CN110681622B - A photovoltaic panel intelligent cleaning robot - Google Patents

Abstract

The invention discloses an intelligent photovoltaic panel cleaning robot, which belongs to the field of solar photovoltaic panel cleaning. A dust accumulation degree detection mechanism, a traveling mechanism, a cleaning mechanism, a control mechanism, and a cleaning robot frame are provided. The dust accumulation degree detection mechanism integrates a Bluetooth transmission function, and is compatible with The control mechanism conducts Bluetooth wireless information communication, and transmits the data of the surface area of the photovoltaic panel to the control mechanism wirelessly through Bluetooth; the walking mechanism has a horizontal walking unit and a vertical walking unit; the cleaning mechanism includes a cleaning mechanism rack, a double-port vacuum duct, Herringbone brush, vacuum motor, water tank lifter, electronically controlled leakage water tank, cleaning rag, dust box, heating dryer, thin-film battery power supply; the control mechanism receives the photovoltaic panel sent by the dust accumulation detector After comparing the dust level data on the surface area with the threshold data set inside, it can intelligently judge the current dust level of the photovoltaic panel, and give different instructions according to different dust levels.

Description

A photovoltaic panel intelligent cleaning robot

technical field

The invention relates to the field of solar photovoltaic panel cleaning, in particular to an intelligent photovoltaic panel cleaning robot.

Background technique

With the continuous exploitation and utilization of fossil energy, chemical energy is increasingly tense; renewable energy - solar energy, due to its non-polluting and resource-rich characteristics, all countries use it as a substitute for traditional energy and vigorously develop solar power generation systems. Photovoltaic panels are the core part of the solar power generation system, relying on the photovoltaic effect to directly convert solar energy into electrical energy. However, when the solar power generation system is running, it will be affected by the dust in the surrounding environment, resulting in a decrease in the transmittance of the solar panel, which seriously affects power generation. efficiency. At present, various photovoltaic power stations of various sizes generally adopt the method of manual observation and manual cleaning by operation and maintenance personnel. Because manual observation of the degree of ash accumulation has many subjective factors, it is not very accurate. When the photovoltaic panel is further cleaned, it is easy to over-clean or under-clean the photovoltaic panel. Furthermore, due to the large number of photovoltaic panels, the large total area, and the low efficiency of manual cleaning, there is a serious waste of water resources.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the prior art, the present invention provides a simple operation, high cleaning efficiency, a function of detecting the degree of dust accumulation, a waterless cleaning mode and a water cleaning mode, and intelligent selection of different modes according to the degree of dust accumulation. An intelligent cleaning robot for photovoltaic panels.

To achieve the above object, the present invention is realized according to the following technical solutions:

An intelligent cleaning robot for photovoltaic panels, characterized in that it includes: a dust accumulation degree detection mechanism, a walking mechanism, a cleaning mechanism, a control mechanism, and a cleaning robot frame, wherein the dust accumulation degree detection mechanism is installed on the left side of the photovoltaic panel, and the walking mechanism , The cleaning mechanism and the control mechanism are installed on the cleaning robot frame. The photovoltaic panel intelligent cleaning robot is controlled by the control mechanism. After starting, the dust accumulation degree detection mechanism of the photovoltaic panel first detects the dust accumulation degree of the photovoltaic panel, and then the walking mechanism drives the photovoltaic panel intelligent The robot moves, and the cleaning mechanism cleans the photovoltaic panels, wherein the dust accumulation degree detection mechanism is powered by the photovoltaic panel fixed to it, the control mechanism is located in the control box, and is installed in the lower part of the cleaning robot frame, and the control mechanism Compare the dust level data on the surface area of the photovoltaic panel sent by the dust accumulation degree detection agency with the different threshold data set internally, intelligently judge the current dust accumulation degree of the photovoltaic panel, and give the water cleaning according to the different dust accumulation degree. Either waterless clean or no clean instructions.

In the above technical solution, the dust accumulation degree detection mechanism includes a support frame fixed at one end of the photovoltaic panel, and a dust accumulation degree detector. The dust accumulation degree detector integrates a Bluetooth transmission function and performs Bluetooth wireless information communication with the control mechanism. The data of the gray level of the surface area of the photovoltaic panel is wirelessly transmitted to the control mechanism through Bluetooth.

