaft 14 through telescopic movements, thereby raising or lowering the rocker arm 11. It is a key actuator for completing obstacle crossing actions. The tracked walking mechanism consists of a drive wheel 15, a driven wheel 16, and a track 17 surrounding them. The drive wheel 15 is directly driven by a track motor embedded in the rocker arm shaft 14, which not only saves space but also allows the entire walking unit to rise and fall synchronously with the rocker arm 11, effectively adapting to the height difference between photovoltaic panels. At the same time, the track 17 structure provides a large ground contact area and traction, reducing the pressure on the photovoltaic panel surface, making it suitable for flexible support scenarios such as floating on water. The roller brush assembly includes a rotating roller brush 18 and a roller brush motor 19 for driving it. During the cleaning process, it rotates at high speed to sweep away dust and stains. Its position is linked with the rocker arm 11 to ensure that it is always close to the panel surface. In addition, a mechanical suspension mechanism is installed on the roller brush 18, consisting of a suspension push rod 20 and a suspension wheel 21. The suspension push rod 20 extends and retracts under the control of the main controller, driving the suspension wheel 21 to retract and extend. It can dynamically adjust the downward pressure and contact state of the roller brush 18 when crossing obstacles or when the panel surface is uneven, ensuring cleaning effect while avoiding scratches on photovoltaic panels or equipment impact caused by rigid contact.

[0026] According to the first aspect of the present application, the rocker-arm photovoltaic cleaning robot coordinates the actions of each actuator through the main controller, thereby achieving adaptive walking and efficient cleaning of complex photovoltaic array terrain. Specifically, when the robot travels to an area where there is a height difference or gap between adjacent rows of photovoltaic panels, the main controller drives the electric push rod 13 to extend or retract, causing it to push and pull around the hinge point with the rocker arm shaft 14, thereby actively controlling the lifting or lowering of the rocker arm 11 relative to the robot body 12. Since the track walking mechanism is integrated into the rocker arm 11 and its drive wheel 15 is directly driven by the track motor embedded in the rocker arm shaft 14, the pitching motion of the rocker arm 11 can drive the entire track 17 unit to lift or press down synchronously, allowing the track 17 to detach from the current photovoltaic panel and overlap onto the next row of photovoltaic panels, completing the obstacle crossing action. At the same time, the roller brush assembly rotates continuously under the drive of the roller brush motor 19 to clean, while the mechanical suspension mechanism installed on the roller brush 18 controls the extension and retraction of the suspension push rod 20 and dynamically retracts and extends the suspension wheel 21 through the main controller to maintain a stable contact pressure between the roller brush 18 and the photovoltaic panel on obstacle crossing or uneven surfaces, avoiding cleaning failure or damage to the panel surface due to impact or suspension. Based on the aforementioned collaborative working mechanism, this robot can achieve autonomous, continuous, and stable obstacle crossing and cleaning operations in photovoltaic power stations with significant elevation differences or flexible supports, such as mountainous areas and floating water surfaces, without relying on external tracks or complex auxiliary structures. This effectively solves the problems of traditional rigid chassis robots being prone to jamming, bottoming out, or overturning, significantly improving cleaning efficiency, equipment reliability, and the range of applicable scenarios. At the same time, through the modular and actively controllable integrated design of the rocker arm 11-track 17-suspension, it balances structural compactness and functional flexibility.

[0027] In some embodiments of this application, the electric actuator 13 is equipped with a Hall encoder, which is electrically connected to the main controller and is used to collect the extension and retraction displacement data of the electric actuator 13 in order to control the lifting or lowering angle of the rocker arm 11.

[0028] After being processed by the main controller, the displacement signal can be accurately converted into the angle of rotation of the rocker arm 11 around the rocker arm axis 14, thereby realizing closed-loop control of the lifting or lowering posture of the rocker arm 11. Compared with the traditional open-loop control method that only relies on time or current threshold to determine the position, the introduction of a Hall encoder enables the system to accurately sense the current spatial angle of the rocker arm 11 and dynamically adjust the extension and retraction of the electric actuator 13 according to the preset trajectory or actual terrain feedback.

