CN115001382A

CN115001382A - Deviation-correcting type intelligent cleaning robot for photovoltaic module and control method of deviation-correcting type intelligent cleaning robot

Info

Publication number: CN115001382A
Application number: CN202210547250.1A
Authority: CN
Inventors: 聂勇; 何流
Original assignee: Shanghai Boao Automation System Co ltd; Hunan Baihengsheng Environmental Protection Co ltd
Current assignee: Shanghai Boao Automation System Co ltd; Hunan Baihengsheng Environmental Protection Co ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-09-02

Abstract

The invention relates to a deviation-rectifying type intelligent cleaning robot for photovoltaic modules and a control method thereof, which cover N photovoltaic panels to work and comprises a frame module, a control module, a guide wheel module arranged on the frame module, a cleaning module, a power module, a measuring module, a left driving module and a right driving module. The left driving assembly and the right driving assembly are distributed in parallel. The photovoltaic array cleaning system is of a modular structure, parametric design and manufacture are carried out according to the width of the N photovoltaic panels covered by the cleaned photovoltaic array, and the photovoltaic array cleaning system is simple, convenient and quick. Meanwhile, the control assembly adjusts the operation of the right driving assembly in real time by utilizing the offset information fed back by the measuring assembly, so that the situation that the robot deviates, slips or is stuck during operation is avoided, and the cleaning efficiency of the surface of the whole photovoltaic assembly is improved. The control assembly can also automatically control the starting and stopping of the robot. Compared with the prior art, the method for measuring the deviation is more accurate and reliable, and is energy-saving and environment-friendly.

Description

Deviation-correcting type intelligent cleaning robot for photovoltaic module and control method of deviation-correcting type intelligent cleaning robot

Technical Field

The invention relates to the field of solar photovoltaic panel equipment, in particular to a deviation rectifying type intelligent cleaning robot for a photovoltaic module and a control method of the robot.

Background

Photovoltaic power generation is a clean energy source which can be continuously regenerated, is widely applied at present, and becomes one of the clean energy sources with the most development and utilization potential. If dust or snow is attached to the surface of the solar photovoltaic panel, the light transmittance is affected, and the power generation efficiency is reduced; meanwhile, the dust can form a hot spot effect on the local part of the solar photovoltaic panel, the power generation efficiency of the solar photovoltaic panel can be reduced, and even the solar photovoltaic panel is burnt. If dust or accumulated snow can not be cleared away in time, the loss of the generating capacity of the photovoltaic cell can be caused, the service life of the assembly is influenced, the generating efficiency is reduced, and the energy waste is caused. Therefore, the method for keeping the solar photovoltaic panel clean is an effective way for ensuring the power generation capacity of the photovoltaic power station.

The photovoltaic panel cleaning robot travels on a long string of photovoltaic panel arrays, and deflection occurs when the cleaning robot travels due to the straightness of photovoltaic panel array installation, the friction force change between each traveling wheel of the cleaning robot and the surface of the photovoltaic panel, and the like in the traveling process, so that real-time deviation correction is needed. The CN 109365462B patent utilizes a distance measuring sensor to measure the relative distance between the robot and the sidewall of the photovoltaic panel to determine the deviation, and the photovoltaic panel array is not a straight line but a wavy curve, so the method for measuring the relative distance may have inaccurate data. In patent CN 112756307 a, a position sensor is used to detect the distance between the guide wheel of the robot and the frame of the photovoltaic panel to calculate the deflection angle, and the measured values are deviated due to the position of each adjacent photovoltaic panel being deviated when the photovoltaic panel array is installed.

Disclosure of Invention

The invention aims to improve and innovate the defects and problems in the background art, and provides a photovoltaic module deviation rectifying type intelligent cleaning robot and a control method thereof, wherein the photovoltaic module deviation rectifying type intelligent cleaning robot can realize real-time regulation of the rotating speed of a right driving module through offset information fed back to a control module by a position sensor, avoid the robot from deviating, slipping and jamming during operation and improve the cleaning efficiency.

