A photovoltaic panel cleaning robot

Abstract

The utility model discloses a photovoltaic panel cleaning robot, the utility model discloses technical scheme includes box and the carrying mechanism of being established on it, the box is equipped with cleaning mechanism, moving mechanism and adsorption mechanism, specifically, the carrying mechanism is configured as can drive the box and moves in the air, realizes the transfer between different photovoltaic panel, simultaneously, the carrying mechanism is hinged with the box through a telescopic drive part, and the length change of utilizing this drive part drives the rotation of the box relative to the carrying mechanism to adjust the inclination of the box relative to photovoltaic panel, the utility model effectively solves the problem that the current cleaning robot cannot cross panel operation and adapts to different installation angle, and the utility model has the beneficial effect that application flexibility is strong and the degree of automation is high.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a photovoltaic panel cleaning robot. Background Technology

[0002] Photovoltaic power generation, as a clean energy source, is being applied on an increasingly large scale. The cleanliness of photovoltaic panels directly affects power generation efficiency, making regular cleaning crucial. Currently, photovoltaic power plants mostly employ manual cleaning or fixed automated cleaning systems, while some cleaning robots capable of moving on individual panels also exist. Manual cleaning suffers from low efficiency, high cost, and safety risks; while fixed cleaning systems require large initial investments and are difficult to adapt to complex photovoltaic array layouts. Existing mobile cleaning robots, although capable of automation, are typically limited to a single or continuously laid-out photovoltaic panel, unable to cross gaps between panels or address angular differences between different arrays, thus exhibiting limited intelligence.

[0003] Existing cleaning robots primarily rely on walking on the panel surface for mobility, lacking aerial transfer capabilities. This limits their working range and makes them unable to handle dispersed or differently angled photovoltaic arrays. Furthermore, most robots lack the ability to dynamically adjust their tilt angle, making it difficult to maintain optimal contact with photovoltaic panel surfaces at varying tilt angles, thus affecting cleaning effectiveness and movement stability. Due to the general lack of effective cross-panel transfer and adaptive tilt angle adjustment capabilities, existing technologies suffer from poor application flexibility and low automation. Utility Model Content

[0004] The main purpose of this invention is to propose a photovoltaic panel cleaning robot, which aims to solve the technical problems of poor application flexibility and low degree of automation in existing technologies due to their reliance on external tracks or manual transfer and lack of autonomous posture adjustment capabilities.

[0005] To achieve the above objectives, this utility model proposes a photovoltaic panel cleaning robot, including a housing and a transport mechanism mounted thereon. The housing is equipped with a cleaning mechanism for cleaning, a moving mechanism for moving on the photovoltaic panel, and an adsorption mechanism for adsorbing onto the photovoltaic panel. The transport mechanism is configured to drive the housing to move in the air, enabling the housing to be transferred between different photovoltaic panels. Simultaneously, the transport mechanism is equipped with a telescopic drive member connected to the housing. One end of the telescopic drive member is hinged to the transport mechanism, and the other end is hinged to the housing. The telescopic drive member is configured to drive the housing to rotate relative to the transport mechanism through its own length change, thereby adjusting the tilt angle of the housing relative to the photovoltaic panel.

[0006] Furthermore, the telescopic drive component is a cylinder, the transport mechanism includes a transport platform and a mounting plate, the transport platform is fixedly connected to the top of the mounting plate, the box body includes a connecting plate, there are at least two connecting plates, and they are located on opposite sides of the top of the box body, one end of the cylinder is hinged to the mounting plate, and the other end is hinged to the connecting plate.

[0007] Furthermore, the enclosure also includes at least two first reinforcing plates, which are located on opposite sides of the top of the enclosure and are perpendicular to the connecting plate. A guide rod is provided between the first reinforcing plates on opposite sides. A reinforcing part that cooperates with the guide rod is provided below the mounting plate. The guide rod passes through the reinforcing part and is used to guide and stabilize the rotation of the enclosure.

