Cross-row photovoltaic panel cleaning system

Abstract

The utility model relates to the field of photovoltaic panel cleaning equipment, in particular to a cross-row photovoltaic panel cleaning system which comprises photovoltaic panel cleaning equipment and a climbing bridge. The climbing bridge frames are in butt joint with the edges of the bottom ends of photovoltaic panels, the photovoltaic panel cleaning equipment can move to the photovoltaic panels through the climbing bridge frames, the photovoltaic panel cleaning equipment can move to the other photovoltaic panel from the other climbing bridge frame after climbing down from the climbing bridge frame of one photovoltaic panel, and the photovoltaic panel cleaning equipment can move to the other photovoltaic panel from the other climbing bridge frame after climbing down from the climbing bridge frame of one photovoltaic panel. Tracking is achieved in the modes of navigation, RTK and magnetic conductance and the like, after the photovoltaic panel is moved to the position of the other photovoltaic panel through tracking, the photovoltaic panel can be moved to the other photovoltaic panel through a climbing bridge of the other photovoltaic panel for cleaning, the scheme is not limited by rows and columns, automatic and intelligent cleaning can be conducted, and the cleaning speed and the cleaning efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the field of photovoltaic panel cleaning equipment, and more specifically, to a cross-row photovoltaic panel cleaning system. Background Art

[0002] Since photovoltaic panels are installed outdoors, they will inevitably be contaminated with dust as they are used for a long time, which will affect the power generation efficiency of the photovoltaic panels. Photovoltaic power stations are mostly built in mountainous areas with high terrain and rugged terrain. At present, the main methods of cleaning photovoltaic panels at home and abroad include high-pressure water gun cleaning plus manual cleaning, robot cleaning, special cleaning vehicles, etc. Manual cleaning is costly, inefficient and dangerous, and is becoming increasingly uneconomical as labor costs continue to rise.

[0003] The utility model patent with authorization announcement number CN220383022U discloses a robot for cleaning photovoltaic panels of a floating power station on the water surface. The robot includes a fuselage, a roller brush cleaning assembly and a track drive assembly. The front end and the rear end of the fuselage are respectively provided with roller brush cleaning assemblies, and the two sides of the fuselage are respectively provided with track drive assemblies. The robot walks under the drive of the two track drive assemblies. The track drive assembly includes an outer plate, an inner plate, an outer cover, a driving wheel, a driven wheel, a track and a roller brush hook module. The outer plate and the inner plate are respectively fixedly arranged on the outer side and the inner side of the outer cover, and the outer plate, the outer cover and the inner plate form an installation cavity with an opening at the bottom. The driving wheel, the driven wheel and the track are all arranged inside the installation cavity, and the track walks under the drive of the driving wheel; the front end and the rear end of the outer plate are respectively fixedly provided with roller brush hook modules, and the roller brush cleaning assembly is movably connected to the outer plate through the roller brush hook module.

[0004] Existing photovoltaic panels are usually installed in a matrix-type photovoltaic panel array. The above solution can only achieve left-right cross-row cleaning of the photovoltaic panels (one row horizontally and one column vertically), but cannot achieve front-to-back cross-row cleaning, resulting in slow cleaning speed and low cleaning efficiency. Utility Model Content

[0005] The utility model aims to overcome the defects of the above-mentioned prior art and provide a cross-row photovoltaic panel cleaning system for solving the technical problems of being unable to achieve front and rear cross-row cleaning, slow cleaning speed and low cleaning efficiency.

[0006] The technical solution adopted by the utility model is a cross-row photovoltaic panel cleaning system, including photovoltaic panel cleaning equipment and a climbing bridge; the climbing bridge is connected to the bottom edge of the photovoltaic panel, the photovoltaic panel cleaning equipment can be moved to the photovoltaic panel through the climbing bridge, and the photovoltaic panel cleaning equipment can climb down from the climbing bridge of one photovoltaic panel and move from another climbing bridge to another photovoltaic panel.

[0007] Tracks, such as tracks, can be set on the ground in advance. After the photovoltaic panel cleaning equipment climbs down from a photovoltaic panel climbing bridge, it can achieve tracking through navigation, RTK plus magnetic guidance, etc. After moving to the position of another photovoltaic panel through tracking, it can be moved to the other photovoltaic panel through the climbing bridge of another photovoltaic panel for cleaning. This solution is not restricted by rows and columns, and can perform automated and intelligent cleaning, which improves the cleaning speed and efficiency.

[0008] Furthermore, it also includes a connecting bridge, one end of which is connected to the top edge of any photovoltaic panel in the front row, and the other end of which is connected to the bottom edge of any photovoltaic panel in the rear row. The photovoltaic panel cleaning device can be moved from a photovoltaic panel in the front row to a photovoltaic panel in the rear row through the connecting bridge. The photovoltaic panel cleaning device first climbs up a photovoltaic panel through the climbing bridge for cleaning, and then moves to the photovoltaic panel in the rear row for cleaning through the connecting bridge. After cleaning, it moves to the photovoltaic panel in another row for cleaning. In this way, all photovoltaic panels in the photovoltaic panel array can be automatically cleaned in a cycle, with high automation and intelligence, and high cleaning efficiency.

[0009] Furthermore, the connecting bridge includes a first transition section, a second transition section and a connecting section; the first transition section, the connecting section and the second transition section are connected in sequence, the first transition section is connected to the top edge of any photovoltaic panel in the front row, the second transition section is connected to the bottom edge of any photovoltaic panel in the rear row, and the first transition section, the connecting end and the second transition section are formed in an integrated manner. The first transition section, the connecting section and the second transition section can all play a role in alleviating the inclination, so that the photovoltaic panel cleaning equipment can pass through the connecting bridge more smoothly and steadily.

[0010] Furthermore, the first transition section and the second transition section are both arranged horizontally. When moving out from the previous photovoltaic panel, the horizontal first transition section is used to alleviate the inclination, and when moving into the next photovoltaic panel, the horizontal second transition section is used to alleviate the inclination. The two horizontal transition sections can alleviate the inclination of the movement of the photovoltaic panel cleaning device to the greatest extent. The horizontal arrangement is mainly because the photovoltaic panel cleaning device has the best stability when moving in a horizontal state.

[0011] Furthermore, ultrasonic ranging sensors are installed at the front end and both sides of the photovoltaic panel cleaning device. The edge position of the photovoltaic panel and the edge position of the connecting bridge can be known through the ultrasonic ranging sensors, so that the photovoltaic panel cleaning device can move safely on the connecting bridge and the photovoltaic panel, and can effectively prevent falling.

