Photovoltaic cleaning robot suitable for complex working conditions

Abstract

The utility model discloses a photovoltaic cleaning robot suitable for complex working conditions, which comprises a track driving assembly, a cleaning assembly, a vision monitoring assembly, a distance monitoring assembly and a robot main body, the cleaning assembly is arranged at the front end of the robot main body, the vision monitoring assembly and the distance monitoring assembly are both arranged on the cleaning assembly, and the distance monitoring assembly is arranged on the robot main body. The track driving assembly is arranged on the robot body. According to the utility model, through the arrangement of the composite cleaning assembly, not only can the surface of the photovoltaic panel be cleaned in a dry cleaning mode, but also the surface of the photovoltaic panel can be cleaned in a water washing mode according to the pollutant accumulation degree on the surface of the photovoltaic panel, and dirt on the surface of the photovoltaic panel is firstly sprayed and softened by a mixed cleaning solution during water washing and cleaning; and then the mixed cleaning liquid is swept away from the surface of the photovoltaic panel by the nylon rolling brush, and then the residual mixed cleaning liquid is scraped out of the boundary of the photovoltaic panel by the scraper, so that water stains are prevented from being generated.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic panel cleaning, in particular to a photovoltaic cleaning robot applicable to complex working conditions. Background Technique

[0002] Photovoltaic power stations are usually installed in areas with flat and broad terrain and sufficient sunlight. These areas usually have problems such as low precipitation and large dust. If the dust accumulated on the surface of photovoltaic solar panels cannot be cleaned in time, it will not only affect the photoelectric conversion efficiency of the photovoltaic solar panels, but also cause local temperature rise and damage to the photovoltaic solar panels in severe cases. Clean energy has become the priority choice of mankind; a clean power system mainly based on new energy power generation such as wind power and photovoltaics is gradually replacing the traditional high-carbon emission power system mainly based on fossil energy. During the actual use of photovoltaic panels, tiny particles in the air are likely to accumulate on the surface of photovoltaic wafers to form dust, reducing the photoelectric conversion efficiency S of photovoltaic power generation. When the dust density is 0.64 g / m 2 the output power is reduced by about 14.26%. In severe cases, it will also cause uneven surface temperature of the photovoltaic wafers and overheat damage.

[0003] The existing methods for cleaning dust on photovoltaic panels mainly include manual cleaning and robot cleaning. In desert areas with hot climate, manual cleaning requires operating a cleaning brush about 2 m long, which is time-consuming, laborious, has a large labor intensity, and low cleaning efficiency; in recent years, stimulated by the booming development of the photovoltaic power generation industry, photovoltaic panel cleaning robot products have emerged at home and abroad. However, most of the cleaning methods of visual photovoltaic cleaning robots are mainly dry cleaning, but it is difficult to clean bird droppings and stains attached to the surface of photovoltaic panels by dry cleaning. Although the water washing cleaning method has better effect than the dry cleaning method, most of them require manual intervention. It is necessary to manually tow the water pipe to guide the visual photovoltaic cleaning robot to move forward for cleaning, and this method often requires cumbersome operations and manpower.

[0004] For photovoltaic power plants, how to efficiently clean photovoltaic panels has become an urgent problem to be solved. Therefore, a photovoltaic cleaning robot applicable to complex working conditions is proposed. Content of the Utility Model

[0005] The technical problem to be solved by the utility model is: how to better clean photovoltaic panels, and a photovoltaic cleaning robot applicable to complex working conditions is provided.

[0006] The utility model solves the above technical problems through the following technical solutions. The utility model includes a crawler drive assembly, a cleaning assembly, a visual monitoring assembly, a distance monitoring assembly, and a robot main body; the cleaning assembly is arranged at the front end of the robot main body, the visual monitoring assembly and the visual monitoring assembly are both arranged on the cleaning assembly, and the crawler drive assembly is arranged on the robot main body.

[0007] Preferably, the cleaning assembly includes a housing, a cleaning motor, a nylon roller brush, a synchronous pulley structure, and a scraper; the housing is connected to the front end of the robot body, the cleaning motor is arranged at one side of the rear end inside the housing and is communicatively connected to the main control board, the nylon roller brush is arranged at the middle position inside the housing and is rotationally connected thereto, the cleaning motor is connected to the nylon roller brush through the synchronous pulley structure, and the scraper is arranged at the rear end of the bottom of the housing.