[0008] Furthermore, the enclosure also includes a second reinforcing plate, which is located in the middle of the top surface of the enclosure and between the first reinforcing plates on opposite sides. There are at least two second reinforcing plates. The reinforcing part of the aforementioned mounting plate is located between the second reinforcing plates. The guide rod passes through the second reinforcing plate and is used to guide and stabilize the rotation of the enclosure.

[0009] Furthermore, the carrier platform is a multi-rotor drone.

[0010] Furthermore, the cleaning mechanism includes a disc brush section and a roller brush section. The disc brush section is located in the middle of the bottom surface of the housing, while the roller brush section is located on the side of the bottom surface of the housing. The disc brush section and the roller brush section are connected to the same cleaning drive component.

[0011] Furthermore, the disc brush section is a double-disc cleaning disc, and the roller brush section is a bristle brush and / or a roller.

[0012] Furthermore, the moving mechanism includes a track structure and a moving drive component, which are located on opposite sides of the bottom of the box body. The moving drive components on both sides are configured such that the track structure can drive the box body to make turning movements through differential operation.

[0013] Furthermore, the adsorption mechanism is a ducted fan, which is located on the top of the housing, and there are four ducted fans.

[0014] Furthermore, it also includes a cleaning fluid mechanism, which includes a cleaning fluid storage section inside the box, a cleaning fluid release section on the side of the box, and a water supply section, and the cleaning fluid storage section is connected to the cleaning fluid release section and the water supply section through a communication section.

[0015] This utility model includes a housing and a transport mechanism mounted thereon. The housing is equipped with a cleaning mechanism, a moving mechanism, and an adsorption mechanism. Specifically, the transport mechanism is configured to move the housing in the air to transfer between different photovoltaic panels. Simultaneously, the transport mechanism is hinged to the housing via a telescopic drive member, and the change in the length of this drive member drives the housing to rotate relative to the transport mechanism to adjust the tilt angle of the housing relative to the photovoltaic panel. This utility model effectively solves the problems of existing cleaning robots being unable to operate across panels and adapt to different installation angles. This utility model has the beneficial effects of strong application flexibility and high degree of automation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0018] Figure 3 This is a schematic diagram of the planar structure of the present invention;

[0019] Figure 4 This is a schematic diagram showing the fit between the top of the housing and the telescopic drive component;

[0020] Figure 5 This is a three-dimensional structural diagram of the transport mechanism;

[0021] Figure 6 This is a schematic diagram of the interior of the housing of this utility model. Figure 1 ;

[0022] Figure 7 This is a schematic diagram of the interior of the housing of this utility model. Figure 2 ;

[0023] Figure 8 This is a schematic diagram of the structural assembly of the cleaning mechanism.

[0024] Figure 9 This is a three-dimensional structural diagram of the moving mechanism;

[0025] Figure 10 This is a three-dimensional structural diagram of the cleaning fluid mechanism.

[0026] The above figures include the following reference numerals:

[0027] 1. Housing; 11. Connecting plate; 12. First reinforcing plate; 13. Guide rod; 14. Second reinforcing plate; 2. Carrying mechanism; 21. Carrying platform; 22. Mounting plate; 221. Reinforcing part; 3. Cleaning mechanism; 31. Disc brush part; 311. Transmission rod; 312. Brush disc; 32. Roller brush part; 321. Brush; 322. Roller; 323. Transmission belt; 33. Cleaning drive component; 331. First end; 332. Second end; 4. Moving mechanism; 41. Track structure; 42. Moving drive component; 5. Adsorption mechanism; 6. Telescopic drive component; 7. Cleaning liquid mechanism; 71. Cleaning liquid storage part; 72. Cleaning liquid release part; 721. Spray hole; 722. Pipe body; 73. Water supply part; 74. Connecting part; 75. Water pipe fixing part. Detailed Implementation

[0028] The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0029] It should be noted that if any directional indication (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial, etc.) is involved in the embodiments of this utility model, the directional indication is only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0030] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," such descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0031] This utility model proposes a photovoltaic panel cleaning robot.