[0012] Further, the photovoltaic panel cleaning device is a collective photovoltaic panel cleaning robot, including a number of collective photovoltaic panel cleaning robots. Each photovoltaic panel cleaning robot includes a vehicle body, a cleaning device and a traveling device installed on the vehicle body. Adjacent vehicle bodies are connected by a number of connecting components. The cleaning device is used to clean the photovoltaic panels, the traveling device is used to drive the photovoltaic panel cleaning device to move on the photovoltaic panels, and the connecting components are used to connect a number of photovoltaic panel cleaning robots.

[0013] Further, flexible connecting components are used between adjacent photovoltaic panel cleaning robots. By using flexible connecting components, flexible bending can be carried out during turning, so that it can walk along the surface of the connecting bridge, and the stability is better during movement.

[0014] Further, the vehicle body includes a base frame and a rotary frame. The rotary frame is rotatably connected to the base frame. The traveling device is installed on the base frame, and the cleaning device is installed on the rotary frame. A locking mechanism is provided between the rotary frame and the base frame, and the locking mechanism is used to fixedly connect the rotary frame and the base frame. The rotation connection between the base frame and the rotary frame is mainly used to adjust the direction of the traveling device. During cleaning, the base frame rotates so that the traveling device can move horizontally along the photovoltaic panel. During row crossing, the base frame rotates so that the traveling device can move longitudinally along the photovoltaic panel, so as to move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge. The locking mechanism is mainly used to lock the rotation angle to determine the moving direction and improve stability.

[0015] Further, the locking mechanism includes an electric push rod II, a limiting rod, a travel switch and a lock hole. The limiting rod is fixed on the base frame. There are two lock holes on the base frame. The electric push rod II and the travel switch are arranged on the rotary frame. The telescopic rod of the electric push rod II is inserted and matched with the lock hole, and the travel switch is in contact and cooperation with the limiting rod; when the telescopic rod of the electric push rod II is inserted into one of the lock holes, the traveling direction of the traveling device is perpendicular to the length direction of the collective photovoltaic panel cleaning robot. When rotated until the travel switch contacts the limiting rod, the telescopic rod of the electric push rod II is inserted into the other lock hole, and the traveling direction of the traveling device is consistent with the length direction of the collective photovoltaic panel cleaning robot. When the traveling device rotates to the required angle, the travel switch contacts the limiting rod, and the telescopic rod of the electric push rod II immediately inserts into the lock hole, thus realizing angle locking. This method is fast and has high locking firmness, and can make the collective photovoltaic panel cleaning robot walk stably.

[0016] Further, a suspension guiding mechanism is installed on the photovoltaic panel cleaning device. The suspension guiding mechanism includes a suspension frame, a second suspension shaft, a second suspension wheel, and a suspension driving structure. The suspension frame is fixedly connected to the rotary frame or the base frame. One end of the second suspension shaft is movably connected to the suspension frame, and the other end of the second suspension shaft is rotatably connected to the second suspension wheel. The second suspension wheel is in rolling cooperation with the top edge of the photovoltaic panel. The suspension driving structure is installed on the suspension frame and is used to drive the second suspension shaft to rotate. When the inclination angle of the photovoltaic panel is small, the suspension guiding mechanism is not required, and the photovoltaic panel cleaning robot can move on the photovoltaic panel. When the inclination angle of the photovoltaic panel is large and slope sliding may occur, the collective-connected photovoltaic panel cleaning robot can be suspended to the top edge of the photovoltaic panel through the second suspension shaft, which can prevent slope sliding. The second suspension wheel mainly plays a guiding role to enable the collective-connected photovoltaic panel cleaning robot to move left and right on the photovoltaic panel. The suspension driving structure is mainly used to drive the second suspension shaft to rotate and retract to prevent interference between the second suspension wheel and the photovoltaic panel when crossing rows.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: The photovoltaic panel cleaning device can climb down from the climbing bridge of one photovoltaic panel and then move from another climbing bridge to another photovoltaic panel. This solution is not limited by rows and columns and can automatically and intelligently clean the photovoltaic panel array, improving the cleaning speed and efficiency. The photovoltaic panel cleaning device first climbs onto a photovoltaic panel through the climbing bridge for cleaning. After the cleaning is completed, it moves to the next row of photovoltaic panels through the connecting bridge for cleaning. After the cleaning is completed, it moves to another row of photovoltaic panels for cleaning. In this way, all the photovoltaic panels in the photovoltaic panel array can be automatically cleaned. The degree of automation and intelligence is high, and the cleaning efficiency is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of the traveling mechanism in the first embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of the cleaning lifting mechanism in the first embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the structure of the suspension guiding mechanism installed at the end of the brush roller frame in the first embodiment of the present invention.

[0022] Figure 5 It is a schematic diagram of the structure of the first type of suspension guiding mechanism in the first embodiment of the present invention.

[0023] Figure 6 It is a schematic diagram of the structure of the second type of suspension guiding mechanism in the first embodiment of the present invention.

[0024] Figure 7Schematic diagram of the overall structure of the second embodiment of the present invention.

[0025] Figure 8 Schematic diagram of the structure in which two cleaning devices are oppositely arranged in the third embodiment of the present invention.

[0026] Figure 9 Schematic diagram of the structure in which a single cleaning device is arranged in a staggered manner on the vehicle body in the third embodiment of the present invention.

[0027] Figure 10 Schematic diagram of the structure of the stop plate in the third embodiment of the present invention.

[0028] Figure 11 Schematic diagram of the structure of the lengthened cleaning device in the third embodiment of the present invention.

[0029] Figure 12 Schematic diagram of the structure when three connecting components are arranged between two adjacent photovoltaic panel cleaning robots in the third embodiment of the present invention.

[0030] Figure 13 Schematic diagram of the structure when the connecting component is a folding frame in the third embodiment of the present invention.

[0031] Figure 14 Schematic diagram of the structure when the connecting component is a triple-fold frame in the third embodiment of the present invention.

[0032] Figure 15 Schematic diagram of the structure when the connecting component is a spring in the third embodiment of the present invention.

[0033] Figure 16 Schematic diagram of the structure when the connecting component is a steel sheet in the third embodiment of the present invention.

[0034] Figure 17 Schematic diagram of the structure when the connecting component is a steel cable in the third embodiment of the present invention.

[0035] Figure 18 Schematic diagram of the structure of the climbing bridge and the connecting bridge in the fourth embodiment of the present invention.