[0029] When traversing rows of photovoltaic panels at varying heights, the main controller precisely controls the lifting angle of the rocker arm 11 based on the height of obstacles ahead. This prevents insufficient lifting from causing the track 17 to jam, or excessive lifting from causing overall instability. Simultaneously, it ensures a smooth contact during downward pressure, reducing impact on the photovoltaic panel surface. Furthermore, high-precision position feedback supports synchronous coordination between multiple joints (such as the front and rear dual rocker arms 11), ensuring the roller brush 18 remains parallel to the panel surface, guaranteeing uniform cleaning. In summary, the introduction of the Hall encoder not only enhances the system's intelligence and operational safety but also significantly improves the robot's adaptability and long-term operational reliability in complex, non-standard installation environments.

[0030] In some embodiments of this application, shock-absorbing pads are provided at both ends of the roller brush 18 to buffer the contact force during the downward pressing of the roller brush 18. During cleaning operations, the roller brush 18 needs to maintain appropriate pressure to ensure effective removal of adhering dirt such as dust and bird droppings. However, if a rigid connection is used directly, the photovoltaic glass surface is easily scratched or cracked when the robot crosses obstacles, travels over uneven surfaces, or experiences sudden changes in downward pressure due to control errors. At the same time, it will also aggravate the mechanical wear of the roller brush 18 and transmission components. By configuring elastic shock-absorbing pads (such as flexible materials such as rubber and polyurethane) at both ends of the roller brush 18, the impact energy can be absorbed at the moment of contact, achieving a "soft landing" fit and allowing the force to be transmitted smoothly. Even when the rocker arm 11 adjusts its posture or the suspension mechanism responds with a delay, the shock-absorbing pads can provide passive buffer protection.

[0031] It not only effectively improves the safety of photovoltaic panels and extends the service life of components, but also improves the stability and consistency of the cleaning process and reduces the frequency of equipment maintenance. It is especially suitable for large-scale ground power plants and floating photovoltaic scenarios with strict requirements for surface integrity.

[0032] In some embodiments of this application, the diameter of the driving wheel 15 is larger than that of the driven wheel 16, and the track 17 is arranged to form an inclined envelope structure.

[0033] On the one hand, the larger drive wheel 15 effectively increases the robot's ground clearance and obstacle-crossing ability, facilitating its smooth ascent to the next row of photovoltaic panels with varying heights. On the other hand, the inclined track 17 brings the ground contact section closer to the photovoltaic panel surface, while also shifting the robot's center of gravity forward slightly, enhancing longitudinal stability when climbing slopes or crossing gaps and reducing the risk of tipping over. Furthermore, the larger diameter of the drive wheel 15 not only improves torque transmission efficiency and reduces the probability of track 17 slippage, but also enhances traction performance due to the increased contact arc length.

[0034] Overall, this tilted envelope structure optimizes the geometry and mechanical properties of the tracked walking mechanism through wheel diameter differences without adding any extra components, significantly improving the robot's passability, adhesion, and operational reliability in complex photovoltaic array environments.

[0035] In some embodiments of this application, two sets of rocker arms 11 are provided, respectively located on the front and rear sides of the robot body 12; Two sets of tracked walking mechanisms are provided, located on the front and rear sides of the robot body 12 respectively; Two sets of electric actuators 13 are provided, located at the front and rear ends of the robot body 12 respectively.

[0036] Two sets of rocker arms 11, tracked walking mechanisms, and electric push rods 13 are configured and arranged on the front and rear sides (or front and rear ends) of the robot body 12, forming a front and rear dual rocker arm 11 cooperative obstacle-crossing system. This layout allows the robot to alternately move through two independently controllable rocker arm 11 units when crossing gaps or height differences between adjacent rows of photovoltaic panels: after the front rocker arm 11 is raised and overlaps the next row of photovoltaic panels, the rear rocker arm 11 remains in a supporting state, ensuring that the whole machine always has a stable fulcrum during obstacle crossing and avoiding suspension and instability; then the rear rocker arm 11 is raised again to follow, completing the overall crossing. The two sets of tracked walking mechanisms are integrated inside the front and rear rocker arms 11, and can be driven independently or operated in coordination, which not only enhances traction and terrain adaptability, but also improves anti-slip and steering performance on inclined or wet slip surfaces. At the same time, the symmetrically configured electric push rods 13 are uniformly scheduled by the main controller to achieve the timing coordination and posture balance of the lifting / pressing actions, effectively maintaining the horizontal contact state of the roller brush assembly. This dual-modular design significantly improves the robot's obstacle-crossing continuity, walking stability, and operational safety, making it particularly suitable for large-scale ground-based or floating photovoltaic power stations with long distances, multiple rows, and irregular elevation differences.