[0032] In this embodiment of the utility model, such as Figures 1 to 10As shown, the photovoltaic panel cleaning robot includes a housing 1 and a transport mechanism 2 mounted thereon. The housing 1 is equipped with a cleaning mechanism 3 for cleaning, a moving mechanism 4 for moving on the photovoltaic panel, and an adsorption mechanism 5 for adsorbing onto the photovoltaic panel. The transport mechanism 2 is configured to move the housing 1 in the air, enabling the housing 1 to be transferred between different photovoltaic panels. It is understood that in the prior art, the transport mechanism 2 generally refers to land transport, such as using an external crane or conveyor belt to transfer the robot to different photovoltaic panels. However, the transport mechanism 2 of this invention refers to air transport, typically using a drone. Air transport offers the advantages of simplicity and precise positioning compared to land transport. Furthermore, the transport mechanism 2 is equipped with a telescopic drive member 6 connected to the housing 1. One end of the telescopic drive member 6 is hinged to the transport mechanism 2, and the other end is hinged to the housing 1. The telescopic drive member 6 is configured to drive the housing 1 to rotate relative to the transport mechanism 2 through its own length change, thereby adjusting the tilt angle of the housing 1 relative to the photovoltaic panel. The box 1 can be tilted relative to the carrier mechanism 2 by means of the telescopic drive component 6, which is conducive to the box 1 being smoothly attached to photovoltaic panels at different angles.

[0033] In some embodiments of this utility model, considering assembly cost and ease of assembly, the telescopic drive component 6 is preferably a cylinder. The transport mechanism 2 includes a transport platform 21 and a mounting plate 22. The transport platform 21 is fixedly connected to the top of the mounting plate 22. The housing 1 includes connecting plates 11, with at least two connecting plates 11 located on opposite sides of the top of the housing 1. One end of the cylinder is hinged to the mounting plate 22, and the other end is hinged to the connecting plate 11. When the housing 1 is transferred between different photovoltaic panels via the transport mechanism 2, the cylinders connected to the connecting plates 11 on both sides of the housing 1 telescopically adjust the tilt angle of the housing 1, thereby allowing the housing 1 to fit against the photovoltaic panel. In some other embodiments of this utility model, the cylinder can also be replaced by a hydraulic cylinder or an electric push rod. The hydraulic cylinder and the electric push rod (such as the motor and worm gear, the motor and gear set, or the motor and lead screw) can also achieve linear telescopic movement. The hydraulic cylinder and the electric push rod are existing technologies. As for the assembly method, it can be obtained by those skilled in the art by referring to the operation of the cylinder, and will not be described in detail here.

[0034] Specifically, since the transport mechanism 2 is mainly designed for air transport operations, the stability between the transport mechanism 2 and the container 1 needs to be considered to ensure the safe cleaning of the container 1. The container 1 also includes at least two first reinforcing plates 12, which are located on opposite sides of the top of the container 1, with the first reinforcing plates 12 perpendicular to the connecting plate 11. A guide rod 13 is provided between the first reinforcing plates 12 on opposite sides. A reinforcing part 221 that cooperates with the guide rod 13 is provided below the mounting plate 22. The guide rod 13 passes through the reinforcing part 221 and is used to guide and stabilize the rotation of the container 1. Understandably, the first reinforcing plates 12 mainly enhance the stability of the sides of the container.

[0035] More specifically, to further enhance the connection stability between the transport mechanism 2 and the housing 1, the housing 1 also includes a second reinforcing plate 14. The second reinforcing plate 14 is located in the middle of the top surface of the housing 1 and between the first reinforcing plates 12 on opposite sides. In some preferred embodiments of this utility model, at least two second reinforcing plates 14 are provided, and the reinforcing portion 221 of the aforementioned mounting plate 22 is located between the two second reinforcing plates 14. The guide rod 13 passes through the second reinforcing plate and is used to guide and stabilize the rotation of the housing 1. It can be understood that the second reinforcing plate 14 mainly enhances the stability of the middle part of the housing.

