CN116633257A - A solar panel cleaning robot and its working method - Google Patents

Abstract

The invention discloses a solar panel cleaning robot and a working method thereof. The invention comprises two parts: a solar panel cleaning device and an intelligent pathfinding trolley platform loaded with a cleaning mechanism. The cleaning device includes a locking mounting mechanism, a driving device, and a high-cleanliness brush. The trolley platform is responsible for loading the cleaning device, delivering it to the designated starting point, and stably mounting the cleaning device on the solar panel. When the cleaning device is working, the trolley and The cleaning device works synchronously, and the trolley drives the cleaning plate to move on the photovoltaic panel to clean the entire photovoltaic panel, and provides the cleaning device with the power and water required for its work. The invention can quickly and conveniently clean the solar panel through the cleaning device, the whole cleaning process does not require human participation, greatly saves manpower, has high automation and good cleaning effect.

Description

A solar panel cleaning robot and its working method

technical field

The invention relates to the technical field of solar panel cleaning, in particular to a solar panel cleaning robot and a working method thereof.

Background technique

In the field of new energy, some places will develop green battery, wind power, solar thermal power generation and photovoltaic industries. As an inexhaustible clean and safe renewable energy, solar energy has the greatest development potential. Since photovoltaic power station equipment is exposed to the external environment for a long time, solar panels will gradually accumulate a layer of pollutants on the surface over time, such as sand, rain, snow and dust. These dirt will pollute the solar panel, seriously affect the photoelectric conversion efficiency of the solar panel, and reduce the power generation efficiency of the solar panel. Relevant experiments have confirmed that when the surface of the solar panel is covered with dust, its photoelectric conversion rate may lose 30% to 40%. If the dust particles are not removed for a long time, the output power of the photovoltaic power station where the solar panel is located will be severely reduced. cause serious economic losses. Relevant surveys show that when the photoelectric conversion efficiency of a 100MW photovoltaic power station is reduced by 15%, the direct economic loss can reach 20 million yuan.

At present, the main methods of dust removal for photovoltaic panels are: 1. Manual high-pressure water gun cleaning; 2. On-chip cleaning robot cleaning; 3. Mobile cleaning machine cleaning. Among them, on-chip cleaning robots are expensive to clean. One cleaning robot can only clean one photovoltaic panel, which is suitable for small photovoltaic sites. Manual cleaning is expensive and inefficient. Therefore, it is necessary to provide a self-navigating mobile solar panel cleaning robot to solve the above technical problems and realize a fully automatic cleaning method without manual intervention.

Contents of the invention

The invention provides an autonomous navigation battery plate cleaning robot, which can walk and plan paths, and realize the function of automatic lifting cleaning. In the case that the solar panel cleaning robot on the existing market cannot span a gap of more than 50mm and the drop is greater than 30mm, the robot of the present invention can easily handle and thoroughly clean the dust and dirt on the solar panel, thereby improving the efficiency of photovoltaic power generation and saving manpower costs and water resources. The solar battery panel cleaning robot of the present invention uses a built-in battery as energy source, so it has the advantage of independent use and reduces the impact on the environment. The robot can mark the position of the battery panel through the autonomous navigation system, and automatically use the ant colony algorithm to plan the best cleaning route according to the size and position of the battery panel, thereby effectively improving the cleaning efficiency. In addition, the robot adopts an automatic lifting cleaning design, which can adapt to the cleaning needs of panels of different heights, thereby providing customers with more complete cleaning services. By adopting the solar battery panel cleaning robot of the present invention, unmanned management of the solar panel can be completely realized, thereby greatly reducing management cost and work intensity. At the same time, the application of the robot can also play a role in environmental protection, reducing the waste of water resources and the consumption of human resources. Therefore, the solar battery panel cleaning robot of the present invention is an efficient and practical device with wide application value.

To achieve the above object, the present invention provides the following technical solutions:

A solar panel cleaning robot, comprising a cleaning device main body and a telescopic rod main body, the bottom end of the telescopic rod main body is installed on a cleaning device angle adjustment device, and the cleaning device angle adjustment device is fixedly installed on a trolley, the telescopic rod The inner bottom surface of the main body is fixedly connected with a screw motor, and the output shaft of the screw motor is fixedly connected with the bottom end of the screw shaft vertically upwards, and the screw shaft is rotatably connected in the main body of the telescopic rod, and the screw shaft is threadedly connected with The slider, the slider is fixedly connected with the main body of the cleaning device, and the entire telescopic mechanism is formed by the screw shaft, the screw motor and the telescopic rod main body. Adjust the device to adjust the angle.