The utility model provides a photovoltaic module type intelligence of rectifying cleans machine people, covers and works on N photovoltaic boards, includes frame assembly, control assembly, sets up leading wheel subassembly on frame assembly, cleans subassembly, power supply module, measuring component, left drive assembly and right drive assembly, left side drive assembly and right drive assembly parallel distribution.

The frame component comprises an upper module, a middle module, a lower module, a housing and connecting rods, wherein the middle module is positioned between the upper module and the lower module, the number of the upper module and the number of the lower module are respectively 1, the number of the middle module is N-1, the upper module, the middle module and the lower module are connected through the housing to form a rectangular integral structure, the left side and the right side in the housing are respectively provided with one connecting rod, the two connecting rods are parallel and aligned to be distributed, and the axis of the connecting rods is parallel to the long edge of the rectangular integral structure.

Left side drive assembly includes left driving motor, left side synchronizing wheel, left side hold-in range, N +1 left side gyro wheel and N left transmission axle, N left transmission axle connects gradually, and N left transmission axle is on a parallel with the axis of connecting the member, left side driving motor locates on the upper portion module, left side driving motor passes through left synchronizing wheel and left hold-in range and is connected with the left transmission axle of upper portion, N +1 left side gyro wheel evenly distributed sets up on N left transmission axle, and only have that the left side gyro wheel of upper portion and the fixed setting of left transmission axle, other left side gyro wheel and left transmission axle activity set up.

Right side drive assembly includes right driving motor, right synchronizing wheel, right side hold-in range, N +1 right gyro wheel and a N right transmission axle, a N right transmission axle connects gradually, and a N right transmission axle is on a parallel with the axis of connecting the member, right side driving motor locates on the lower part module, right side driving motor passes through right synchronizing wheel and right hold-in range and is connected with the right transmission axle of lower part, N +1 right gyro wheel evenly distributed sets up on a N right transmission axle, and only have that right gyro wheel of lower part and right transmission axle fixed the setting, other right gyro wheel and right transmission axle activity set up.

The guide wheel assembly comprises a guide driving motor, a guide synchronous wheel, a guide synchronous belt, a guide shaft and a guide roller, the guide driving motor is arranged on the upper module and connected with the guide shaft through the guide roller and the guide synchronous belt, the guide roller is fixedly arranged on the guide shaft, the guide roller is tightly attached to the edge of the photovoltaic plate during operation, and the linear velocity of the guide roller is constantly equal to that of the left roller on the uppermost portion.

Cleaning the subassembly including cleaning the motor, cleaning the synchronizing wheel, cleaning the hold-in range, N cleans the cylinder brush, cleans the motor setting on the module of lower part, and N cleans the cylinder brush end to end in proper order, cleans the motor through cleaning the synchronizing wheel and clean the hold-in range and the shaft connection that cleans the cylinder brush of bottommost, and the axis that cleans the cylinder brush is on a parallel with the axis of connecting the member.

The measuring assembly comprises N groups of position sensors, one group of position sensors corresponds to one left transmission shaft, the N groups of position sensors are arranged on a left connecting rod piece in the housing, the position sensors are perpendicular to the photovoltaic panel, and the position sensors are distributed along the axis of the connecting rod piece and used for detecting the metal frame of the photovoltaic panel in real time to obtain time feedback.

The running direction of the deviation rectifying type intelligent cleaning robot for the photovoltaic module is perpendicular to the long edge of the rectangular integral structure;

the power supply module comprises a storage battery and an on-vehicle solar panel, the on-vehicle solar panel is arranged on the housing and corresponds to one surface far away from the photovoltaic panel, the storage battery is arranged in the housing and is connected with the on-vehicle solar panel, and the storage battery is respectively connected with the left driving motor, the right driving motor, the guiding driving motor, the cleaning motor and the position sensor.

The control assembly is respectively connected with the left driving motor, the right driving motor, the guiding driving motor, the cleaning motor and the position sensor.

In one embodiment: n is more than or equal to 1.

In one embodiment: and N is 2.