In the above technical solution, the walking mechanism includes a horizontal walking unit and a vertical walking unit, wherein the horizontal walking unit is installed on the cleaning robot frame, and drives the cleaning robot frame to walk laterally along the photovoltaic panel, and the total length of the walking distance is from left to left. The limit switch and the right limit switch are limited; the longitudinal travel unit drives the cleaning mechanism to travel longitudinally, and the total length of the traveled distance is limited by the upper limit switch and the lower limit switch.

In the above technical solution, the lateral walking unit includes a stepper motor driving wheel set located on the edge of the photovoltaic panel and a tightening driven wheel set located on the lower edge of the photovoltaic panel; the stepper motor driving wheel set and the tightening driven wheel set are both provided There is a corresponding spring tightening device; the spring tightening device ensures that the two wheel sets are closely attached to the upper and lower edges of the photovoltaic panel during walking to prevent slippage;

The longitudinal walking unit includes a stepper motor synchronous belt drive device and an optical axis slider track device; the cleaning mechanism frame of the cleaning mechanism is connected with the slider by bolts, and is driven by the stepper motor synchronous belt drive device along the optical axis. Longitudinal reciprocating walk.

In the above technical solution, the cleaning mechanism includes a cleaning mechanism frame, a double-port vacuum duct, a herringbone brush, a vacuum motor, a water tank lifter, an electronically controlled leakage water tank, a cleaning rag, a dust collecting box, and a heating oven. Dryer, thin film battery board power supply;

The double-port vacuum duct, vacuum motor, water tank lifter, dust collecting box, heating dryer, and thin-film battery board power supply are fixedly arranged on the cleaning mechanism frame; the double-port vacuum duct is provided by bolts It is fixed on the lower part of the cleaning mechanism frame, and the dust collecting box is fixed on the upper part of the cleaning mechanism frame by bolts. At the rear of the rack, the thin-film battery board power supply is located on the top of the cleaning mechanism rack; the herringbone brush is fixed on the double-port vacuum duct, and is surrounded and sealed by the double-port vacuum duct;

The cleaning rag is fixed on the bottom of the electric control leakage water tank by means of snap connection, and is driven by the water tank lifter together with the electric control leakage water tank;

The water tank lifter drives the electronically controlled leakage water tank to move upwards or downwards when receiving the lifting command issued by the control mechanism;

The electronically controlled leakage water tank leaks a predetermined amount of cleaning agent when receiving the leakage cleaning agent instruction issued by the control mechanism;

When receiving the drying instruction issued by the control mechanism, the heating dryer heats the air flow cleaned after being filtered by the dust box, blows the air flow to the surface of the photovoltaic panel, and uses the waste heat to accelerate the removal of the residual cleaning agent on the surface of the photovoltaic panel. evaporation;

The thin-film battery board power supply supplies power to the cleaning mechanism, and when the light is sufficient and the photovoltaic panel intelligent cleaning robot does not work, the thin-film battery board power supply device's thin-film battery board is automatically charged.

In the above technical solution, there are two operation modes according to the different commands received. When the cleaning mechanism frame receives the waterless cleaning command, it walks in a bow-shaped route, and starts the herringbone brush and the vacuuming motor in turn, wherein The herringbone brush and the vacuuming motor run at 80% of the full power and the energy-saving power; when the cleaning mechanism frame receives the water cleaning command, it walks in an M-shaped route, and starts the herringbone brush and the vacuuming motor in turn. , Electric control leakage water tank, heating dryer, among which herringbone brush and vacuum motor run at full power.