[0008] Preferably, the cleaning assembly further includes a water washing mechanism, and the water washing mechanism includes a mist spray head, a water injection sleeve, a cleaning water tank, a cleaning liquid tank, and a water pump; the mist spray head is arranged inside the housing, the cleaning water tank, the cleaning liquid tank, and the water pump are all arranged inside the robot body, the cleaning water tank and the cleaning liquid tank are communicated with the input end of the water pump through a three-way pipe, and the output end of the water pump is connected to the mist spray head through the water injection sleeve.

[0009] Preferably, the crawler drive assembly includes a servo motor, a coupling, a drive wheel, and a rubber crawler; the servo motor is installed at the front and rear ends inside the robot body and is connected to the drive wheels on both sides through the coupling, and a single servo motor synchronously drives the two drive wheels to rotate, and the rubber crawler is wound around the two drive wheels on the same side of the robot body.

[0010] Preferably, the crawler drive assembly further includes two bogies, and the two bogies are respectively installed on both sides of the robot body, the drive wheels are rotationally connected to the bogies, and cooperate with the robot body to form a complete bogie.

[0011] Preferably, the crawler drive assembly further includes a main control board and a servo driver, the main control board and the servo driver are arranged at the middle position inside the robot body, and the main control board is communicatively connected to the servo motor through the servo driver.

[0012] Preferably, the vision monitoring assembly includes two COMS cameras, the COMS cameras are equipped with cameras, and the cameras are installed at both sides inside the housing of the cleaning assembly, and the COMS cameras are communicatively connected to the main control board.

[0013] Preferably, the distance monitoring assembly includes two ultrasonic sensors, the ultrasonic sensors are installed at the front end of the bottom of the housing of the cleaning assembly, and the ultrasonic sensors are communicatively connected to the main control board.

[0014] Preferably, the photovoltaic cleaning robot further includes a linear positioning assembly, and the linear positioning assembly includes four diffuse reflection sensors, all of which are arranged at the lower end of the robot body.

[0015] Preferably, the photovoltaic cleaning robot further includes two baffles which cover the outside of the rubber crawlers.

[0016] The utility model has the following advantages compared with the prior art: through the provided composite cleaning component, it can not only clean the surface of the photovoltaic panel in a dry cleaning manner, but also select to clean the surface of the photovoltaic panel by means of water washing according to the accumulation degree of pollutants on the surface of the photovoltaic panel. When cleaning with water, the dirt on the surface of the photovoltaic panel is first softened by spraying with a mixed cleaning solution, and then is swept away from the surface of the photovoltaic panel by a nylon roller brush. After that, the scraper will scrape the remaining mixed cleaning solution outside the boundary of the photovoltaic panel to prevent water stains from being generated; through the setting of the visual monitoring component, it can conveniently judge the accumulation degree of pollutants on the surface of the photovoltaic panel, and then reasonably select the cleaning method, and can better clean the photovoltaic panel. Description of the Drawings

[0017] Figure 1 is a schematic diagram of the overall structure of the photovoltaic cleaning robot in the embodiment of the utility model;

[0018] Figure 2 is a schematic diagram of the internal structure of the photovoltaic cleaning robot in the embodiment of the utility model;

[0019] Figure 3 is a schematic top view structure diagram of the photovoltaic cleaning robot in the embodiment of the utility model;

[0020] Figure 4 is a schematic diagram of a partial structure of the photovoltaic cleaning robot in the embodiment of the utility model. Detailed Embodiment

[0021] The following details the embodiments of the present utility model. This embodiment is implemented on the premise of the technical solution of the present utility model, and provides detailed implementation manners and specific operation processes, but the protection scope of the present utility model is not limited to the following embodiments.

[0022] As Figures 1 to 4 shown, this embodiment provides a technical solution: a photovoltaic cleaning robot applicable to complex working conditions, including a crawler driving component 1, a cleaning component 2, a visual monitoring component, a distance monitoring component, and a robot main body 3; the cleaning component 2 is arranged at the front end of the robot main body 3, the visual monitoring component and the visual monitoring component are both arranged on the cleaning component 3, and the crawler driving component 1 is arranged on the robot main body 3.