[0036] Figure 19 Schematic diagram of the front-back cross arrangement when two cleaning devices are oppositely arranged on the slewing frame in the fourth embodiment of the present invention.

[0037] Figure 20 Schematic diagram of the front-back cross arrangement when two cleaning devices are oppositely arranged on the base frame in the fourth embodiment of the present invention.

[0038] Figure 21 Schematic diagram of the structure of the locking mechanism in the fourth embodiment of the present invention.

[0039] In the figure: 1, vehicle body; 2, cleaning device; 3, traveling device; 4, slewing frame; 5, base frame; 6, traveling drive structure; 7, traveling mechanism; 8, driving wheel; 9, driven wheel; 10, traveling track; 11, support frame; 12, floating wheel; 13, crossing device; 14, drive wheel; 15, conduction wheel; 16, connecting handle; 17, lifting track; 18, lifting drive structure; 19, battery; 20, charging interface; 21, brush roller frame; 22, brush roller drive structure; 23, cantilever; 24, guide wheel; 25, cleaning lifting mechanism; 26, electric push rod 1; 27, lifting shaft; 28, brush roller cover; 29, connecting component; 30, extension frame; 31, extended brush roller; 32, extended cover; 33, stop plate; 34, suspension guiding mechanism; 35, suspension wheel 1; 36, suspension shaft 1; 37, suspension frame; 38, suspension shaft 2; 39, suspension wheel 2; 40, connecting bridge; 41, climbing bridge; 42, turntable; 43, locking mechanism; 44, electric push rod 2; 45, limiting rod; 46, travel switch; 47, lock hole; 48, first transition section; 49, connecting section; 50, second transition section; 51, suspension drive structure; 52, control component; 53, proximity switch; 54, brush roller; 55, electric push rod 3; 56, lifting crank; 57, ultrasonic distance measuring sensor; 58, bellows cover; 59, fixed shaft. Detailed implementation manners

[0040] The attached drawings of the present invention are only for illustrative purposes and cannot be construed as a limitation to the present invention. For better explaining the following embodiments, some components in the drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0041] Embodiment 1

[0042] As Figure 1 shown, this solution discloses a photovoltaic panel cleaning robot, including a vehicle body 1, a cleaning device 2 and a traveling device 3 installed on the vehicle body 1, and the vehicle body 1 includes a base frame 5 and a slewing frame 4.

[0043] As Figure 2 shown, the traveling device 3 includes a traveling drive structure 6 and a traveling mechanism 7. The traveling mechanisms 7 are symmetrically arranged on the left and right sides of the base frame 5, and two traveling drive structures 6 are arranged in the base frame 5 for respectively driving the two traveling mechanisms 7 to work.

[0044] The walking mechanism 7 includes a power wheel 8, a driven wheel 9 and a walking crawler 10. The power wheel 8 and the driven wheel 9 are rotatably connected to the base frame 5. The power wheel 8 and the driven wheel 9 are connected through the walking crawler 10. When the inclination angle of the photovoltaic panels in the photovoltaic panel array is in the range of 25°-35°, when the cleaning robot crosses horizontally from one row of photovoltaic panels to another row of photovoltaic panels, the climbing ability and anti-skid ability of the walking crawler 10 are greatly tested. Therefore, grooves are provided on the walking crawler 10 to provide greater grip to improve its climbing ability; the walking drive The dynamic structure 6 is used to drive the power wheel 8 to rotate. The walking drive structure 6 can be a motor, a reduction motor, etc. The walking mechanism 7 in this scheme is preferably a crawler structure, that is, a walking track 10 is adopted. The walking track 10 is used mainly because it has a strong grip. Other walking mechanisms 7 with strong grip on the photovoltaic panel can also be used, such as rubber wheels, etc. Two walking drive structures 6, one drives the power wheel 8 of the walking mechanism 7 on one side to rotate forward, and the other drives the power wheel 8 of the walking mechanism 7 on the other side to rotate reversely, so as to realize the rotation of the base frame 5.

[0045] The walking mechanism 7 also includes a support frame 11, which is arranged on the outside of the power wheel 8 and the driven wheel 9, and is fixedly connected to the central axis of the power wheel 8 and the driven wheel 9 respectively. A number of floating wheels 12 are arranged between the power wheel 8 and the driven wheel 9, and the floating wheels 12 are mainly used to enhance the climbing ability; a cover plate is also installed on the base frame 5, and the cover plate is used to cover part of the walking mechanism 7 to prevent dust and debris from entering.

[0046] A crossing device 13 is installed on the outer side of the walking mechanism 7. The crossing device 13 includes a driving wheel 14, a transmission wheel 15, a connecting handle 16, a lifting track 17 and a lifting drive structure 18. The fixed shaft 59 is arranged in the base frame 5 and is rotatably connected to the base frame 5. The connecting handle 16 is fixedly connected to the fixed shaft 59. The driving wheel 14 and the transmission wheel 15 are both rotatably connected to the connecting handle 16. The driving wheel 14 and the transmission wheel 15 are connected by the lifting track 17. The lifting drive structure 18 is installed in the base frame 5 and is used to drive the connecting handle 16 to rotate. The lifting drive structure 18 can be a steering gear joint, an electric push rod 55 and a lifting crank 56, a turbine reduction motor, etc., preferably an electric push rod The three 55 and the lifting crank 56, the electric push rod three 55 is rotatably connected with the lifting crank 56, and the lifting crank 56 is fixedly connected with the fixed shaft 59. This method is light in weight and low in cost. The electric push rod three 55 drives the fixed shaft 59 to rotate through the lifting crank 56, which can drive the connecting handle 16 to rotate, and the height of its front end can be changed; the driving wheel 14 is concentrically arranged with the driven wheel 9, and can share a power with the driven wheel 9, or can set a power separately. The lifting drive structure 18 can control the front end of the connecting handle 16 to rise or fall, that is, the lifting and falling of the front end of the lifting crawler 17, which can enable the photovoltaic panel cleaning robot to cross two photovoltaic panels with a large interval or a large splicing height difference.

[0047] As shown Figure 3 in the figure, a battery 19 and a charging interface 20 are fixed inside a base frame 5. The charging interface 20 is electrically connected to the battery 19 through a charging circuit. The battery 19 can be charged through the charging interface 20. The battery 19 is used to provide electrical energy for a traveling drive structure 6, so that the traveling drive structure 6 drives a driving wheel 8 to rotate, thereby enabling a traveling mechanism 7 to work.