Compared with the prior art, the present invention has the following beneficial effects:

The operation of the photovoltaic panel intelligent cleaning robot of the present invention adopts fully automatic control, and the whole process is highly intelligent and easy to operate from detecting the dust accumulation level of the photovoltaic panel to intelligently selecting the cleaning mode and finally completing the cleaning of the photovoltaic panel. Selecting different cleaning modes according to the different dust accumulation levels of the photovoltaic panels can achieve the effect of saving water and electricity, reducing the waste of resources, and enhancing the practical performance and environmental protection of the robot. The horizontal walking unit and the vertical walking unit are used to make the cleaning robot rack evenly stressed, which solves the problem that the robot may weigh the photovoltaic panel, and reduces the possible damage to the solar photovoltaic panel during the cleaning process.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

Fig. 1 is the general assembly drawing of the present invention;

Fig. 2 is the partial view of the dust accumulation degree detection mechanism in the present invention;

Fig. 3 is the partial partial view of the upper part of the present invention;

Fig. 4 is the structure diagram of the stepper motor drive wheel group of the lateral walking unit in the present invention;

Figure 5 is a partial partial view of the lower half of the present invention;

Fig. 6 is the structural diagram of the tightening driven wheel set of the lateral walking unit in the present invention;

Fig. 7 is the structural diagram of cleaning mechanism in the present invention;

Fig. 8 is the top view of the cleaning mechanism in the present invention;

Reference number: 1-photovoltaic panel, 11-support frame, 112-dust accumulation level detector, 12-limit collision point, 2-cleaning robot frame, 21-transverse walking unit, 211-stepper motor drive wheel set, 2111-spring tightening device, 212- tightening driven wheel set, 2121-left limit switch, 2122-right limit switch, 2123-spring tightening device, 22-longitudinal travel unit, 221-step motor timing belt drive device, 222- Optical axis slider track device, 2221- optical axis, 2222-slider, 23-control box, 24-upper limit switch, 25-lower limit switch, 3-cleaning mechanism rack, 31-double-port vacuum duct, 311-herringbone brush, 32-vacuum motor, 33-water tank lifter, 331-electrically controlled leakage water tank, 332-cleaning rag, 34-dust box, 35-heating dryer, 36-film battery board power supply.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments.

In the description of the present invention, it is to be understood that the terms "radial", "axial", "upper", "lower", "top", "bottom", "inner", "outer", etc. refer to orientations Or the positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. , so it should not be construed as a limitation of the present invention. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "arrangement" and "connection" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection connected, or integrally connected; either directly or indirectly through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

As shown in FIG. 1, an intelligent photovoltaic panel cleaning robot of the present invention is characterized in that it includes: a dust accumulation degree detection mechanism, a walking mechanism, a cleaning mechanism, a control mechanism, and a cleaning robot frame 2. The dust accumulation degree detection mechanism The mechanism is installed on the left side of the photovoltaic panel 1, and the walking mechanism, the cleaning mechanism, and the control mechanism are installed on the cleaning robot frame 2. The photovoltaic panel intelligent cleaning robot is controlled by the control mechanism. After starting, the photovoltaic panel is first detected by the dust accumulation degree detection mechanism. The dust accumulation level of 1, then the walking mechanism drives the photovoltaic panel intelligent robot to move, and the cleaning mechanism cleans the photovoltaic panel 1, wherein the dust accumulation degree detection mechanism is powered by the photovoltaic panel 1 fixed to it, and the control mechanism is located in the control mechanism. In the box 23, it is installed in the lower part of the cleaning robot frame 2, and the control mechanism compares the dust level data on the surface area of the photovoltaic panel 1 sent by the dust accumulation level detection mechanism with the different threshold data set inside, and intelligently judges the photovoltaic panel. 1. The current dust accumulation degree, and according to the different dust accumulation degree, the instructions for cleaning with water or cleaning without water or not cleaning are given.

As shown in FIG. 2 , the dust accumulation degree detection mechanism includes a support frame 11 fixed at one end of the photovoltaic panel 1 and a dust accumulation degree detector 112. The dust accumulation degree detector 112 integrates the Bluetooth transmission function, and performs Bluetooth wireless communication with the control mechanism. For information communication, the data of the gray level on the surface of the photovoltaic panel 1 is wirelessly transmitted to the control mechanism through Bluetooth.