[0023] In this embodiment, the crawler drive assembly 1 includes two servo motors 11, two couplings 12, four drive wheels 13, and two rubber crawlers 14. The servo motors 11 are installed at the front and rear ends inside the robot body 3 and are connected to the drive wheels 13 on both sides through the couplings 12. A single servo motor 11 synchronously drives two drive wheels 13 to rotate. The rubber crawlers 14 are wound around the two drive wheels 13 on the same side of the robot body 3. During the cleaning process, the rotation of the drive wheels 13 drives the rubber crawlers 14 to roll on the upper surface of the photovoltaic panel.

[0024] In this embodiment, the crawler drive assembly 1 further includes two bogie frames, which are respectively installed on both sides of the robot body 3. The drive wheels 13 are rotatably connected to the bogie frames, and cooperate with the robot body 3 to form a complete bogie.

[0025] In this embodiment, the crawler drive assembly 1 further includes a guide wheel 15 and a supporting wheel 16. The drive wheel 13 is connected to the coupling 12 through the guide wheel 15. The rubber crawler 14 is also wound around the supporting wheel 16 and the guide wheel 15. Both the guide wheel 15 and the supporting wheel 16 are rotatably connected to the bogie frame. Among them, the guide wheel 15 cooperates with the drive wheel 13 to tension the rubber crawler 14 and guide its correct winding; the supporting wheel 16 rolls on the track surface of the rubber crawler 14, playing the role of transmitting the vertical load to the rubber crawler 14.

[0026] In this embodiment, the crawler drive assembly 1 further includes a main control board 17 (model rk3568) and a servo driver 18. The main control board 17 and the servo driver 18 are installed at the middle position inside the robot body 3. The main control board 17 is communicatively connected to the servo motor 11 through the servo driver 18, and controls the servo driver 18 to drive the servo motor 11 through the PMW control method.

[0027] In this embodiment, the cleaning assembly 2 includes a housing 21, a cleaning motor 22, a nylon roller brush 23, a synchronous pulley structure 24, and a scraper 25 (made of rubber). The housing 21 is connected to the front end of the robot body 3. The cleaning motor 22 is arranged on one side of the rear end inside the housing 21 and is communicatively connected to the servo driver 18. The nylon roller brush 23 is arranged at the middle position inside the housing 21 and is rotatably connected thereto. The cleaning motor 22 is connected to the nylon roller brush 23 through the synchronous pulley structure 24. The scraper 25 is arranged at the rear end of the bottom of the housing 21.

[0028] In this embodiment, when the nylon roller brush 23 contacts the photovoltaic panel, it rotates due to the frictional force, effectively cleaning the surface of the photovoltaic panel by rolling brush. During the cleaning process, the cleaning motor 22 can also be started, and further, the driving wheel in the synchronous pulley structure 24 drives the nylon roller brush 23 to perform the cleaning operation through the synchronous belt; at the same time, since the nylon roller brush 23 cooperates with the scraper 25, when the nylon roller brush 23 rotates, the dust and debris collected from the surface of the photovoltaic panel can be effectively scraped off by the scraper 25 and brushed out of the cleaned area through the rotation of the nylon roller brush 23, ensuring that the nylon roller brush 23 can continuously clean the surface of the photovoltaic panel efficiently and will not affect its cleaning performance due to excessive surface dust accumulation even after long-term use.

[0029] The vehicle weight is transmitted to the lower rubber track 14 through the bogie frame and the idler wheel 16, pressing the lower rubber track 14 tightly on the ground. When the driving wheel 13 is driven by the servo motor 11 through the coupling 12, its teeth pull the rubber track 14, and an immediate reaction force acting on the rubber track 14 is generated on the ground, causing the bogie frame to move forward or backward relative to the ground, and the whole vehicle also moves accordingly.

[0030] In this embodiment, the cleaning assembly 2 further includes a water washing mechanism, and the water washing mechanism includes a mist spray head 26, a water injection sleeve, a cleaning water tank 27, a cleaning liquid tank 28, and a micro water pump 29; the mist spray head 26 is arranged inside the housing 21 and sprays a mixed liquid of pure water and cleaning liquid onto the photovoltaic panel; the cleaning water tank 27, the cleaning liquid tank 28, and the micro water pump 29 are all arranged inside the robot body 3, the cleaning water tank 27 and the cleaning liquid tank 28 are communicated with the input end of the micro water pump 29 through a three-way pipe, and the output end of the micro water pump 29 is connected to the mist spray head 26 through the water injection sleeve. The large particle dust, bird droppings and other dirt are washed by high-pressure water spray, then the nylon roller brush 23 is driven by the cleaning motor 22 to sweep them out of the surface of the photovoltaic panel, and finally the excess water or dirt is scraped clean by the scraper 25 to prevent water stains from being generated.