[0048] A turntable 42 is fixed on the base frame 5. A slewing frame 4 can be rotatably connected to the base frame 5 through the turntable 42. A locking mechanism 43 (such as Figure 21 ) is provided between the slewing frame 4 and the base frame 5. The locking mechanism 43 is used to fixedly connect the slewing frame 4 and the base frame 5, so that the slewing frame 4 cannot rotate on the base frame 5.

[0049] A cleaning device 2 is installed on the slewing frame 4. There is one, or two are arranged oppositely on the slewing frame 4. The cleaning device 2 includes a brush roller frame 21, a brush roller drive structure 22 and a brush roller 54. Two cantilevers 23 are arranged on the brush roller frame 21. The brush roller frame 21 is connected to the slewing frame 4 through the two cantilevers 23. A brush roller 54 is installed on the brush roller frame 21 for rotating and cleaning a photovoltaic panel. The brush roller drive structure 22 is installed on any one of the cantilevers 23. The brush roller drive structure 22 is used to drive the brush roller 54 to rotate. It can be a motor, a reduction motor, etc. The brush roller 54 can be driven to rotate by means of chain drive, belt drive or gear drive, etc., which are well-known technical means in the art and will not be elaborated here. In order to adapt to the crossing device 13, the cantilever 23 is designed with an extended length, and its length is greater than the length of the crossing device 13 to prevent the lifting crawler 17 from interfering with the brush roller frame 21. A brush roller cover 28 is installed on the brush roller frame 21 to cover the brush roller 54 and prevent stains from splashing during cleaning.

[0050] Guide wheels 24 are installed on the front side of the brush roller frame 21. The number of the guide wheels 24 is not less than two. The axial direction of the guide wheels 24 is parallel to the axial direction of the brush roller 54. When the span between two photovoltaic panels is relatively large, the photovoltaic panel cleaning robot stands on one photovoltaic panel. First, the guide wheels 24 are used to contact an adjacent photovoltaic panel, and move simultaneously under the guiding action of the guide wheels 24. Then, the lifting crawler 17 gradually contacts and moves to the adjacent photovoltaic panel. Finally, the traveling mechanism 7 moves to the adjacent photovoltaic panel, and thus the crossing of the adjacent photovoltaic panels can be completed. Due to the extended design of the cantilever 23, the width that can be crossed is further increased.

[0051] A cleaning lifting mechanism 25 is also installed on the slewing frame 4 for raising or lowering the brush roller frame 21. The two cantilevers 23 are rotatably connected to the slewing frame 4. The cleaning lifting mechanism 25 is used to drive the two cantilevers 23 to rotate and swing upward or downward relative to the vehicle body 1. The rotation of the cantilevers 23 drives the rotation of the brush roller frame 21, so that the entire cleaning device 2 rotates and rises or descends. The cleaning lifting mechanism 25 includes an electric push rod 26 and a lifting shaft 27. The brush roller frame 21 is rotatably installed in the slewing frame 4. The two ends of the lifting shaft 27 are respectively fixedly connected to the two cantilevers 23. The electric push rod 26 is used to drive the rotation of the lifting shaft 27. A crank or an eccentric wheel can be used to drive the rotation of the lifting shaft 27, which belongs to the well-known technical means in the field and will not be elaborated here. The electric push rod 26 and the lifting shaft 27 are light in weight, resulting in a reduction in the overall weight of the photovoltaic panel cleaning robot and making it more convenient to move on the photovoltaic panels.

[0052] The cleaning lifting mechanism 25 further includes a proximity switch 53. The proximity switch 53 is installed on the cantilever 23. When raising, the distance between the cantilever 23 and the photovoltaic panel or the ground is measured by the proximity switch 53, and the lifting angle of the brush roller frame 21 can be calculated based on this distance.

[0053] When there is a large height difference between two adjacent photovoltaic panels (for example, when used on a floating photovoltaic panel and crossing, due to the weight of the photovoltaic panel cleaning robot, the height of the photovoltaic panel where it is located will sink, resulting in a height difference with the adjacent photovoltaic panel. The heavier the photovoltaic panel cleaning robot, the greater the height difference), the cleaning lifting mechanism 25 can be used to control the rotation of the cantilever 23 to lift the cleaning device 2 first, so that the guide wheels 24 can overlap the adjacent higher photovoltaic panel. Then, the cleaning lifting mechanism 25 drives the cantilever 23 to swing downward. After that, the front end of the lifting crawler 17 is pulled up and gradually moved onto the higher photovoltaic panel. Then, through the traveling mechanism 7, the entire photovoltaic panel cleaning robot can gradually cross to the adjacent photovoltaic panel, thus enabling it to adapt to the situation of crossing a larger height difference.

[0054] When the spacing between adjacent photovoltaic panels is small (less than 4 cm) and the splicing height difference is small (less than 3 cm), the cleaning device 2 can complete the crossing without being lifted, that is, the cantilever 23 can be directly rotatably connected to the slewing frame 4, and there is no need to set up the cleaning lifting mechanism 25. When the spacing between adjacent photovoltaic panels is large (greater than 4 cm) and the splicing height difference is large (greater than 3 cm), the cleaning device 2 needs to have a lifting function, that is, the cleaning lifting mechanism 25 and the crossing device 13 are required.

[0055] When installing a photovoltaic panel, if a fixed installation method is adopted, there is a concept of "optimal inclination angle". Here, the optimal inclination angle refers to the angle at which the total annual radiation on the inclined surface of the photovoltaic panel reaches the maximum when the photovoltaic array is tilted at a certain angle. The inclination angle is the angle between the plane of the photovoltaic panel array and the horizontal ground, and it is hoped that this angle is the optimal inclination angle when the power generation of the array is the largest in a year. The optimal inclination angle in a year is related to the local geographical latitude. When the latitude is relatively high, the corresponding inclination angle is also large. At present, the optimal installation inclination angles of solar power stations in most areas are mainly distributed in the following angle grades: 25°, 30°, 35°, 40°. This embodiment is mainly applicable to photovoltaic panels with an inclination of less than 35°.

[0056] During cleaning, the photovoltaic panel cleaning robot first walks to one side to clean the width of a brush roller 54. After reaching the other side of the photovoltaic panel, it turns back and cleans out the width of a brush roller 54 again. The surface cleaned during the return cleaning is spliced or partially overlapped with the surface cleaned initially. After reaching the other side of the photovoltaic panel, it turns back again on the basis of the secondary cleaning. By continuously moving in this cycle, the cleaning of the photovoltaic panel can be achieved.