[0036] In some embodiments of this invention, the transport platform 21 is a multi-rotor drone. The multi-rotor drone possesses the capabilities of vertical takeoff and landing, hovering, and flight in any direction. This allows the invention to easily traverse physical gaps between photovoltaic arrays, achieving seamless coverage of discretely arranged, irregularly arranged, or sloped photovoltaic panel groups, overcoming the limitations of track-based or wheeled mobile platforms in overcoming obstacles. Simultaneously, the mature flight control technology of the multi-rotor drone enables high-precision aerial positioning. When the telescopic drive component 6 adjusts the tilt angle of the housing 1 to fit the photovoltaic panel, the drone itself can perform corresponding fine-tuning flight (such as forward / backward or left / right translation), coordinating with the rotation of the housing 1 to ensure the stability and accuracy of the housing 1 at the moment of contact with the panel, improving the reliability and safety of the operation. In other embodiments of this invention, the multi-rotor drone can be replaced by a fixed-wing drone or a commonly used unmanned helicopter; this is prior art and will not be elaborated upon.

[0037] In some embodiments of this utility model, the cleaning mechanism 3 includes a disc brush section 31 and a roller brush section 32. The disc brush section 31 is located in the middle of the bottom surface of the housing 1, while the roller brush section 32 is located on the side of the bottom surface of the housing 1. The disc brush section 31 and the roller brush section 32 are connected to the same cleaning drive component 33. It can be understood that the combination of the disc brush section 31 and the roller brush section 32 increases the moving friction, thus improving cleaning efficiency. Simultaneously, the disc brush section 31 and the roller brush section 32 are driven by the same cleaning drive component 33, resulting in a compact assembly structure. Specifically, the cleaning drive component 33 is preferably a dual-shaft three-phase asynchronous motor. The disc brush section 31 includes a transmission rod 311 and a brush disc 312. The aforementioned cleaning drive component 33 has two output ends, with the first end 331 connected to the disc brush section 31 and the other end connected to the roller brush section 32. More specifically, the first end 331 of the cleaning drive component 33 is connected to the transmission rod 311, and preferably, this connection is an engaging connection.

[0038] Specifically, the disc brush section 31 is a double-disc cleaning disc, namely two symmetrically arranged brush discs 312, and the roller brush section 32 consists of a bristle brush 321 and / or a roller 322. In some preferred embodiments of this utility model, the double-disc cleaning disc is installed in the middle position of the bottom of the housing 1, and the roller brush section 32 includes a bristle brush 321 and a roller 322, which are respectively located on the sides of opposite sides of the housing 1. Through this specific design of the double-disc cleaning disc and the roller brush section 32, the cleaning efficiency of the cleaning mechanism 3 can be improved. Specifically, both the brush 321 and the roller 322 are provided with a transmission belt 323 between themselves and the cleaning drive component 33. The transmission belt 323 is located at the second end 332 of the cleaning drive component 33. The brush 321 and the roller 322 are driven by the transmission belts 323 located on opposite sides of the cleaning drive component 33. Compared with the prior art, the brush 321 and the roller 322 are driven by the cleaning drive component 33 together, which has the advantage of simple assembly.

[0039] In some embodiments of this utility model, the moving mechanism 4 includes a track structure 41 and a moving drive component 42. The track structure 41 and the moving drive component 42 are located on opposite sides of the bottom of the housing 1, and the moving drive components 42 on both sides are configured such that the track structure 41 can drive the housing 1 to perform a turning motion through differential operation. The moving drive component 42 is preferably a motor. Specifically, the motor drives the track structure 41 to move through the meshing of drive gears.

[0040] Specifically, the track structure 41 needs to provide sufficient traction and wear resistance while avoiding scratching the photovoltaic panel glass surface. In some embodiments of this invention, the material is hard rubber. Those skilled in the art can choose other elastic materials with similar properties as needed, such as polyurethane, thermoplastic polyurethane, or reinforced engineering plastics. Furthermore, the track structure 41 can also adopt a composite structure with a metal core covered by soft rubber or polyurethane to simultaneously meet the requirements of high strength and good adhesion.