[0037] In some embodiments of this application, each tracked walking mechanism includes a left driving wheel 15, a left driven wheel 16 and a left track 17, as well as a right driving wheel 15, a right driven wheel 16 and a right track 17.

[0038] Each tracked walking mechanism includes a left drive wheel 15, a left driven wheel 16, and a left track 17, as well as a right drive wheel 15, a right driven wheel 16, and a right track 17, forming independent and symmetrical walking units on both sides. This design allows each tracked walking mechanism (such as the front or rear side) to have a complete dual-track 17 drive system, with the left and right tracks 17 forming closed-loop transmission paths around their respective drive wheels 15 and driven wheels 16. By setting drive wheels on both sides, the robot can achieve stronger traction output and more balanced load distribution, effectively avoiding the deflection, slippage, or track 17 slack problems that are easily caused by single-sided drive. At the same time, the symmetrical arrangement of the left and right sides keeps the center of gravity of the whole machine stably located in the longitudinal center plane, significantly improving the lateral anti-tipping ability on inclined photovoltaic panels or uneven surfaces. In addition, the coordinated work of the two tracks 17 can also enhance the grip performance when crossing obstacles—when one track 17 is temporarily suspended due to a local obstacle, the other side can still provide effective support and driving force, ensuring the continuity of movement. This layout not only improves the redundancy and reliability of the walking system, but also lays the mechanical foundation for subsequent intelligent control strategies such as differential steering and adaptive leveling, thereby comprehensively improving the robot's mobility and operational stability in complex photovoltaic array environments.

[0039] In some embodiments of this application, the left drive wheel 15 and the right drive wheel 15, the left driven wheel 16 and the right driven wheel 16, and the left track 17 and the right track 17 are symmetrically arranged with respect to the longitudinal center plane of the robot body 12.

[0040] This symmetrical layout ensures a high degree of balance in terms of mass distribution, drive force output, and ground reaction force, effectively avoiding problems such as yaw, overload of one side of the track 17, or tilting of the roller brush 18 caused by structural offset. When crossing obstacles or traversing tilted photovoltaic panels, the symmetrical track 17 system can evenly distribute the load, maintain stable lateral stability, and significantly reduce the risk of tipping over. At the same time, the synchronized force on the left and right tracks 17 also helps the roller brush assembly remain parallel to the photovoltaic panel surface, ensuring uniform and thorough cleaning pressure. In addition, this symmetrical design simplifies the control logic—the main controller can coordinate the left and right actuators based on the same set of parameter instructions, improving system response consistency and providing a structural basis for fault tolerance (such as limited operation even when one side of the motor fails). Overall, the symmetrical arrangement based on the longitudinal center plane not only optimizes mechanical performance and motion stability but also enhances the robot's environmental adaptability and long-term operational reliability, making it particularly suitable for large-scale photovoltaic power plant scenarios with high requirements for operational accuracy and safety.

[0041] In some embodiments of this application, the outer surface of the track 17 is provided with rubber anti-slip texture. This is intended to improve the robot's walking adhesion and operational safety under various working conditions. The rubber material itself has good flexibility and wear resistance, which can effectively buffer the contact impact between the track 17 and the photovoltaic panel surface, reducing the risk of damage to the glass panel; while the anti-slip texture designed on its surface (such as transverse grooves, diamond-shaped protrusions, or wavy grooves) significantly increases the coefficient of friction between the track 17 and the photovoltaic panel, especially under conditions of rain, morning dew, or slippery surfaces during cleaning operations, effectively preventing slippage, spinning, or lateral movement, ensuring stable robot movement and accurate positioning. In addition, the rubber anti-slip texture can also adapt to minor unevenness or seams on the photovoltaic panel surface, enhancing the ground contact performance of the track 17 and further improving traction efficiency during obstacle crossing. While ensuring the safety of the photovoltaic modules, it significantly improves the overall robot's passability, control precision, and cleaning operation continuity in complex, slippery, or dynamic environments (such as floating power stations).