[0057] A control component 52 is installed on the vehicle body 1 of the photovoltaic panel cleaning robot. The control component 52 includes a controller, a motion control sensor, and an ultrasonic ranging sensor 57. The controller and the motion control sensor are installed inside the vehicle body 1. There are two ultrasonic ranging sensors 57, which are respectively installed on the front sides of the brush roller cover 28 and the base frame 5. The controller is electrically connected to the walking drive structure 6, the lifting drive structure 18, the brush roller drive structure 22, and the first electric push rod 26 respectively. The controller uses STM as the core control unit, which is responsible for receiving instructions, coordinating the work of each component of the robot, and monitoring the working state of this photovoltaic panel cleaning robot to ensure the stable operation of this photovoltaic panel cleaning robot and the execution of cleaning tasks. The motion processing sensor includes a six-axis gyroscope and an acceleration sensor, which are used to monitor the speed, direction, and position of the robot, provide the yaw angle data of the robot, so as to achieve precise navigation and position control and avoid yaw. The ultrasonic ranging sensor 57 is used to detect the surrounding environment to prevent the robot from falling due to the absence of a photovoltaic panel or reaching the edge.

[0058] The control component 52 further includes a wireless communication module. The wireless communication module is electrically connected to the controller and is used to send the received remote control instructions to the controller. There are holes on the cleaning device 2 for the antenna of the wireless communication module to pass through. The wireless communication module uses the LoRa or DTU protocol for wireless communication, which is convenient for receiving remote control instructions and sending them to the microcontroller, increasing the operation range and convenience.

[0059] When used on photovoltaic panels with a large inclination angle, such as in the northwest region and Inner Mongolia region, due to factors such as geographical latitude and terrain, the installation inclination angle of the photovoltaic panel array ≥ 40°. This angle increases the difficulty for the robot to perform cleaning work. Therefore, as Figure 1 , a suspension guiding mechanism 34 is installed on the photovoltaic panel cleaning robot. Through the suspension of the suspension guiding mechanism 34, it can effectively prevent the robot from slipping during cleaning; when the inclination of the photovoltaic panel is small, the suspension guiding mechanism 34 can not be installed.

[0060] The suspension guiding mechanism 34 mainly plays the role of hooking and guiding and preventing falling. As Figure 4 shown, the suspension guiding mechanism 34 includes a first suspension wheel 35 and a first suspension shaft 36. The first suspension wheel 35 is rotatably connected to the first suspension shaft 36. There are two first suspension shafts 36, which are respectively arranged at both ends of the brush roller frame 21. During cleaning, the two first suspension wheels 35 respectively roll and cooperate with the top edge of the photovoltaic panel; in order to prevent the suspension guiding mechanism 34 from interfering with the photovoltaic panel when longitudinally moving to clean the panel far from the top edge of the photovoltaic panel, the brush roller frame 21 can be driven by the cleaning lifting mechanism 25 to rotate and rise, thereby driving the first suspension shaft 36 and the first suspension wheel 35 to rise and disengage from the photovoltaic panel.

[0061] As an improved way of the suspension guiding mechanism 34, it has a self - retracting function. As Figure 5 shown in the first structure, it includes a suspension frame 37, a second suspension shaft 38, a second suspension wheel 39 and a suspension driving structure 51. The suspension frame 37 is fixedly connected to the rotary frame 4. One end of the second suspension shaft 38 is movably connected to the suspension frame 37, and the other end of the second suspension shaft 38 is rotatably connected to the second suspension wheel 39. The second suspension wheel 39 rolls and cooperates with the top edge of the photovoltaic panel; the suspension driving structure 51 is installed on the suspension frame 37 and is used to drive the second suspension shaft 38 to rotate, so as to retract the second suspension wheel 39. The suspension driving structure 51 can be a reduction motor, a telescopic rod, etc.

[0062] As Figure 6 shown in the second structure, different from the first structure, the suspension frame 37 is rotatably installed on the vehicle body 1. The second suspension shaft 38 is fixed on the suspension frame 37. The second suspension wheel 39 is rotatably connected to the end of the second suspension shaft 38. The suspension driving structure 51 is installed on the vehicle body 1 and is used to drive the suspension frame 37 to rotate, so that the second suspension wheel 39 disengages from the top edge of the photovoltaic panel and retracts.

[0063] Embodiment 2

[0064] As Figure 7As shown in the figure, the difference between this embodiment and the first embodiment is that in this embodiment, in the scenario where the photovoltaic panels are arranged side by side with a small interval (less than 4 cm) and a small splicing height difference (less than 3 cm), the cleaning device 2 can complete the crossing without being lifted at this time. That is, the cantilever 23 is rotatably connected to the slewing frame 4, and there is no need to set up a cleaning lifting mechanism 25; it can also be directly rotatably connected to the base frame 5; in addition, the guide wheel 24 is replaced with a guiding transmission belt to play a better guiding role.

[0065] Embodiment Three

[0066] As Figure 8 shown, the difference between this embodiment and the first embodiment is that this embodiment discloses a collective-connected photovoltaic panel cleaning robot, which includes a number of collective-connected photovoltaic panel cleaning robots. Adjacent two photovoltaic panel cleaning robots are connected by a connecting component 29, and the surfaces cleaned by adjacent two photovoltaic panel cleaning robots are combined. The combination means that the cleaned surfaces are combined into an entire surface, including two situations, namely, the cleaned surfaces are spliced or partially overlapped. Specifically:

[0067] When there is a cleaning device 2 on each photovoltaic panel cleaning robot, there are two situations. The first one is that a number of cleaning devices 2 are arranged on the same side of the collective-connected photovoltaic panel cleaning robot, and the cleaning devices 2 of adjacent photovoltaic panel cleaning robots are spliced (not shown).

[0068] The second one is, as Figure 9 shown, the cleaning device 2 of any photovoltaic panel cleaning robot is arranged on the opposite side of the cleaning device 2 of its adjacent photovoltaic panel cleaning robot, that is, the cleaning devices 2 on adjacent two photovoltaic panel cleaning robots are arranged in a staggered manner. That is to say, one cleaning device 2 is arranged on the left side of the collective-connected photovoltaic panel cleaning robot, and the adjacent cleaning device 2 is arranged on the right side of the adjacent photovoltaic panel cleaning robot; the cleaning devices 2 arranged in a staggered manner form a staggered overlap or a staggered splice. The meaning of the staggered overlap or the staggered splice is: after translating the cleaning device 2 on one side of a photovoltaic panel cleaning robot to its opposite side, it will form a partial overlap or splice with the cleaning device 2 of the adjacent photovoltaic panel cleaning robot; in this case, when cleaning to both sides of the photovoltaic panel, there is a local area that cannot be cleaned. To solve this problem, stop plates 33 are added on both sides of the photovoltaic panel. The width dimension of the stop plate 33 is equal to the size of the vehicle body 1 plus the size of two cleaning devices 2. When cleaning to both sides, the photovoltaic panel cleaning robot moves onto the stop plates 33 on both sides, and its cleaning area can completely cover the photovoltaic panel.