In one embodiment: the upper module comprises an upper support, the left driving motor is arranged on the upper support, and the guiding driving motor is arranged on the upper support.

In one embodiment: the lower module comprises a lower support, a right driving motor is arranged on the lower support, and a cleaning motor is arranged on the lower support.

In one embodiment: the middle module comprises a middle mounting frame used for providing middle support for the left driving assembly, the right driving assembly and the cleaning assembly.

In one embodiment: each set of position sensors comprises 2 position sensors, and the 2 position sensors are respectively a first sensor and a second sensor, and the first sensor is arranged at the lower part of the second sensor.

A control method of the deviation rectifying type intelligent cleaning robot for the photovoltaic module comprises the following steps:

1) the left driving motor, the right driving motor, the guiding driving motor, the cleaning motor and the position sensor are simultaneously started under the automatic control of a manual or control assembly, the running speed of the left driving motor is consistent with the running speed of the right driving motor when the cleaning robot is started, and the rectification type intelligent cleaning robot for the photovoltaic assembly runs and cleans on a photovoltaic panel after the cleaning robot is started.

2) The control component respectively detects the metal frame of the photovoltaic panel according to the first position sensor and the second position sensor, respectively obtains time feedbacks T1 and T2, and feedbacks T1 and T2 to the control component.

3) The control module judges whether T1= T2, and when T1= T2, the control module controls the running speed of the right driving motor to be consistent with the running speed of the left driving motor all the time and then the control module enters step 6); otherwise, when T1 ≠ T2, proceed to step 4).

4) The control assembly judges whether T1 is less than T2, and when T1 is less than T2, the control assembly controls the right driving motor to decelerate and then returns to the step 3); otherwise step 5) is entered.

5) T1 is more than T2, and the control component returns to the step 3) after controlling the right driving motor to accelerate.

6) The control assembly judges whether the cleaning work is completely finished;

after the deviation-correcting type intelligent cleaning robot of the photovoltaic module cleans all the photovoltaic panels, the step 7) is carried out; otherwise, returning to the step 3).

7) The manual or control component automatically controls to simultaneously turn off the left driving motor, the right driving motor, the guiding driving motor, the cleaning motor and the position sensor.

8) And finishing the work.

The invention has the advantages and beneficial effects that:

the invention is of modular construction, and can be conveniently and rapidly parameterized designed and manufactured according to the width of N photovoltaic panels covered (spanned) by the sweeping photovoltaic array. And meanwhile, the control assembly adjusts the operation of the right driving assembly in real time by utilizing the offset information fed back by the measuring assembly, so that the situation that the robot moves away from the ground, slips or is stuck during operation is avoided, and the cleaning efficiency of the surface of the whole photovoltaic assembly is improved. The control assembly can also automatically control the starting and stopping of the robot.

Each position sensor is perpendicular to the surface of the photovoltaic panel and is used for detecting the metal frame of the photovoltaic panel. Measuring the time of reaching the metal frame in real time when the cleaning robot travels, and judging the deviation and correcting the deviation according to the time difference of each position sensor; this design is more accurate more reliable than prior art measurement deviation.

The invention is energy-saving and environment-friendly.

Drawings

Fig. 1 is a schematic view of the state of the invention when operating on a photovoltaic panel.

Fig. 2 is a front view of the present invention.

Fig. 3 is a rear view of the present invention.

Figure 4 is a side view of the guide wheel assembly and sweeping assembly of the present invention.

Fig. 5 is a schematic structural diagram of the left driving assembly of the present invention.

FIG. 6 is a schematic view of the right drive assembly of the present invention.

FIG. 7 is a schematic view of the construction of the sweeping assembly of the present invention.

Fig. 8 is an operation control flow chart of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed" on another element, it can be directly disposed or attached to the other element or intervening elements may also be present. The terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used to indicate an orientation or positional relationship, which is based on the orientation or positional relationship shown in the drawings, but is for convenience in describing the invention and to simplify the description, and does not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Example 1

Referring to fig. 1 to 8, a photovoltaic module deviation rectifying type intelligent cleaning robot, which covers 2 photovoltaic panels 2 to work, includes a frame module 1, a control module, a guide wheel module 11 disposed on the frame module, a cleaning module 12, a power module 13, a measuring module 14, a left driving module 15, and a right driving module 16, where the left driving module 15 and the right driving module 16 are distributed in parallel.