[0042] In some embodiments of this application, a central load-bearing beam 22 is provided in the middle of the robot body 12, and the main controller and power module are mounted on the central load-bearing beam 22. As the main load-bearing structure, the central load-bearing beam 22 not only provides a stable and reliable mounting platform for key electronic and energy units, but also, by arranging it in the central area of ​​the robot's longitudinal and lateral directions, brings the robot's center of gravity as close as possible to its geometric center and places it within the stable triangular area formed by the support points of the front and rear rocker arms 11. This layout effectively reduces the risk of tipping over due to center of gravity shift when the robot overcomes obstacles, climbs slopes, or travels over tilted photovoltaic panels, improving stability and safety during dynamic operations. Simultaneously, concentrating the heavy, high-value core modules in the protected central position also facilitates cable management, heat dissipation design, and maintenance, and reduces the impact of external impacts or moisture on critical components. Overall, the introduction of the central load-bearing beam 22 not only strengthens structural rigidity but also significantly enhances the robot's operational reliability and environmental adaptability in complex photovoltaic scenarios through scientific weight allocation.

[0043] The second aspect of this application provides an obstacle-crossing control method for a rocker-arm photovoltaic cleaning robot based on any of the embodiments of the first aspect described above, including: Step 100: Identify the gaps or height differences between the rows of photovoltaic panels in front.

[0044] Step 200: Control the front electric push rod 13 to pull the front rocker arm 11 to lift it up, so that the front rocker arm 11 is detached from the current photovoltaic panel.

[0045] Step 300: Drive the tracked walking mechanism forward, moving the whole machine forward until the front rocker arm 11 overlaps with the surface of the next row of photovoltaic panels.

[0046] Step 400: Control the front electric push rod 13 to push the front rocker arm 11, so that the front rocker arm 11 presses against the new photovoltaic panel to reduce the gap between the rows of photovoltaic panels or the height difference.

[0047] Step 100 is the prerequisite for triggering the obstacle-crossing action, which can be achieved in various ways, such as based on preset power plant map data, onboard visual sensors (such as cameras or depth cameras), LiDAR, ultrasonic ranging modules, or through indirect signals such as sudden changes in track motor current or abnormal attitude of tilt sensors. Once the system detects that it is about to enter a discontinuous photovoltaic panel area (such as the installation gap between two rows of modules, the height difference caused by the sinking of the pontoon, etc.), the main controller initiates the obstacle-crossing control process, providing a decision-making basis for subsequent actions and ensuring that the obstacle-crossing behavior is proactive and safe.

[0048] In step 200, the main controller sends a retraction command to the electric actuator 13 located at the front of the robot, driving the front rocker arm 11 to rotate counterclockwise around its rocker arm axis 14 (with reference to the direction of travel). This lifts the front track walking mechanism integrated inside the rocker arm 11, completely detaching it from the current photovoltaic panel surface. This action prevents the track 17 from scraping, getting stuck, or being dragged in mid-air when crossing gaps, while creating the necessary space and posture conditions for the front rocker arm 11 to reach the next row of photovoltaic panels.

[0049] In step 300, after the front rocker arm 11 is raised, the main controller activates the rear track walking mechanism (with simultaneous fine-tuning of the front track 17 if necessary) to drive the entire robot forward. During this process, the front end of the front rocker arm 11 extends forward as a guide. When its track 17 contacts and stably overlaps with the upper surface of the next row of photovoltaic panels, the overlap can be determined to be complete through pressure sensors, tilt feedback, or visual confirmation. This step achieves the key transition from "suspended transition" to "effective support," ensuring that the robot does not become unstable or fall when crossing gaps.

[0050] In step 400, after the front rocker arm 11 successfully engages, the main controller controls the front electric push rod 13 to extend, causing the front track 17 to tightly adhere to and press against the surface of the new row of photovoltaic panels, restoring its normal grounding state. This downward pressing action not only rebuilds the front support point but also partially "flattens" the height difference between the front and rear rows through the leverage of the rocker arm 11, making the overall machine posture more stable and laying the foundation for the subsequent follow-up obstacle crossing or continuous cleaning operation of the rear rocker arm 11. This step effectively buffers the impact of the drop, ensuring stable contact between the roller brush assembly and the panel surface, thereby maintaining the cleaning effect and equipment safety.