The walking mechanism includes a horizontal walking unit 21 and a vertical walking unit 22, wherein the horizontal walking unit 21 is installed on the cleaning robot frame 2, and drives the cleaning robot frame 2 to walk laterally along the photovoltaic panel 1, and the total length of the walking distance is limited by the left. The position switch 2121 and the right limit switch 2122 are limited; the longitudinal travel unit 22 drives the cleaning mechanism to travel longitudinally and the total length of the traveled distance is limited by the upper limit switch 24 and the lower limit switch 25 .

As shown in FIG. 4 and FIG. 6 , the lateral walking unit 21 includes a stepper motor driving wheel set 211 located on the upper edge of the photovoltaic panel 1 and a tightening driven wheel set 212 located at the lower edge of the photovoltaic panel; the stepper motor driving wheel set 211 Corresponding spring tightening devices 2111 and 2123 are provided with the tightening driven wheel set 212; the spring tightening devices 2111 and 2123 ensure that the two wheel sets are closely attached to the upper and lower edges of the photovoltaic panel 1 during walking to prevent slipping;

As shown in FIG. 3 and FIG. 5 , the longitudinal traveling unit 22 includes a stepper motor synchronous belt drive device 221 and an optical axis slider track device 222; the cleaning mechanism frame 3 is connected with the slider 2222 by bolts, and is connected by a stepper motor The timing belt driving device 221 is driven to reciprocate longitudinally along the optical axis 2221 .

As shown in Figures 7 and 8, the cleaning mechanism includes a cleaning mechanism frame 3, a double-port vacuum duct 31, a herringbone brush 311, a vacuum motor 32, a water tank lifter 33, an electronically controlled leakage water tank 331, a cleaning The rag 332, the dust box 34, the heating dryer 35, the thin-film battery board power supply 36;

The double-port vacuuming air duct 31, the vacuuming motor 32, the water tank lifter 33, the dust collecting box 34, the heating dryer 35, and the thin-film battery board power supply 36 are fixedly arranged on the cleaning mechanism frame 3;

The dual-port vacuuming air duct 31, the vacuuming motor 32, the water tank lifter 33, the dust collecting box 34, the heating dryer 35, and the thin-film battery board power supply 36 are fixedly arranged on the cleaning mechanism frame 3; The dust collecting duct 31 is fixed on the lower part of the cleaning mechanism frame 3 by bolts, the dust collecting box 34 is fixed on the upper part of the cleaning mechanism frame 3 by bolts, and the dust collecting motor 32 is installed on the double suction dust duct 31 and the dust collecting box 34 In between, the water tank lifter 33 and the heating dryer 35 are located at the rear of the cleaning mechanism frame 3, and the thin-film battery board power supply 36 is located at the top of the cleaning mechanism frame 3;

The herringbone brush 311 is fixed on the double-port vacuum duct 31, and is surrounded and sealed by the double-port vacuum duct 31;

The cleaning cloth 332 is fixed on the bottom of the electronically controlled leakage water tank 331 by means of snap connection, and is driven by the water tank lifter 33 together with the electronically controlled leakage water tank 331;

The water tank lifter 33 drives the electronically controlled leakage water tank 331 to move upwards or downwards when receiving a lifting command issued by the control mechanism;

The electronically controlled leakage water tank 331 is controlled by the control mechanism. When receiving the leakage cleaning agent instruction issued by the control mechanism, the electronically controlled leakage water tank 331 starts to work and leaks a predetermined amount of cleaning agent;

The thin-film battery board power supply 36 supplies power to the cleaning mechanism. When receiving a drying instruction from the control mechanism, the heating dryer 35 heats the air that has been filtered and cleaned by the dust box 34, and blows the air. To the surface of the photovoltaic panel 1, use the waste heat to accelerate the evaporation of the residual cleaning agent on the surface of the photovoltaic panel 1;

The thin film battery panel power supply 36 supplies power to the cleaning mechanism, and when the light is sufficient and the photovoltaic panel intelligent cleaning robot is not working, the thin film battery panel of the thin film battery panel power supply 36 is automatically charged.

The control mechanism integrates the bluetooth transmission function and data processing function. After using the bluetooth wireless communication technology to receive the data of the dust level on the surface of the photovoltaic panel 1 sent by the dust accumulation level detector 112, the data can be combined with the threshold data A and the threshold value set internally. Data B for comparison.