As shown in fig. 2 and 3, the frame assembly includes an upper module 101, a middle module 102, a lower module 103, a cover 104, and a connection rod 105. The middle module 102 is located between the upper module 101 and the lower module 103. The number of the upper module 101 and the lower module 103 is 1, the number of the middle module 102 is 1, and the upper module 101, the middle module 102 and the lower module 103 are connected through the casing 104 to form a rectangular integral structure. The left side and the right side in the housing 104 are respectively provided with a connecting rod 105, the two connecting rods 105 are parallel and aligned, and the axis of the connecting rod 105 is parallel to the long side of the rectangular integral structure.

As shown in fig. 3 and 5, the left driving assembly 15 includes a left driving motor 151, a left timing wheel 152, a

left timing belt

153, 3 left

rollers

154, and 2 left transmission shafts 155. The 2 left transmission shafts 155 are connected in sequence, and the 2 left transmission shafts 155 are parallel to the axis of the connection link 105. The left drive motor 151 is provided on the upper module 101. The left driving motor 151 is connected to an uppermost left driving shaft 155 through a left timing pulley 152 and a left timing belt 153. The 3 left rollers 154 are uniformly distributed on the 2 left transmission shafts 155, only the uppermost left roller 154 is fixedly arranged with the left transmission shaft 155, and the other left rollers 154 are movably arranged with the left transmission shaft 155.

As shown in fig. 3 and 6, the right driving assembly 16 includes a right driving motor 161, a right timing wheel 162, a

right timing belt

163, 3

right rollers

164, and 2 right driving shafts 165. The 2 right transmission shafts 165 are connected in sequence, and the 2 right transmission shafts 165 are parallel to the axis of the connection rod 105. The right driving motor 161 is provided on the lower module 103. The right driving motor 161 is connected to a right transmission shaft 165 at the lowermost portion through a right timing pulley 162 and a right timing belt 163. The 3 right rollers 164 are uniformly distributed on the 2 right transmission shafts 165, only the right roller 164 at the lowest part is fixedly arranged with the right transmission shaft 165, and the other right rollers 164 are movably arranged with the right transmission shaft 165.

As shown in fig. 3 and 4, the guide wheel assembly 11 includes a guide driving motor 111, a guide timing wheel 112, a guide timing belt 113, a guide shaft 114, and a guide roller 115. The guide driving motor 111 is provided on the upper module 101. The guide driving motor 111 is connected to a guide shaft 114 via a guide roller 115 and a guide timing belt 113. A guide roller 115 is fixedly provided on the guide shaft 114. In operation, the guide roller 115 is tightly attached to the edge of the photovoltaic panel 2, and the linear velocity of the guide roller 115 is constantly equal to that of the uppermost left roller 154.

As shown in fig. 3, 4 and 7, the cleaning assembly 12 includes a cleaning motor 121, a cleaning synchronous wheel 122, a cleaning

synchronous belt

123, and 2 cleaning roller brushes 124. The cleaning motor 121 is provided on the lower module 103. The 2 cleaning roller brushes 124 are connected end to end in sequence. The cleaning motor 121 is connected to a shaft of a lowermost cleaning roller brush 124 through a cleaning timing wheel 122 and a cleaning timing belt 123, and an axis of the cleaning roller brush 124 is parallel to an axis of the connection rod 105.

As shown in fig. 3, the measuring assembly 14 includes 2 sets of position sensors 141, one set of position sensor 141 corresponds to one left transmission shaft 155, the 2 sets of position sensors 141 are disposed on the left connecting rod 105 in the housing 104, the position sensors are perpendicular to the photovoltaic panel, and the position sensors 141 are distributed along the axis of the connecting rod 105, and are used for detecting the metal frame of the photovoltaic panel 2 in real time to obtain time feedback, so as to realize detection of the offset when the deviation rectifying type intelligent cleaning robot operates on the photovoltaic module.