[0069] When there are two cleaning devices 2 arranged oppositely on each photovoltaic panel cleaning robot; there are two setting methods: The first one is, as Figure 8 shown, the cleaning device 2 extends towards the connecting component 29, and the cleaning devices 2 on the same side of adjacent two photovoltaic panel cleaning robots are spliced.

[0070] The second type is as follows Figure 10 As shown, two cleaning devices 2 arranged oppositely on the same vehicle body 1 extend unidirectionally in opposite directions, and a set of opposite cleaning devices 2 on adjacent photovoltaic panel cleaning robots form a staggered overlap or a staggered splicing; in this way, after the photovoltaic panel cleaning robot passes by, the areas cleaned by the cleaning devices 2 will combine into an integral whole to cover the photovoltaic panel, that is, the entire surface cleaning of the photovoltaic panel can be completed; in this case, stop plates 33 are added on both sides of the photovoltaic panel.

[0071] The staggered overlap or the staggered splicing is achieved by the extension of the cleaning device 2 in the direction of the connecting member 29. Specifically, as Figure 11 shown, that is, an elongated cleaning device 2 is adopted, that is, an elongated frame 30 is fixed to the end side of the brush roller frame 21, an elongated brush roller 31 is installed in the elongated frame 30, the shaft of the elongated brush roller 31 is fixedly connected to the shaft of the brush roller 54, an elongated cover 32 is installed on the elongated frame 30, the elongated frame 30 and the brush roller frame 21, the elongated brush roller 31 and the brush roller 54, and the elongated cover 32 and the brush roller cover 28 can all be integrally formed, and the lengths of the elongated brush roller 31, the elongated frame 30 and the elongated cover 32 can be selected according to the specific photovoltaic panel.

[0072] When cascading, as Figure 12 , several connecting members 29 ( Figure 12 taking three as an example) can also be connected in series between adjacent two photovoltaic panel cleaning robots, and a plurality of bellows 58 are correspondingly sleeved on the plurality of connecting members 29, and the cleaning device 2 is also lengthened according to the plurality of connecting members 29.

[0073] When the above-mentioned cleaning device 2 is lengthened, in order to enable the suspension guiding mechanism 34 to hook on the top edge of the photovoltaic panel, the length of the suspension frame 37 is correspondingly increased so that it can hook the top edge of the photovoltaic panel.

[0074] The connecting member 29 in this embodiment is preferably a flexible connecting member 29, and it can also be a rigid connecting member 29. When using the flexible connecting member 29, the cascaded photovoltaic panel cleaning robot can better adhere to the surface of the photovoltaic panel and travel. For example: the flexible connecting member 29 can be a folding frame (such as Figure 13 that is, two frames connected movably), a triple-fold frame (such as Figure 14 shown, that is, three frames connected movably in sequence, and the frames can be made of relatively light aluminum alloy materials), a spring (such as Figure 15 shown), a steel sheet (such as Figure 16 ) or a steel cable (such as Figure 17 shown), a chain, etc. The connecting member 29 has at least longitudinal degrees of freedom, such as a folding frame, a triple-fold frame and a steel sheet, and can also have transverse degrees of freedom, such as a spring, a steel cable, a chain, etc.

[0075] An accordion cover 58 is connected between two adjacent photovoltaic panel cleaning robots, and the connecting component 29 is arranged inside the accordion cover 58. The accordion cover 58 can play a role in beautifying and protecting the connecting component 29.

[0076] During cleaning, the number of photovoltaic panel cleaning robots is selected according to the width of the photovoltaic panel, so that the sum of the lengths of all brush rollers 54 after connection is greater than or equal to the width of the photovoltaic panel. In this way, the photovoltaic panel cleaning robot can complete the cleaning of the photovoltaic panel by walking unidirectionally, with a large cleaning area and high cleaning efficiency. For example, Figure 10 The structure of Embodiment 2 is also applicable to the connection method of this embodiment.

[0077] Embodiment 4

[0078] The difference between this embodiment and Embodiment 3 is that this embodiment discloses a cross-row and cross-column photovoltaic panel cleaning system, which includes a connected photovoltaic panel cleaning robot and a climbing bridge 41. One end of the climbing bridge 41 is docked with the lower edge of the photovoltaic panel, and the other end is in contact with the ground. The climbing bridge 41 can be a plate member, and the connected photovoltaic panel robot can move onto the photovoltaic panel through the climbing bridge 41; a climbing bridge 41 can be set on each photovoltaic panel. After cleaning one photovoltaic panel, the connected photovoltaic panel cleaning robot descends to the ground through the climbing bridge 41, and then moves through another climbing bridge 41 to climb onto another photovoltaic panel for cleaning. After cleaning, it climbs onto another photovoltaic panel for cleaning. In this way, the cleaning of all photovoltaic panels can be completed by cycling. A track or orbit can be set on the ground in advance, and the ground tracking walking can be realized through methods such as navigation, RTK plus magnetic guidance.

[0079] For example, Figure 18 and 19 As shown, as another improvement method of this embodiment, it further includes a connecting bridge 40. The connecting bridge 40 is used to connect the front and rear rows of photovoltaic panels, and the connected photovoltaic panel cleaning robot can move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge 40; for example, Figure 20 When the cleaning device 2 is installed on the bottom base frame 5, it can realize cross-row cleaning in the front and rear; the cleaning of the photovoltaic panel array can also be realized by a mixed setting method of the climbing bridge 41 and the connecting bridge 40.

[0080] For example, Figure 18 The connecting bridge 40 is used to connect two adjacent photovoltaic panels in the front and rear rows. It is supported on the ground by brackets and has a three-section structure, including a first transition section 48, a second transition section 50, and a connecting section 49. The first transition section 48, the connecting section 49, and the second transition section 50 are connected in sequence. The first transition section 48 is docked with the top edge of the previous photovoltaic panel, and the second transition section 50 is docked with the bottom edge of the next photovoltaic panel. Moreover, the first transition section 48, the connecting end, and the second transition section 50 are integrally formed, and both the first transition section 48 and the second transition section 50 are horizontally arranged.