[0031] In this embodiment, the visual monitoring assembly includes two COMS cameras, and the COMS cameras are equipped with (wide-angle) cameras 31 with a focal length of 24 - 38 mm and a viewing angle of 60 - 84 degrees. The cameras 31 are installed on both sides inside the housing 21 of the cleaning assembly 2, and the COMS cameras are communicatively connected to the main control board 17.

[0032] With the assistance of a wide-angle camera, most of the images of the position passed by the robot can be collected. By comparing the histogram similarity between the photovoltaic panel (black or blue) and the image of the external edge, it is determined whether the photovoltaic cleaning robot reaches the boundary or the turning point of the curve. First, the input photovoltaic panel image is binarized to convert the image into an image with only black and white colors. The Canny edge detection algorithm is used to detect the edges in the binarized image. The Hough line detection is performed on the result of the Canny edge detection to find the straight lines in the image. According to the angles of the lines detected by the Hough transform, they are classified into approximately horizontal lines and approximately vertical lines. An angle threshold is set to distinguish between horizontal and vertical lines. For example, the angle of a horizontal line is close to 0 degrees or 180 degrees, while the angle of a vertical line is close to 90 degrees or 270 degrees. Two horizontal and vertical reference lines are set in the middle of the image for further screening of the lines. From both ends of the reference lines, the leftmost, rightmost vertical lines, and the topmost, bottommost horizontal lines are respectively screened out, which can be achieved by comparing the coordinates of the starting point and the ending point of the lines. Check whether there are line segments greater than a certain threshold on the leftmost, rightmost, and topmost of the outermost horizontal and vertical lines. If so, these line segments are considered boundary line segments. If there are no line segments greater than the threshold, the currently screened lines are considered the boundary of the photovoltaic panel. If line segments greater than the threshold are detected, these line segments are defined as boundary line segments for determining the edge of the photovoltaic panel. Otherwise, the previously screened leftmost, rightmost, topmost horizontal and vertical lines are used as the boundary of the photovoltaic panel.

[0033] In this embodiment, the distance monitoring component includes two ultrasonic sensors 41 (radars), and the ultrasonic sensors 41 are installed at the front end position of the bottom of the housing 21 of the cleaning component 2, and the ultrasonic sensors 41 are communicatively connected to the main control board 17. The distance value between the bottom of the robot and the upper surface of the photovoltaic panel is measured by the two ultrasonic detectors 41 at the front. The main control board calculates the difference between the distance values obtained by the two ultrasonic detectors 41. The two ultrasonic sensors need to be installed on the same horizontal line to ensure that the measurement direction is perpendicular to the advancing direction of the robot.

[0034] More specifically, the distance values measured by the two ultrasonic detectors are obtained in real time, denoted as D1 and D2. A threshold ΔD_threshold is set according to the actual situation. The threshold is used to judge the characteristics of the boundary and identify the obvious change in the distance at the boundary. Calculate the difference between the two distance values, denoted as |ΔD|=(D1 + D2) / 2. The judgment condition: It is judged whether the boundary is reached according to the distance difference ΔD_threshold:

[0035] When |ΔD| is greater than the set threshold ΔD_threshold, it is judged that the boundary is reached.

[0036] When |ΔD| is less than the set threshold ΔD_threshold, it is determined that the boundary has not been reached.

[0037] The main control board 17 determines that the cleaning robot has reached the boundary of the photovoltaic panel, and it will trigger corresponding response actions, such as stopping moving, changing direction, or issuing an alarm, to prevent the robot from crossing the boundary. Furthermore, by determining whether the photovoltaic cleaning robot has reached the boundary, the corresponding servo motor 11 can be operated for adjustment to achieve the effect of adjusting the turning, so that the photovoltaic cleaning robot operates normally.