[0041] In some preferred embodiments of this invention, the adsorption mechanism 5 is a ducted fan, which is located on the top of the housing 1, and four ducted fans are provided. Taking a common working environment in the art as an example, i.e., when a robot is working on a photovoltaic panel at a 45-degree tilt angle, with a conventional robot weighing 20 kg and a friction coefficient of 0.6, the thrust required by the adsorption mechanism 5 is approximately 710 N, while a single ducted fan can provide approximately 180 N of thrust. Therefore, four ducted fans are sufficient to meet daily usage needs. It should be noted that the adsorption mechanism 5 of this invention is not limited to the specific form of a ducted fan. Any device that can generate downward airflow or negative pressure to achieve the adsorption function should be interpreted as the adsorption mechanism 5. For example, the adsorption mechanism 5 can also be a ductless centrifugal fan, an axial fan with a protective grille, or an air intake device based on the Venturi effect as equivalent alternatives. In addition, a mixed arrangement of the above-mentioned different adsorption mechanisms 5 can also be used.

[0042] In some embodiments of this utility model, a cleaning fluid mechanism 7 is also included. The cleaning fluid mechanism 7 includes a cleaning fluid storage part 71 disposed in the housing 1, a cleaning fluid release part 72 disposed on the side of the housing 1, and a water supply part 73. A communication part 74 is provided between the cleaning fluid storage part 71, the cleaning fluid release part 72, and the water supply part 73 for communication.

[0043] Specifically, the cleaning fluid storage section 71 is a storage tank, the cleaning fluid release section 72 is a pipe 722 with a spray hole 721, the water supply section 73 is a connector for connecting to an external water pipe, and the connecting section 74 is a pipe.

[0044] Specifically, the cleaning fluid mechanism 7 also includes a water pipe fixing part 75, which is located on the same side of the housing 1 as the water supply part 73. The water pipe fixing part 75 is used to solve the problem of insufficient water pipe distance in special cases. The water pipe fixing part 75 is preferably a reel or roller for binding the water pipe.

[0045] In addition, it is worth noting that since the side of the roller 322 is easier to spray evenly, the cleaning liquid release part 72 is located on the side of the roller 322, which has a better cleaning effect than the side of the brush 321.

[0046] The following content serves as an explanation of the working principle of this utility model:

[0047] During operation, the carrier mechanism 2 (such as a multi-rotor drone) in flight first carries the entire housing 1 to the area above the target photovoltaic panel. After precise positioning via the drone's flight control system, the telescopic drive component 6 (such as a cylinder) begins to move. Based on the actual installation angle of the photovoltaic panel below, the housing 1 is driven to rotate relative to the carrier mechanism 2 around another hinge point by extending or retracting one end, thereby adjusting the bottom surface of the housing 1 to a pre-fitting state parallel to the surface of the photovoltaic panel.

[0048] Subsequently, the transport mechanism 2 controls the housing 1 to slowly descend, causing the moving mechanism 4 (track structure 41) at the bottom of the housing 1 to contact the surface of the photovoltaic panel. At this time, the adsorption mechanism 5 (such as a ducted fan) automatically starts, generating a downward airflow, thereby creating a negative pressure between the housing 1 and the photovoltaic panel, generating an adsorption force, and stably pressing the housing 1 onto the surface of the photovoltaic panel. After the adsorption stabilizes, the transport mechanism 2 (drone) can temporarily reduce its rotor power or enter a standby state, and its main function changes from transfer to providing stable top connection support.

[0049] Next, the cleaning mechanism 3 and the moving mechanism 4 work together. The cleaning drive component 33 (such as a dual-axis motor) simultaneously drives the central disc brush 31 and the side roller brush 32 to rotate at high speed, brushing the panel surface. At the same time, the moving drive component 42 drives the track structure 41 to move, moving the entire housing 1 along the photovoltaic panel surface. When turning is required, it can be achieved by controlling the differential speed of the track structures 41 on both sides. During this process, the cleaning liquid mechanism 7 can work as needed. The cleaning liquid is connected to an external water pipe in the water supply section 73. Driven by water flow or pumping, it is transported from the cleaning liquid storage section 71 through the connecting section 74 to the cleaning liquid release section 72 (spray hole 721) and evenly sprayed onto the panel surface. The cleaning liquid works in conjunction with the disc brush 31 and the roller brush 32 to achieve efficient cleaning.