The threshold data A is the basis for judging whether the photovoltaic panel 1 needs to be cleaned. If the data value of the dust level data on the surface of the photovoltaic panel 1 sent by the dust accumulation detector 112 is greater than the threshold data A, it means that the photovoltaic panel 1 has a lot of dust and needs to be cleaned. . If the value of the dust accumulation degree data value is less than the threshold value data A, it means that the surface of the photovoltaic panel 1 is relatively clean at present and does not need to be cleaned.

In the case that the dust accumulation level data is greater than the threshold value A, compare it with the threshold value data B. If the dust accumulation degree data value is greater than the threshold value B, it means that the photovoltaic panel 1 is currently very seriously dusty, and the control mechanism sends There are water cleaning instructions. If the data value of the dust accumulation degree is less than the threshold value B, it is said that the dust accumulation of the photovoltaic panel is generally serious at present, and the control mechanism issues a waterless cleaning instruction.

According to the different commands received, there are two operation modes. When the cleaning mechanism frame 3 receives the waterless cleaning command, it walks in a bow-shaped route, and starts the herringbone brush 311 and the vacuuming motor 32 in sequence, wherein the herringbone The brush 311 and the vacuuming motor 32 operate at 80% of the full power, which is energy-saving; when the cleaning mechanism frame 3 receives a water cleaning command, it walks in an M-shaped route, and starts the herringbone brush 311 and the suction in sequence. The dust motor 32, the electronically controlled leakage water tank 331, and the heating dryer 35, of which the herringbone brush 311 and the vacuum motor 32 run at full power.

The working process of the present invention is roughly as follows:

The photovoltaic panel intelligent cleaning robot of the present invention mainly works at night in order to avoid affecting the daytime power generation of the photovoltaic power station. First of all, the dust accumulation degree detection mechanism detects the dust accumulation degree of the photovoltaic panels of the power station, and transmits the detected data results to the control mechanism through the Bluetooth wireless communication technology. The control mechanism judges the detected data and intelligently decides whether to The photovoltaic panel 1 needs to be cleaned and which cleaning mode should be selected for cleaning. If the control mechanism determines that the photovoltaic panel of the photovoltaic power station has serious dust accumulation, the water cleaning mode is selected, otherwise, the waterless cleaning mode is selected. After the cleaning mode is determined, the control mechanism sends a return-to-origin command to the traveling mechanism, the lateral traveling unit 21 drives the cleaning robot frame 2 to move to the left, and the left limit switch 2121 stops working after touching the limit impact point 12 . The longitudinal travel unit 22 drives the cleaning mechanism frame 2 to move downward, the lower limit switch 25 touches the limit impact point 12 and then stops working, at this time, the control mechanism obtains the travel mechanism ready signal. The control mechanism then issues a preparatory work command to the cleaning mechanism.

When the photovoltaic panel intelligent cleaning robot works in the water cleaning mode, the cleaning mechanism starts the herringbone brush 311, the vacuum motor 32, the electronically controlled leakage water tank 331, and the heating dryer 35 in sequence, and the water tank lifter 33 The leakage control water tank 331 and the cleaning cloth 332 are dropped, so that the cleaning cloth 332 is close to the surface of the photovoltaic panel 1 . Among them, the herringbone brush 311 and the vacuuming motor 32 run at full power.

When the photovoltaic panel intelligent cleaning robot works in the waterless cleaning mode, the cleaning mechanism starts the herringbone brush 311 and the vacuuming motor 32 in sequence, and the water tank lifter 33 lifts the electronically controlled leakage water tank 331 and the cleaning rag 331, so that the The cleaning rag 331 is removed from the photovoltaic panel surface. Among them, the herringbone brush 311 and the vacuuming motor 32 operate at 80% energy-saving power of full power. After completing the above cleaning mechanism preparation action, the control mechanism obtains the cleaning mechanism ready signal. Finally, the control mechanism sends a start command to the traveling mechanism.