[0038] In this embodiment, the photovoltaic cleaning robot further includes an IMU module, which is installed inside the robot body 3 and is communicatively connected to the main control board 17. The IMU module is used to monitor the horizontal of the Z-axis and Y-axis of the photovoltaic cleaning robot. When encountering a slope, the main control board 17 will control the two servo motors 11 to decelerate and increase torque, reducing the downhill speed of the photovoltaic cleaning robot to make its downhill and turning more stable, and preventing the photovoltaic cleaning robot from slipping or skidding.

[0039] In this embodiment, the photovoltaic cleaning robot further includes two baffles, which cover the outside of the rubber track 14 and are used for protection.

[0040] In this embodiment, the photovoltaic cleaning robot further includes a linear positioning component, which includes 4 diffuse reflection sensors 5 installed at the lower end of the robot body 3 and is used to identify the white grid lines on the photovoltaic panel, so as to improve the accuracy and positioning ability of the robot's running direction, and further assist it not to deviate during straight running.

[0041] The characteristic information at the corresponding positions of the lower photovoltaic panel is collected by multiple diffuse reflection sensors 5 to assist the photovoltaic cleaning robot not to deviate during straight running; during normal straight running, the two diffuse reflection sensors 5 arranged along the axis are directly above the white grid lines on the photovoltaic panel, and the other two diffuse reflection sensors 5 are on both sides of the white grid lines. The diffuse reflection sensors 5 at different positions collect different characteristic information, and control the two diffuse reflection sensors 5 arranged along the axis to be directly above the white grid lines on the photovoltaic panel, so as to assist the photovoltaic cleaning robot not to deviate during straight running.

[0042] It should be noted that in this embodiment, the main control board 17, the motor, the camera, etc. are all powered by the lithium battery 6.

[0043] Working principle: When the pollutant accumulation level monitored by the visual monitoring component is low, the photovoltaic cleaning robot uses a nylon roller brush 23, etc. for dry cleaning. When the visual monitoring component detects that the dry cleaning effect is not ideal or the pollutant accumulation level is high, the cleaning method of the photovoltaic cleaning robot starts to switch to the water cleaning method. When starting water cleaning, the cleaning component 2 will mix pure water and cleaning liquid through a micro water pump 29 and control the appropriate concentration to pressurize and atomize it through a mist nozzle 26. The dirt on the surface of the photovoltaic panel is first softened by spraying and washing with the mixed cleaning liquid, and then will be swept away from the surface of the photovoltaic panel by the nylon roller brush 23. After that, a scraper 25 will scrape the remaining mixed cleaning liquid outside the boundary of the photovoltaic panel to prevent water stains from being generated.

[0044] It should be noted that the visual monitoring component converts the grayscale image into a binary image through a camera and image processing algorithm, that is, the pixel values in the image are divided into two categories: foreground (stains) and background (clean part). This can be achieved by setting a threshold value. Pixels below the threshold are classified as foreground, and pixels above the threshold are classified as background. In a binary image, a connected component is an area composed of pixels with the same pixel value and adjacent to each other. Using the 4-neighborhood connected component labeling algorithm, here the 4-neighborhood refers to the four directions of up, down, left, and right of each pixel. By traversing each pixel in the binary image, when a foreground pixel is detected and the pixel has not been labeled, start the seed filling algorithm: use the current pixel as the seed and label it as part of the current connected component. Check the 4 neighborhoods of this pixel. If the pixels in the neighborhood are also foreground pixels and have not been labeled, add them to the current connected component and continue to check their neighborhoods. Count the area of each connected component, that is, the number of foreground pixels in each connected component. Record the label of each connected component and the corresponding number of pixels. Calculate the total number of foreground pixels, that is, the sum of the pixels in all connected components. Until all foreground pixels in the current connected component are labeled, then continue to find the next unlabeled foreground pixel and repeat the above process until all foreground pixels are labeled.

[0045] Set a coverage threshold according to experimental data or experience. If the calculated coverage exceeds this threshold, it is considered that the dirt level on the surface of the photovoltaic panel is high and the cleaning method needs to be switched. At this time, the main control board 17 controls the structures related to dry cleaning to stop working and starts the structures related to water cleaning. When the coverage is lower than or equal to the set threshold, it is judged that the dirt level on the surface of the photovoltaic panel is relatively light, and the cleaning robot continues to use the dry cleaning mode for cleaning.