[0050] After a single panel is cleaned, the adsorption mechanism 5 stops working, and the adsorption force is released. The telescopic drive component 6 then retracts the housing 1 to a neutral flight posture. Subsequently, the transport mechanism 2 lifts the housing 1 and flies to the next photovoltaic panel to be cleaned, repeating the above process to achieve automated and uninterrupted cross-panel continuous cleaning operations.

[0051] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A photovoltaic panel cleaning robot, comprising a housing and a carrying mechanism disposed thereon, the housing being provided with a cleaning mechanism for cleaning, a moving mechanism for moving on the photovoltaic panel, and an adsorption mechanism for adsorbing onto the photovoltaic panel, characterized in that: The transport mechanism is configured to move the housing in the air, enabling the housing to be transferred between different photovoltaic panels. The transport mechanism is equipped with a telescopic drive component connected to the housing. One end of the telescopic drive component is hinged to the transport mechanism, and the other end is hinged to the housing. The telescopic drive component is configured to drive the housing to rotate relative to the transport mechanism by changing its own length, thereby adjusting the tilt angle of the housing relative to the photovoltaic panels.

2. The photovoltaic panel cleaning robot as described in claim 1, characterized in that: The telescopic drive component is a cylinder, and the carrying mechanism includes a carrying platform and a mounting plate. The carrying platform is fixed to the top of the mounting plate, and the box body includes a connecting plate. There are at least two connecting plates, which are located on opposite sides of the top of the box body. One end of the cylinder is hinged to the mounting plate, and the other end is hinged to the connecting plate.

3. The photovoltaic panel cleaning robot as described in claim 2, characterized in that: The enclosure also includes at least two first reinforcing plates, which are located on opposite sides of the top of the enclosure and are perpendicular to the connecting plate. A guide rod is provided between the first reinforcing plates on opposite sides. A reinforcing part that cooperates with the guide rod is provided below the mounting plate. The guide rod passes through the reinforcing part and is used to guide and stabilize the rotation of the enclosure.

4. The photovoltaic panel cleaning robot as described in claim 3, characterized in that: The enclosure also includes a second reinforcing plate, which is located in the middle of the top surface of the enclosure and between the first reinforcing plates on opposite sides. There are at least two second reinforcing plates. The reinforcing part of the aforementioned mounting plate is located between the second reinforcing plates. The guide rod passes through the second reinforcing plate and is used to guide and stabilize the rotation of the enclosure.

5. The photovoltaic panel cleaning robot as described in any one of claims 2 to 4, characterized in that: The transport platform is a multi-rotor drone.

6. The photovoltaic panel cleaning robot as described in claim 1, characterized in that: The cleaning mechanism includes a disc brush section and a roller brush section. The disc brush section is located in the middle of the bottom surface of the housing, while the roller brush section is located on the side of the bottom surface of the housing. The disc brush section and the roller brush section are connected to the same cleaning drive component.

7. The photovoltaic panel cleaning robot as described in claim 6, characterized in that: The disc brush section is a double-disc cleaning disc, and the roller brush section consists of a bristle brush and / or a roller.

8. The photovoltaic panel cleaning robot as described in claim 1, characterized in that: The moving mechanism includes a track structure and a moving drive component. The track structure and the moving drive component are located on opposite sides of the bottom of the box body, and the moving drive components on both sides are configured to enable the track structure to drive the box body to turn through differential operation.

9. The photovoltaic panel cleaning robot as described in claim 1, characterized in that: The adsorption mechanism is a ducted fan, which is located on the top of the housing, and there are four ducted fans.

10. The photovoltaic panel cleaning robot as described in claim 1, characterized in that: It also includes a cleaning fluid mechanism, which includes a cleaning fluid storage section inside the box, a cleaning fluid release section on the side of the box, and a water supply section, and the cleaning fluid storage section is connected to the cleaning fluid release section and the water supply section through a communication section.

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