[0051] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0052] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0053] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A rocker-arm photovoltaic cleaning robot, characterized in that, include: Main controller; A rocker arm (11) is connected to the robot body (12) via a rocker arm shaft (14); An electric actuator (13) is provided, one end of which is hinged to the rocker arm shaft (14) and the electric actuator (13) is electrically connected to the main controller. It is used to control the lifting or lowering of the rocker arm (11) relative to the rocker arm shaft (14) through extension and retraction. The tracked walking mechanism includes a drive wheel (15), a driven wheel (16), and a track (17) wound between the drive wheel (15) and the driven wheel (16). The drive wheel (15) is driven by a track motor installed in the rocker arm shaft (14), and the track motor is electrically connected to the main controller. The roller brush assembly includes a roller brush (18) and a roller brush motor (19) for driving the roller brush (18) to rotate, the roller brush motor (19) being electrically connected to the main controller; The mechanical suspension mechanism is installed on the roller brush (18) and includes a suspension push rod (20) and a suspension wheel (21). One end of the suspension push rod (20) is hinged to the suspension wheel (21), and the other end is fixed to the roller brush assembly. The suspension push rod (20) is electrically connected to the main controller and is used to control the extension and retraction of the suspension wheel (21) by extension and retraction.

2. The rocker-arm photovoltaic cleaning robot according to claim 1, characterized in that, The electric push rod (13) is equipped with a Hall encoder, which is electrically connected to the main controller and is used to collect the extension and retraction displacement data of the electric push rod (13) in order to control the lifting or lowering angle of the rocker arm (11).

3. The rocker-arm photovoltaic cleaning robot according to claim 1, characterized in that, The roller brush (18) is provided with shock-absorbing pads at both ends to buffer the contact force during the downward pressing of the roller brush (18).

4. The rocker-arm photovoltaic cleaning robot according to claim 1, characterized in that, The diameter of the driving wheel (15) is larger than that of the driven wheel (16), and the track (17) is arranged to form an inclined envelope structure.

5. The rocker-arm photovoltaic cleaning robot according to claim 1, characterized in that, The rocker arms (11) are configured in two sets, respectively located on the front and rear sides of the robot body (12); The tracked walking mechanism is configured in two sets, respectively located on the front and rear sides of the robot body (12); The electric actuator (13) is configured in two sets, which are respectively located at the front and rear ends of the robot body (12).

6. The rocker-arm photovoltaic cleaning robot according to claim 5, characterized in that, Each of the tracked walking mechanisms includes a left drive wheel (15), a left driven wheel (16) and a left track (17), as well as a right drive wheel (15), a right driven wheel (16) and a right track (17).

7. The rocker-arm photovoltaic cleaning robot according to claim 6, characterized in that, The left driving wheel (15) and the right driving wheel (15), the left driven wheel (16) and the right driven wheel (16), the left track (17) and the right track (17) are arranged symmetrically with respect to the longitudinal center plane of the robot body (12).

8. The rocker-arm photovoltaic cleaning robot according to claim 1, characterized in that, The outer surface of the track (17) is provided with rubber anti-slip texture.

9. The rocker-arm photovoltaic cleaning robot according to claim 1, characterized in that, The robot body (12) has a central support beam (22) in the middle, and the main controller and power module are both installed on the central support beam (22).

10. An obstacle-crossing control method for a rocker-arm photovoltaic cleaning robot as described in any one of claims 1 to 9, characterized in that, include: Identify the gaps or height differences between rows of photovoltaic panels ahead; Control the front electric push rod (13) to pull the front rocker arm (11) up, so that the front rocker arm (11) is disengaged from the current photovoltaic panel; Drive the track walking mechanism forward, causing the whole machine to move forward until the front rocker arm (11) overlaps with the surface of the next row of photovoltaic panels; Control the front electric push rod (13) to push the front rocker arm (11) so that the front rocker arm (11) presses against the new photovoltaic panel to reduce the gap between the rows of photovoltaic panels or the height difference.

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