When the photovoltaic panel intelligent cleaning robot works in the water cleaning mode, the cleaning mechanism rack 3 walks over the surface of the photovoltaic panel 1 in sequence in an M-shaped route. The water tank lifter 33 further drops the electronically controlled leakage water tank 331 and the cleaning cloth 332, so that the cleaning cloth 332 slightly touches the surface of the photovoltaic panel 1, and then the longitudinal walking unit 22 moves upward at a low speed. During the movement, the herringbone brush rotates 311 , the dust is swept up and collected in the middle, and the dust enters and collects in the dust collecting box 34 through the double-port vacuuming air duct 31 under the driving of the vacuuming motor 32 . The electronically controlled leakage water tank 331 uniformly and quantitatively leaks the pre-installed cleaning agent onto the cleaning rag according to the instructions issued by the control mechanism. The airflow is blown to the surface of the photovoltaic panel 1, and the residual heat is used to accelerate the evaporation of the residual cleaning agent on the surface of the photovoltaic panel 1. When the vertical traveling unit 22 moves up and touches the upper limit switch 24, then the water tank lifter 33 lifts up the electronically controlled leakage water tank 331 and the cleaning cloth 332, so that the cleaning cloth 332 leaves the surface of the photovoltaic panel 1, and then the horizontal traveling unit 21 moves one position to the right, and the longitudinal travel unit 22 moves downward at a high speed until it touches the lower limit switch 25 . Then enter the next work cycle.

The photovoltaic panel intelligent cleaning robot works in the no-cleaning mode, the cleaning mechanism frame 3 walks in a bow-shaped route, and the speed is accelerated, the vertical walking unit 22 first moves upward at a medium speed, touches the upper limit switch 24, and then the horizontal walking unit 21 Move one camera to the right. Then, the vertical traveling unit 22 moves downward at a moderate speed, touches the lower limit switch 25, and the horizontal traveling unit 22 moves one position to the right. Then enter the next work cycle. In the no-cleaning mode, only the herringbone brush 311 and the vacuuming motor work 32 in the cleaning mechanism. Only cleaning and vacuuming work is performed, and no scrubbing and drying work of the photovoltaic panel 1 is performed.

Finally, when the right limit switch on the lateral travel unit 22 touches the limit collision point 12, the photovoltaic panel intelligent cleaning robot completes all cleaning work.

The above description is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (5)