The running direction of the deviation-rectifying type intelligent cleaning robot for the photovoltaic module is perpendicular to the long edge of the rectangular overall structure.

Specifically, each set of position sensors 141 includes 2 position sensors, and the 2 position sensors are a first sensor 3 and a second sensor 4, respectively, and the first sensor 3 is located at a lower portion of the second sensor 4.

As shown in fig. 1 to 3, the power supply module 13 includes a battery 131 and a vehicle-mounted solar panel 132. The vehicle-mounted solar panel 132 is disposed on the housing 104 on a side thereof opposite to the photovoltaic panel 2. The battery 131 is disposed inside the casing 104. The battery 131 is connected to the vehicle-mounted solar panel 132. The battery 131 is connected to the left driving motor 151, the right driving motor 161, the guide driving motor 111, the cleaning motor 121, and the position sensor 141, respectively.

Specifically, the control unit is connected to the left driving motor 151, the right driving motor 161, the guide driving motor 111, the cleaning motor 121, and the position sensor 141, respectively.

Specifically, the upper module 101 includes an upper bracket, the left driving motor 151 is disposed on the upper bracket, and the guiding driving motor 111 is disposed on the upper bracket.

Specifically, the method comprises the following steps: the lower module 103 includes a lower bracket, on which the right driving motor 161 is disposed, and the cleaning motor 121 is disposed.

Specifically, the middle module 102 includes a middle mounting bracket for providing intermediate support for the left drive assembly 15, the right drive assembly 16, and the sweeping assembly 12.

A control method of the deviation rectifying type intelligent cleaning robot for the photovoltaic module as shown in FIG. 8 comprises the following steps:

1) the left driving motor 151, the right driving motor 161, the guiding driving motor 111, the cleaning motor 121 and the position sensor 141 are simultaneously started under the manual or automatic control of the control assembly, the running speed of the left driving motor 151 is consistent with the running speed of the right driving motor 161 when the cleaning robot is started, and the photovoltaic assembly deviation rectifying type intelligent cleaning robot runs and cleans on the photovoltaic panel 2 after the cleaning robot is started.

2) The control assembly detects the metal frame of the photovoltaic panel 2 according to the first position sensor 3 and the second position sensor 4 respectively and obtains time feedback T1 and T2 respectively, and feeds back T1 and T2 to the control assembly.

3) The control module judges whether T1= T2, and when T1= T2, the control module always controls the running speed of the right driving motor 16 to be consistent with the running speed of the left driving motor 15 and then enters step 6); otherwise, when T1 ≠ T2, proceed to step 4).

4) The control module judges whether T1 is less than T2, and when T1 is less than T2, the control module controls the right driving motor 161 to decelerate and then returns to the step 3); otherwise step 5) is entered.

5) T1 is greater than T2, and the control component returns to the step 3) after controlling the right driving motor 161 to accelerate.

after the deviation-correcting type intelligent cleaning robot of the photovoltaic module cleans all the photovoltaic panels 2, entering the step 7); otherwise, returning to the step 3).

7) The manual or control assembly automatically controls the simultaneous turning off of the left drive motor 151, right drive motor 161, steering drive motor 111, sweeping motor 121 and position sensor 141.

8) And finishing the work.

Working principle and working process of the invention

The power source unit 13 charges the battery 131 with the in-vehicle solar panel 132 to stop the power supply to the entire robot. The left driving component 15 and the right driving component 16 have the same structure, and the left driving component and the right driving component run synchronously to drive the robot to move in a normal state. The output torque of the guide driving motor 111 is transmitted to the guide roller 115 through the guide timing pulley 112 and the guide timing belt 113, the guide driving motor 111 of the guide wheel assembly 11 drives the guide roller 115 to run against the edge of the photovoltaic panel 2, and the linear velocity of the guide roller 115 is constantly equal to the linear velocity of the uppermost left roller 154 of the left driving assembly 15. The cleaning motor 121 of the cleaning assembly 12 drives the cleaning roller brush 124 to perform dust removal cleaning on the surface of the photovoltaic panel 2. The measuring component 14 detects the metal frame of the photovoltaic panel 2 in real time to obtain time feedback, so that the offset of the deviation rectifying type intelligent cleaning robot during operation can be detected, the control component adjusts the operation speed of the right driving component 16 according to the offset information fed back by the measuring component, and the long edge of the rectangular robot is kept perpendicular to the operation direction of the robot.