Preferably: the angle adjustment device of the cleaning device includes a worm gear and a worm, the worm gear and the worm are meshed with each other, and the worm is connected to the trolley in rotation, and the worm gear is fixedly connected to the bottom end of the telescopic rod body, through the cooperation of the worm gear and the worm, the The main body of the cleaning device is adjusted, in which the worm motor is connected to the worm to rotate to drive the turbine to achieve high-torque controllable angle rotation, and the worm motor has reverse self-locking, which prevents the worm motor from being powered off or unable to lock due to insufficient force during the movement. ACCIDENT.

Preferably: the inside of the main body of the cleaning device is rotatably connected with a vertically arranged high-cleanliness roller brush, and the inside of the main body of the cleaning device is also provided with a first water spray port and a second spray nozzle symmetrically arranged with respect to the high-cleanliness roller brush. The water outlet, wherein the first water spray port and the second water spray port are located on the inner side of the upper end of the main body of the cleaning device, the first water spray port and the second water spray port are connected to the external active water pump through the built-in water delivery pipeline, thereby Water is supplied to the first water spray port and the second water spray port to realize the cleaning function.

Preferably: the high-cleanliness roller brush is driven by a brush motor.

Preferably: the inner upper end of the main body of the cleaning device is rotatably connected with two pulley sets on the cleaning plate symmetrically arranged with respect to the high-cleanliness roller brush, and the inner lower end of the main body of the cleaning device is rotatably connected with two sets of pulleys arranged symmetrically with respect to the high-cleanliness roller brush. The lower pulley group of the cleaning board, through the pulley group of the cleaning board and the lower pulley group of the cleaning board, it is convenient for the main body of the cleaning device to be attached to the photovoltaic board for moving and cleaning.

Preferably: the top of the main body of the cleaning device is fixedly connected with a locking mechanism main body, the locking mechanism main body is provided with a locking mechanism pulley block, the top of the locking mechanism main body is fixedly connected with a locking mechanism motor, and both sides of the locking mechanism main body are provided with locking mechanisms. The locking mechanism is equipped with a locking mechanism pulley. In actual work, the top of the main body of the cleaning device is buckled on the upper end of the photovoltaic panel through the main body of the locking mechanism and the locking mechanism, so that the cleaning device can reach the working state, so as to realize the protection of the solar panel. Efficient cleaning.

In order to prevent the cleaning device from falling from both ends of the photovoltaic panel during operation, limit blocks can be provided at both ends of the photovoltaic panel.

Preferably: a laser radar is fixedly connected to one end of the top of the car, and a stain detection camera is fixedly connected to the other end of the top of the car, a navigation system is formed by the laser radar and the stain detection camera, and the robot calculates the data of the laser radar and the stain detection camera, Obtain the specific location of the robot, and plan the shortest cleaning route according to the location to be cleaned and the current location of the robot, and then arrive at each cleaning point in turn, and select different cleaning methods according to the degree of dust or stains on each part for cleaning, and After cleaning, use the camera to judge whether it is clean or not.

A working method of a solar panel cleaning robot, comprising the steps of:

Step 1: First install the robot on the photovoltaic panel through the locking mechanism and the main body of the locking mechanism;

Step 2: Use the camera and lidar to build a map in advance, and then store the map in the management system. When cleaning is required, select the coordinate points to be cleaned in the management system. Next, the cleaning robot will use the ant colony algorithm to plan a Appropriate shortest path, not only can reach the exact coordinate point, but also can make the passing path the shortest;

Step 3: Use the car to drive the robot to clean the photovoltaic panel to realize the robot cleaning back and forth on the photovoltaic panel. The cleaning effect is remarkable, easy to use, cost controllable, and highly automated. It is very suitable for daily solar panel cleaning.

Compared with prior art, the beneficial effect of the present invention is:

The invention is provided with a cleaning device to realize fast and convenient cleaning of the solar panels. Compared with the traditional manual cleaning method, this robot has the advantages of high degree of automation and good cleaning effect, and saves more human resources.

Before using this robot, it is necessary to carry out SLAM (Simultaneous Localization and Mapping) technology to build a map model of the area, and mark the location of the solar panel and related information (such as size, cleaning history, etc.) on the map and store it. in the management system. In this way, the robot can perceive the distance and position relationship between itself and the surrounding environment in real time through sensors such as lidar or camera, so as to achieve accurate positioning. Once the cleaning order is received, the robot can use the previously established map information to plan the cleaning path through the ant colony algorithm to ensure the maximum efficiency of the robot's movement and cleaning effect. The robot will first enter the position of the solar panel with the shortest path, and then detect the dirt on the solar panel to determine whether it needs to be cleaned and the key cleaning parts, and use corresponding cleaning methods to clean according to different situations. Through this setting, the robot can perform cleaning operations more accurately and efficiently, thereby improving the cleaning effect and automation of the robot, and saving time and energy consumed by movement.