[0081] As shown in Figure 3 , a turntable 42 is fixed on the base frame 5. The slewing frame 4 is rotatably connected to the base frame 5 through the turntable 42. The slewing frames 4 of two adjacent photovoltaic panel cleaning robots are connected through a connecting member 29. When the photovoltaic panel cleaning robot needs to change the moving direction, the two traveling drive structures 6 of the photovoltaic panel cleaning robot are controlled to rotate forward and backward, and the base frame 5 is rotated one by one. At this time, the slewing frames 4 of the collection are unable to rotate, and the base frame 5 rotates relatively, that is, the steering of the bottom traveling device 3 is realized, that is, the moving direction of the collection-type photovoltaic panel cleaning robot is changed.

[0082] As shown in Figure 21 , it further includes a locking mechanism 43. The locking mechanism 43 includes an electric push rod II 44, a limiting rod 45, a travel switch 46 and a locking hole 47. The limiting rod 45 is fixed on the base frame 5. There are two locking holes 47 provided on the base frame 5. The electric push rod II 44 and the travel switch 46 are arranged on the slewing frame 4. The telescopic rod of the electric push rod II 44 is inserted and matched with the locking hole 47, and the travel switch 46 is in contact and cooperation with the limiting rod 45; with the center of the turntable 42 as the center, the included angle between the two locking holes 47 is 90°. When the telescopic rod of the electric push rod II 44 is inserted into one of the locking holes 47, the traveling direction of the traveling device 3 is perpendicular to the length direction of the collection-type photovoltaic panel cleaning robot. When rotated until the travel switch 46 contacts the limiting rod 45, the telescopic rod of the electric push rod II 44 is inserted into the other locking hole 47, and the traveling direction of the traveling device 3 is consistent with the length direction of the collection-type photovoltaic panel cleaning robot.

[0083] As another improved form of the locking mechanism 43, the electric push rod II 44 and the locking hole 47 can also be replaced by a plug-type electromagnetic lock and an electromagnetic lock port.

[0084] During cleaning, the traveling direction of the traveling device 3 is rotated to be perpendicular to the length direction of the collection-type photovoltaic panel cleaning robot. The traveling device 3 drives the collection-type photovoltaic panel cleaning robot to move. The brush roller 54 is lowered to contact the photovoltaic panel, and the brush roller drive structure 22 drives the brush roller 54 to rotate, and while moving, it cleans, completing the horizontal cleaning of the photovoltaic panel. By setting the guide wheel 24, the crossing device 13 and the cleaning lifting mechanism 25, the collection-type photovoltaic panel cleaning robot can be assisted to cross the photovoltaic panels with a large splicing interval (greater than 4 cm) and a large splicing height difference (greater than 3 cm), realizing the horizontal left and right cross-columns between the photovoltaic panels.

[0085] When moving, first, the second electric push rod 44 is in an unlocked state, and the bolt of the second electric push rod 44 pops out and just plugs into one of the lock holes 47, performing a locking function to make the robot run more stably. The moving direction of the traveling device 3 is perpendicular to the length direction of the cascaded photovoltaic panel cleaning robot, enabling lateral movement cleaning. When the cascaded photovoltaic panel cleaning robot needs to perform cross-row work, by rotating, the moving direction of the traveling device 3 is made the same as the length direction of the cascaded photovoltaic panel cleaning robot. At this time, the limiting rod 45 touches the travel switch 46, and the telescopic rod of the second electric push rod 44 pops out and just plugs into another lock hole 47. Compared with the traveling device 3 during cleaning, the traveling device 3 just rotates 90°. At this time, the cascaded photovoltaic panel cleaning robot can move along its length direction, and can move onto the photovoltaic panel through the climbing bridge 41 and move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge 40, thus realizing longitudinal cross-row movement.

[0086] When the inclination angle of the photovoltaic panel is relatively large, a suspension guiding mechanism 34 is installed on the vehicle body 1 of the photovoltaic panel cleaning robot at the front end of the cascaded photovoltaic panel cleaning robot. After the cascaded photovoltaic panel cleaning robot is on the photovoltaic panel, the suspension guiding mechanism 34 hooks the top edge of the photovoltaic panel to prevent slipping. The suspension guiding mechanism 34 is installed on the slewing frame 4.

[0087] A cross-row and cross-column cleaning method for a cascaded photovoltaic panel cleaning robot based on a cross-row and cross-column photovoltaic panel cleaning system specifically includes the following steps:

[0088] 1. Control each cleaning device 2 to lift through the brush roller driving structure 22 to avoid collision during walking, and then control the walking mechanism 7 to work to make the cascaded photovoltaic panel cleaning robot climb onto the photovoltaic panel along the climbing bridge 41;

[0089] Specifically, drive the brush roller frame 21 to rotate through the cleaning lifting mechanism 25 to lift the brush roller 54. The difference in the lifting angles of adjacent two photovoltaic panel cleaning robots is not less than 15° to prevent the cleaning devices 2 on the same side of adjacent two photovoltaic panel cleaning robots from colliding when walking on a slope of less than 180°;

[0090] During climbing, control the traveling device 3 to rotate until its moving direction is the same as the length direction of several cascaded photovoltaic panel cleaning robots. When there is a suspension guiding mechanism 34, make the end with the suspension guiding mechanism 34 move onto the photovoltaic panel first. When the end with the suspension guiding mechanism 34 is aligned with the top edge of the photovoltaic panel (detected by the ultrasonic distance sensor 57 on the front side of the base frame 5), it is in place; when there is no suspension device, when the front end of the cascaded photovoltaic panel cleaning robot is aligned with the top edge of the photovoltaic panel, it is in place;

[0091] When the photovoltaic panel has a large inclination and will slide down, the suspension drive structure 51 is controlled to drop the suspension wheel (suspension wheel 1 35 or suspension wheel 2 39) to roll with the top edge of the photovoltaic panel to prevent the panel from sliding down. When the photovoltaic panel has a small inclination and will not slide down, the suspension guide mechanism 34 is not installed, or the suspension guide mechanism 34 is folded up and does not fall down, and this step is omitted.

[0092] Second, control the walking device 3 to rotate until its moving direction is perpendicular to the length direction of the collective photovoltaic panel cleaning robot, control the walking mechanism 7 to make several photovoltaic panel cleaning robots move laterally along the photovoltaic panel, and at the same time, the cleaning lifting mechanism 25 controls the brush roller 54 to be placed on the photovoltaic panel, and controls the brush roller 54 to rotate to clean the photovoltaic panel;

[0093] When there are several photovoltaic panels arranged horizontally, the collective photovoltaic panel cleaning robot cleans them one by one by cooperating with the guide wheel 24, the crossing device 13 and the cleaning lifting mechanism 25 across the rows. When there is only one row, this step is omitted.