In the invention, only the uppermost left roller 154 is fixedly arranged with the left transmission shaft 155, and the other left rollers 154 are movably arranged with the left transmission shaft 165; only the right roller 164 at the lowest part is fixedly arranged with the right transmission shaft 165, and the other right rollers 164 are movably arranged with the right transmission shaft 165; the design enables the left driving motor 151 to transmit the torque to only the left roller 154 at the uppermost part, and the right driving motor 161 to transmit the torque to only the right roller 164 at the lowermost part; therefore, when the right driving motor 161 is decelerated or accelerated, the slip phenomenon does not occur.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The embodiments of the present invention are described only for the preferred embodiments of the present invention, and not for the limitation of the concept and scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall into the protection scope of the present invention, and the technical content of the present invention which is claimed is fully set forth in the claims.

Claims

1. A deviation-correcting intelligent cleaning robot for photovoltaic modules is covered on N photovoltaic panels to work and is characterized by comprising a frame module, a control module, a guide wheel module, a cleaning module, a power module, a measuring module, a left driving module and a right driving module, wherein the guide wheel module, the cleaning module, the power module, the measuring module, the left driving module and the right driving module are arranged on the frame module and are distributed in parallel;

the frame assembly comprises an upper module, a middle module, a lower module, a housing and connecting rods, wherein the middle module is positioned between the upper module and the lower module, the number of the upper module and the number of the lower module are respectively 1, the number of the middle modules is N-1, the upper module, the middle module and the lower module are connected through the housing to form a rectangular integral structure, the left side and the right side in the housing are respectively provided with one connecting rod, the two connecting rods are parallel and distributed in an aligned mode, and the axis of each connecting rod is parallel to the long edge of the rectangular integral structure;

the left driving assembly comprises a left driving motor, a left synchronizing wheel, a left synchronizing belt, N +1 left rollers and N left transmission shafts, the N left transmission shafts are sequentially connected, the N left transmission shafts are parallel to the axis of the connecting rod piece, the left driving motor is arranged on the upper module, the left driving motor is connected with the left transmission shaft at the uppermost part through the left synchronizing wheel and the left synchronizing belt, the N +1 left rollers are uniformly distributed on the N left transmission shafts, only the left roller at the uppermost part is fixedly arranged with the left transmission shaft, and the other left rollers are movably arranged with the left transmission shafts;

the right driving assembly comprises a right driving motor, a right synchronizing wheel, a right synchronizing belt, N +1 right rollers and N right transmission shafts, the N right transmission shafts are sequentially connected, the N right transmission shafts are parallel to the axis of the connecting rod piece, the right driving motor is arranged on the lower module, the right driving motor is connected with the right transmission shaft at the lowest part through the right synchronizing wheel and the right synchronizing belt, the N +1 right rollers are uniformly distributed on the N right transmission shafts, only the right roller at the lowest part is fixedly arranged with the right transmission shaft, and the other right rollers are movably arranged with the right transmission shafts;

the guide wheel assembly comprises a guide driving motor, a guide synchronous wheel, a guide synchronous belt, a guide shaft and a guide roller wheel, the guide driving motor is arranged on the upper module and is connected with the guide shaft through the guide roller wheel and the guide synchronous belt, the guide roller wheel is fixedly arranged on the guide shaft, the guide roller wheel is tightly attached to the edge of the photovoltaic plate during operation, and the linear velocity of the guide roller wheel is constant to be equal to that of the left roller wheel at the uppermost part;