1. A photovoltaic panel intelligent cleaning robot, characterized in that it comprises: a dust accumulation degree detection mechanism, a traveling mechanism, a cleaning mechanism, a control mechanism, and a cleaning robot frame (2), and the dust accumulation degree detection mechanism is installed on the photovoltaic panel. (1) On the left side, the traveling mechanism, cleaning mechanism, and control mechanism are all installed on the cleaning robot frame (2). The photovoltaic panel intelligent cleaning robot is controlled by the control mechanism. After starting, the photovoltaic panel is first detected by the dust accumulation degree detection mechanism ( 1), then the walking mechanism drives the photovoltaic panel intelligent robot to move, and the cleaning mechanism cleans the photovoltaic panel (1). The control mechanism is located in the control box (23), and is installed at the lower part of the cleaning robot frame (2). Compare different threshold data, intelligently judge the current dust accumulation degree of the photovoltaic panel (1), and give water cleaning or waterless cleaning or non-cleaning instructions according to different dust accumulation degrees; the cleaning mechanism includes a cleaning mechanism rack (3), dual-port vacuum duct (31), herringbone brush (311), vacuum motor (32), water tank lifter (33), electronically controlled leakage water tank (331), cleaning rag (332) , a dust collecting box (34), a heating dryer (35), a thin-film battery board power supply (36); The double-port vacuuming air duct (31), the vacuuming motor (32), the water tank lifter (33), the dust collecting box (34), the heating dryer (35), and the thin-film battery board power supply (36) are fixed It is arranged on the cleaning mechanism frame (3); the double-port dust suction duct (31) is fixed on the lower part of the cleaning mechanism frame (3) by bolts, and the dust collecting box (34) is fixed on the cleaning mechanism frame (3) by bolts. 3) In the upper part, the vacuum motor (32) is installed between the double-port vacuum duct (31) and the dust collecting box (34), and the water tank lifter (33) and the heating dryer (35) are located in the cleaning mechanism frame (3) At the rear, the thin-film battery board power supply (36) is located on the top of the cleaning mechanism frame (3); the herringbone brush (311) is fixed on the dual-port vacuum duct (31), and is sucked by the dual-port The dust air duct (31) is surrounded and sealed; The cleaning rag (332) is fixed on the bottom of the electrically controlled leakage water tank (331) by means of snap connection, and is driven by the water tank lifter (33) together with the electrically controlled leakage water tank (331); The water tank lifter (33) drives the electronically controlled leakage water tank (331) to move upwards or downwards when receiving a lifting command issued by the control mechanism; When receiving a leakage cleaning agent instruction issued by the control mechanism, the electronically controlled leakage water tank (331) leaks a predetermined amount of cleaning agent; When receiving the drying instruction issued by the control mechanism, the heating dryer (35) heats the air flow cleaned after being filtered by the dust collecting box (34), and blows the air flow to the surface of the photovoltaic panel (1), using The residual heat accelerates the evaporation of the residual cleaning agent on the surface of the photovoltaic panel (1); The thin film battery panel power supply (36) supplies power to the cleaning mechanism, and when the light is sufficient and the photovoltaic panel intelligent cleaning robot does not work, the thin film battery panel of the thin film battery panel power supply (36) is automatically charged. 2. The photovoltaic panel intelligent cleaning robot according to claim 1, wherein the dust accumulation degree detection mechanism comprises a support frame (11) fixed on one end of the photovoltaic panel (1), a dust accumulation degree detector (112) ), the dust accumulation level detector (112) integrates the Bluetooth transmission function, performs Bluetooth wireless information communication with the control mechanism, and transmits the data of the surface dust level of the photovoltaic panel (1) wirelessly to the control mechanism through Bluetooth. 3. The photovoltaic panel intelligent cleaning robot according to claim 1, wherein the walking mechanism comprises a lateral walking unit (21) and a longitudinal walking unit (22), wherein the lateral walking unit (21) is installed on the On the cleaning robot frame (2), the cleaning robot frame (2) is driven to walk laterally along the photovoltaic panel (1) and the total length of the walking distance is limited by the left limit switch (2121) and the right limit switch (2122); the The longitudinal travel unit (22) drives the cleaning mechanism to travel longitudinally, and the total length of the traveled distance is limited by the upper limit switch (24) and the lower limit switch (25). 4. The photovoltaic panel intelligent cleaning robot according to claim 3, wherein the lateral walking unit (21) comprises a stepper motor drive wheel group (211) located on the upper edge of the photovoltaic panel (1) and a stepper motor drive wheel set (211) located on the photovoltaic panel (1). The tightening driven wheel set (212) on the lower edge; the stepper motor driving wheel set (211) and the tightening driven wheel set (212) are provided with corresponding spring tightening devices (2111, 2123); the spring tightening device (2111, 2123) 2111, 2123) to ensure that the two wheel sets are in close contact with the upper and lower edges of the photovoltaic panel (1) during walking to prevent slippage; The longitudinal traveling unit (22) includes a stepping motor synchronous belt drive device (221) and an optical axis slider track device (222); the cleaning mechanism frame (3) of the cleaning mechanism is connected with the slider (2222) by bolts, and Driven by a stepper motor synchronous belt driving device (221), the longitudinal reciprocating travel is performed along the optical axis (2221). 5. The photovoltaic panel intelligent cleaning robot according to claim 1, characterized in that, according to different commands received, there are two operating modes, and when the cleaning mechanism frame (3) receives the waterless cleaning command, walk on the shaped route, and start the herringbone brush (311) and the vacuuming motor (32) in sequence, wherein the herringbone brush (311) and the vacuuming motor (32) operate at 80% of the full power of energy-saving power; When the cleaning mechanism frame (3) receives a water cleaning instruction, it walks on an M-shaped route, and starts the herringbone brush (311), the vacuum motor (32), the electronically controlled leakage water tank (331), and the heating and drying in sequence. A dryer (35), wherein the herringbone brush (311) and the vacuuming motor (32) operate at full power.

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