[0094] 3. After the cleaning is completed, the integrated photovoltaic panel cleaning robot moves to the photovoltaic panel docked with the connecting bridge 40, and its front end is aligned with the connecting bridge 40, the cleaning lifting mechanism 25 is controlled to lift the brush roller 54, and the walking device 3 is controlled to rotate until its moving direction is the same as the length direction of the integrated photovoltaic panel cleaning robot, and a number of walking devices 3 are controlled to move so that a number of integrated photovoltaic panel cleaning robots move from the previous photovoltaic panel to the next photovoltaic panel through the connecting bridge 40; when there is a hanging guide mechanism 34, one end with the hanging guide mechanism 34 is first moved to the next photovoltaic panel, and when one end with the hanging guide mechanism 34 is aligned with the top edge of the next photovoltaic panel, it moves into place; when there is no hanging device, the front end of the integrated photovoltaic panel cleaning robot moves to align with the top edge of the photovoltaic panel, and then it moves into place;

[0095] Specifically, the connecting bridge 40 is arranged at the side of the front photovoltaic panel and the rear photovoltaic panel, and the photovoltaic panel is detected by the ultrasonic ranging sensor 57 on the brush roller cover 28. When the photovoltaic panel reaches the side, it reaches the position of docking with the connecting bridge 40, and a plurality of photovoltaic panel cleaning robots connected together are controlled to move toward the connecting bridge 40.

[0096] 4. Repeat steps 2 and 3 until the photovoltaic panel array is cleaned.

[0097] This embodiment is mainly used for cleaning matrix photovoltaic panels. As in the above method, by constructing a connecting bridge 40, autonomous horizontal cross-column and vertical cross-row can be achieved, with a high degree of automation and intelligence.

[0098] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the claims of the present invention shall be included within the protection scope of the claims of the present invention.

Claims

1. A photovoltaic panel cleaning system across rows, characterized by: It includes photovoltaic panel cleaning equipment and a climbing bridge (41); The climbing bridge (41) is connected to the lower edge of the photovoltaic panel, and the photovoltaic panel cleaning device can be moved to the photovoltaic panel through the climbing bridge (41). The photovoltaic panel cleaning device can climb down from the climbing bridge (41) of one photovoltaic panel and then move from another climbing bridge (41) to another photovoltaic panel.

2. A photovoltaic panel cleaning system across rows according to claim 1, characterized in that: It also includes a connecting bridge (40), one end of the connecting bridge (40) is connected to the top edge of any photovoltaic panel in the front row, and the other end of the connecting bridge (40) is connected to the bottom edge of any photovoltaic panel in the rear row. The photovoltaic panel cleaning device can be moved from a photovoltaic panel in the front row to a photovoltaic panel in the rear row through the connecting bridge (40).

3. A photovoltaic panel cleaning system across rows according to claim 2, characterized in that: The connecting bridge (40) comprises a first transition section (48), a second transition section (50) and a connecting section (49); the first transition section (48), the connecting section (49) and the second transition section (50) are connected in sequence, the first transition section (48) is connected to the top edge of any photovoltaic panel in the front row, and the second transition section (50) is connected to the bottom edge of any photovoltaic panel in the rear row.

4. A photovoltaic panel cleaning system across rows according to claim 3, characterized in that: The first transition section (48) and the second transition section (50) are both arranged horizontally.

5. A photovoltaic panel cleaning system across rows according to claim 1, characterized in that: Ultrasonic distance measuring sensors (57) are respectively installed at the front end and both sides of the photovoltaic panel cleaning device.

6. A photovoltaic panel cleaning system across rows according to claim 1, characterized in that: The photovoltaic panel cleaning device is a collective photovoltaic panel cleaning robot, comprising a plurality of collective photovoltaic panel cleaning robots, wherein the photovoltaic panel cleaning robot comprises a vehicle body (1), a cleaning device (2) and a walking device (3) mounted on the vehicle body (1), and two adjacent vehicle bodies (1) are connected via a plurality of connecting components (29).

7. A photovoltaic panel cleaning system across rows according to claim 6, characterized in that: A flexible connecting component (29) is used between two adjacent photovoltaic panel cleaning robots.

8. A photovoltaic panel cleaning system across rows according to claim 6, characterized in that: The vehicle body (1) comprises a base frame (5) and a rotating frame (4); the rotating frame (4) is rotatably connected to the base frame (5); the walking device (3) is mounted on the base frame (5); the cleaning device (2) is mounted on the rotating frame (4); a locking mechanism (43) is provided between the rotating frame (4) and the base frame (5); the locking mechanism (43) is used to fix the rotating frame (4) and the base frame (5).

9. A photovoltaic panel cleaning system across rows according to claim 8, characterized in that: The locking mechanism (43) comprises an electric push rod (44), a limit rod (45), a travel switch (46) and a lock hole (47); the limit rod (45) is fixed on the base frame (5); two lock holes (47) are arranged on the base frame (5); the electric push rod (44) and the travel switch (46) are arranged on the rotary frame (4); the telescopic rod of the electric push rod (44) is plugged into the lock hole (47); the travel switch (46) and the limit rod (45) are plugged into the lock hole (47); When the travel switch (46) is rotated to contact the limit rod (45), the telescopic rod of the electric push rod (44) is plugged into the other lock hole (47), and the walking direction of the walking device (3) is perpendicular to the length direction of the integrated photovoltaic panel cleaning robot. When the travel switch (46) is rotated to contact the limit rod (45), the telescopic rod of the electric push rod (44) is plugged into the other lock hole (47), and the walking direction of the walking device (3) is consistent with the length direction of the integrated photovoltaic panel cleaning robot.

10. A photovoltaic panel cleaning system across rows according to any one of claims 1 to 9, characterized in that: The photovoltaic panel cleaning device is provided with a suspension guide mechanism (34), and the suspension guide mechanism (34) comprises a suspension frame (37), a second suspension shaft (38), a second suspension wheel (39) and a suspension drive structure (51). The suspension frame (37) is fixedly connected to a rotating frame (4) or a base frame (5), one end of the second suspension shaft (38) is movably connected to the suspension frame (37), and the other end of the second suspension shaft (38) is rotationally connected to the second suspension wheel (39). The second suspension wheel (39) is in rolling cooperation with the top edge of the photovoltaic panel, and the suspension drive structure (51) is installed on the suspension frame (37) and is used to drive the second suspension shaft (38) to rotate.

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