the cleaning assembly comprises a cleaning motor, a cleaning synchronous wheel, a cleaning synchronous belt and N cleaning roller brushes, the cleaning motor is arranged on the lower module, the N cleaning roller brushes are sequentially connected end to end, the cleaning motor is connected with the shaft of the cleaning roller brush at the lowest part through the cleaning synchronous wheel and the cleaning synchronous belt, and the axis of the cleaning roller brush is parallel to the axis of the connecting rod piece;

the measuring assembly comprises N groups of position sensors, one group of position sensors corresponds to one left transmission shaft, the N groups of position sensors are arranged on a connecting rod piece on the left side in the housing, the position sensors are perpendicular to the photovoltaic panel and distributed along the axis of the connecting rod piece, and the position sensors are used for detecting the metal frame of the photovoltaic panel in real time to obtain time feedback;

the power supply assembly comprises a storage battery and a vehicle-mounted solar panel, the vehicle-mounted solar panel is arranged on the housing and corresponds to one surface far away from the photovoltaic panel, the storage battery is arranged in the housing and is connected with the vehicle-mounted solar panel, and the storage battery is respectively connected with the left driving motor, the right driving motor, the guiding driving motor, the cleaning motor and the position sensor;

2. The photovoltaic module deviation-rectifying type intelligent cleaning robot as claimed in claim 1, characterized in that: n is more than or equal to 1.

3. The photovoltaic module deviation rectifying type intelligent cleaning robot as claimed in claim 1, characterized in that: n is 2.

4. The photovoltaic module deviation rectifying type intelligent cleaning robot as claimed in claim 1, characterized in that: the upper module comprises an upper support, the left driving motor is arranged on the upper support, and the guide driving motor is arranged on the upper support.

5. The photovoltaic module deviation-rectifying type intelligent cleaning robot as claimed in claim 1, characterized in that: the lower module comprises a lower support, a right driving motor is arranged on the lower support, and a cleaning motor is arranged on the lower support.

6. The photovoltaic module deviation rectifying type intelligent cleaning robot as claimed in claim 1, characterized in that: the middle module comprises a middle mounting frame used for providing middle support for the left driving assembly, the right driving assembly and the cleaning assembly.

7. The photovoltaic module deviation rectifying type intelligent cleaning robot as claimed in claim 1, characterized in that: each set of position sensors comprises 2 position sensors, and the 2 position sensors are respectively a first sensor and a second sensor, and the first sensor is arranged at the lower part of the second sensor.

8. A control method of the deviation rectifying type intelligent cleaning robot for the photovoltaic module as claimed in claim 7, which is characterized in that: the method comprises the following steps:

1) the manual or control component automatically controls and simultaneously starts the left driving motor, the right driving motor, the guiding driving motor, the cleaning motor and the position sensor, the running speed of the left driving motor is consistent with the running speed of the right driving motor when the cleaning robot is started, and the deviation-correcting type intelligent cleaning robot of the photovoltaic component runs and cleans on the photovoltaic panel after the cleaning robot is started;

2) the control assembly respectively detects the metal frame of the photovoltaic panel according to the first position sensor and the second position sensor, respectively obtains time feedbacks T1 and T2, and feedbacks T1 and T2 to the control assembly;

3) the control module judges whether T1= T2, and when T1= T2, the control module controls the running speed of the right driving motor to be consistent with the running speed of the left driving motor all the time and then enters step 6); otherwise, when T1 is not equal to T2, go to step 4);

4) the control assembly judges whether T1 is less than T2, and when T1 is less than T2, the control assembly controls the right driving motor to decelerate and then returns to the step 3); otherwise, entering step 5);

5) t1 is more than T2, and the control assembly returns to the step 3 after controlling the right driving motor to accelerate);

after the deviation-correcting type intelligent cleaning robot of the photovoltaic module cleans all the photovoltaic panels, the step 7) is carried out; otherwise, returning to the step 3);

7) the manual or control component automatically controls and simultaneously turns off the left driving motor, the right driving motor, the guiding driving motor, the sweeping motor and the position sensor;

8) and finishing the work.