The cleaning device is an important part of the battery panel cleaning robot of the present invention, which is composed of high-cleanliness brushes, automatic water spraying devices, locking mechanisms, pulley blocks, beams and columns. The cleaning device can extend the telescopic arm when the robot moves to the corresponding position of the solar panel, and the upper locking mechanism rotates and fastens the top of the solar panel, so that the cleaning device can reach the working state, thereby realizing efficient cleaning of the solar panel. When the cleaning robot needs to use water spray to clean, the automatic water spray device will spray water to the solar panel to infiltrate the solar panel and soften the dirt on the surface. Then, the dirt is turned up by the high-cleaning brush, and then the dirt on the solar panel is scraped off by the scraper, which can effectively remove the dust and dirt on the solar panel. Finally, the cleaning device cleans the solar panels back and forth through the drive of the wheel motors to achieve multiple cleanings, the cleaning effect is remarkable, and it is also very convenient to use. By adopting the above-mentioned cleaning device, the battery panel cleaning robot of the present invention can realize automatic, efficient and convenient cleaning of solar panels, keep the solar panels in a clean state all the time, and improve the efficiency of photovoltaic power generation. Therefore, the present invention has very significant economic and social benefits, and has very broad social application prospects.

Description of drawings

Figure 1 is a side view of a solar panel cleaning robot.

Fig. 2 is a perspective view of the internal structure of a solar panel cleaning robot.

Fig. 3 is a front view of a solar panel cleaning robot.

Fig. 4 is a perspective view of a telescopic mechanism angle adjustment device in a solar panel cleaning robot.

As shown in the figure: 1. Locking mechanism motor; 2. Locking mechanism pulley; 3. Locking mechanism; 4. Stain detection camera; 5. High cleanliness roller brush; 6. Screw shaft; 7. Screw motor; 8. Angle adjustment device of cleaning device; 9. Lower pulley group of cleaning board; 10. Laser radar; 11. Pulley block of locking mechanism; 12. Main body of locking mechanism; 14. First water spray port; 15. Second water spray port; Upper pulley block; 17, worm; 18, cleaning device main body; 19, telescopic rod main body; 20, turbine.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

Please refer to FIGS. 1 to 4. In the embodiment of the present invention, a solar panel cleaning robot includes a cleaning device main body 18 and a telescopic rod main body 19. The bottom end of the telescopic rod main body 19 is installed on the cleaning device angle adjustment device 8. , and the cleaning device angle adjustment device 8 is fixedly installed on the trolley, the inner bottom surface of the telescopic rod main body 19 is fixedly connected with the screw motor 7, and the output shaft of the screw motor 7 is vertically upward to the bottom of the screw shaft 6 It is fixedly connected, and the screw shaft 6 is rotatably connected in the telescopic rod main body 19, the screw shaft 6 is threadedly connected with a slider, and the slider is fixedly connected with the main body 18 of the cleaning device, through the screw shaft 6, the screw motor 7 and the telescopic The rod main body 19 constitutes the entire telescopic mechanism, through which the position of the cleaning device main body 18 is conveniently adjusted, and the angle of the cleaning device main body 18 is adjusted by the cleaning device angle adjusting device 8 .

The cleaning device angle adjusting device 8 includes a worm gear 20 and a worm 17, the worm gear 20 and the worm screw 17 are engaged with each other, and the worm screw 17 is rotatably connected to the trolley, and the worm gear 20 is fixedly connected to the bottom end of the telescopic rod main body 19, through the worm gear 20 and the The cooperation of the worm 17 adjusts the main body 18 of the cleaning device. The worm motor is connected to the worm and rotates to drive the turbine to achieve high-torque controllable angle rotation, and the worm motor has reverse self-locking to prevent the worm motor from being powered off or Accidents caused by insufficient strength and failure to lock.

The inside of the cleaning device main body 18 is rotatably connected with a vertically arranged high-cleanliness roller brush 5, and the inside of the cleaning device main body 18 is also provided with a first water spray port 14 and a second nozzle 14 that are symmetrically arranged with respect to the high-cleanliness roller brush 5. Two water spray ports 15, wherein the first water spray port 14 and the second water spray port 15 are all positioned at the upper end inner side of the cleaning device main body 18, the first water spray port 14 and the second water spray port 15 communicate with the pipeline of the built-in water flow The external active water pump is connected to supply water to the first water spray port 14 and the second water spray port 15 to realize the cleaning function.

The high-cleanliness roller brush 5 is driven by a brush motor.

The inner upper end of the cleaning device main body 18 is rotatably connected with two pulleys 16 on the cleaning plate that are symmetrically arranged with respect to the high-cleanliness roller brush 5 , and the inner lower end of the cleaning device main body 18 is rotatably connected with two rollers 16 that are symmetrically arranged with respect to the high-cleanliness roller brush 5 . The lower pulleys 9 of the two cleaning boards are convenient for the cleaning device main body 18 to be attached to the photovoltaic board for moving and cleaning work through the pulleys 16 on the cleaning board and the lower pulleys 9 of the cleaning board.