[0046] Among them, the calculation formula for the coverage rate is as follows:

[0047]

[0048] In summary, for the photovoltaic cleaning robot applicable to complex working conditions, through the set composite cleaning component, it can not only clean the surface of the photovoltaic panel by dry cleaning, but also select to clean the surface of the photovoltaic panel by water washing according to the degree of pollutant accumulation on the surface of the photovoltaic panel. When cleaning with water, the dirt on the surface of the photovoltaic panel is first softened by spraying with a mixed cleaning solution, and then will be swept away from the surface of the photovoltaic panel by a nylon roller brush. After that, the scraper will scrape the remaining mixed cleaning solution outside the boundary of the photovoltaic panel to prevent water stains from being generated; through the setting of the visual monitoring component, it is convenient to judge the degree of pollutant accumulation on the surface of the photovoltaic panel, and then reasonably select the cleaning method, which can better clean the photovoltaic panel.

[0049] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A photovoltaic cleaning robot suitable for complex working conditions, characterized by: It includes a track drive component, a cleaning component, a visual monitoring component, a distance monitoring component, and a robot body; the cleaning component is arranged at the front end of the robot body, the visual monitoring component and the visual monitoring component are both arranged on the cleaning component, and the track drive component is arranged on the robot body.

2. A photovoltaic cleaning robot suitable for complex working conditions according to claim 1, characterized in that: The cleaning component includes a shell, a cleaning motor, a nylon roller brush, a synchronous pulley structure, and a scraper; the shell is connected to the front end of the robot body, the cleaning motor is arranged on the rear end side of the shell, the nylon roller brush is arranged in the middle position inside the shell and is rotatably connected to it, the cleaning motor is connected to the nylon roller brush through a synchronous pulley structure, and the scraper is arranged at the rear end of the bottom of the shell.

3. A photovoltaic cleaning robot suitable for complex working conditions according to claim 2, characterized in that: The cleaning component also includes a water washing mechanism, which includes a mist nozzle, a water injection sleeve, a cleaning water tank, a cleaning liquid tank, and a water pump; the mist nozzle is arranged inside the shell, and the cleaning water tank, the cleaning liquid tank, and the water pump are all arranged inside the robot body, the cleaning water tank and the cleaning liquid tank are connected to the input end of the water pump through a three-way pipe, and the output end of the water pump is connected to the mist nozzle through the water injection sleeve.

4. A photovoltaic cleaning robot suitable for complex working conditions according to claim 3, characterized in that: The track drive assembly includes a servo motor, a coupling, a driving wheel, and a rubber track; the servo motor is installed at the front and rear ends of the robot body, and is connected to the driving wheels on both sides through the coupling. A single servo motor synchronously drives the two driving wheels to rotate, and the rubber track is wrapped around the two driving wheels on the same side of the robot body.

5. A photovoltaic cleaning robot suitable for complex working conditions according to claim 4, characterized in that: The crawler drive assembly also includes two trolley frames, which are respectively installed on both sides of the robot body. The driving wheels are rotatably connected to the trolley frames and cooperate with the robot body to form a complete trolley.

6. A photovoltaic cleaning robot suitable for complex working conditions according to claim 5, characterized in that: The crawler drive assembly also includes a main control board and a servo driver. The main control board and the servo driver are arranged at a middle position inside the robot body. The main control board is communicatively connected with the servo motor through the servo driver.

7. A photovoltaic cleaning robot suitable for complex working conditions according to claim 6, characterized in that: The visual monitoring component includes two COMS cameras, each of which is equipped with a camera, which is installed at two sides of the inner shell of the cleaning component. The COMS camera is communicatively connected with the main control board.

8. A photovoltaic cleaning robot suitable for complex working conditions according to claim 7, characterized in that: The distance monitoring component includes two ultrasonic sensors, which are installed at the front end of the bottom of the shell of the cleaning component, and the ultrasonic sensors are communicatively connected with the main control board.

9. A photovoltaic cleaning robot suitable for complex working conditions according to claim 8, characterized in that: The photovoltaic cleaning robot also includes a linear positioning component, which includes four diffuse reflection sensors, all of which are arranged at the lower end of the robot body.

10. The photovoltaic cleaning robot suitable for complex working conditions according to claim 4, characterized in that: The photovoltaic cleaning robot further comprises two baffles, and the baffle covers are arranged outside the rubber track.

Images