The top of the cleaning device main body 18 is fixedly connected with a locking mechanism main body 12, the locking mechanism main body 12 is provided with a locking mechanism pulley block 11, the top of the locking mechanism main body 12 is fixedly connected with a locking mechanism motor 1, and both sides of the locking mechanism main body 12 All are equipped with a locking mechanism 3, and a locking mechanism pulley 2 is installed on the locking mechanism 3. In actual work, the top of the cleaning device main body 18 is buckled on the upper end of the photovoltaic panel through the locking mechanism main body 12 and the locking mechanism 3, so that the cleaning device can reach Working state, so as to realize efficient cleaning of solar panels.

In order to prevent the cleaning device from falling from both ends of the photovoltaic panel during operation, limit blocks can be provided at both ends of the photovoltaic panel.

One end of the top of the car is fixedly connected with a laser radar 10, and the other end of the top of the car is fixedly connected with a stain detection camera 4. The navigation system is formed by the laser radar 10 and the stain detection camera 4. According to the data, the specific location of the robot is obtained, and the shortest cleaning route is planned according to the location to be cleaned and the current location of the robot, and then each cleaning point is reached in turn, and different cleaning methods are selected according to the degree of dust or stains on each part. Clean, and judge whether it is clean through the camera after cleaning.

A working method of a solar panel cleaning robot, comprising the steps of:

Step 1: first install the robot on the photovoltaic panel through the locking mechanism 3 and the main body 12 of the locking mechanism;

Step 2: Use the camera and lidar to build a map in advance, and then store the map in the management system. When cleaning is required, select the coordinate points to be cleaned in the management system. Next, the cleaning robot will use the ant colony algorithm to plan a Appropriate shortest path, not only can reach the exact coordinate point, but also can make the passing path the shortest;

Step 3: Use the car to drive the robot to clean the photovoltaic panel to realize the robot cleaning back and forth on the photovoltaic panel. The cleaning effect is remarkable, easy to use, cost controllable, and highly automated. It is very suitable for daily solar panel cleaning.

It should be noted that when planning the shortest cleaning route, the solution includes two parts: one is to calculate the distance matrix between given coordinate points and use it as the input of the ant colony algorithm; the other is to use the ant colony algorithm to solve the the shortest path of . Each will be described below.

1. Calculate the distance matrix between coordinate points

For a given set of coordinate points, the distance between any two points can be calculated by Euclidean distance. Suppose the set of points is S, and the coordinates of the i-th point are ( _xi , y _i ), then the distance between any two points i and j in S is:

Combining these distances into a matrix D, the distance matrix between all points can be obtained.

2. Ant colony algorithm to find the shortest path

1. Initialize the pheromone matrix

Let T be the set of clean waypoints traversed by ants in the search path. In the initial state of the ant colony algorithm, the pheromone value between each cleaning path point is equal, and the initial pheromone matrix ^T0 can be expressed as:

Where n is the total number of cleaning path points, L is the initial path length, and Q is a constant used to control the intensity of pheromones.

2. Initialize ants and clean path points

Assign a unique number to each cleaning path point and initialize m ants. For each ant k, randomly select an initial cleaning path point i, and record its current cleaning path point c.

3. Ant movement and pheromone update

During the movement of ants, it is necessary to calculate the probability of each cleaning path point being selected according to the pheromone value and heuristic function value of the current cleaning path point. Define a heuristic function η(i,j), when moving between clean path point i and clean path point j, the calculation method is as follows:

η(i,j)=1/d(i,j)

where d(i,j) is the distance between cleaning path point i and cleaning path point j. Assuming that the current ant k is located at the cleaning path point i, and its feasible next cleaning path point set is J _i,k , then the selection probability of the cleaning path point j connected to the cleaning path point i can be expressed as:

Where τ represents the pheromone concentration, α and β are parameters controlling the pheromone concentration and the influence of the heuristic function, and satisfy α+β=1 at the same time. It can be seen that when the pheromone concentration is high and the distance between the cleaning path points is small, the probability of being selected is high.

After calculating the selected probabilities of all cleaning path points, the ants select the next cleaning path point according to these probabilities, and add it to the traversal set T. If all the cleaning path points have been traversed, connect the last cleaning path point with the initial cleaning path point to form a loop. When all ants have completed the path, skip to step 4.

4. Update pheromone matrix

In the ant colony algorithm, the concentration of pheromone will be affected by two factors: volatilization and increase. Assuming that t _i,j represents the pheromone concentration from cleaning path point i to cleaning path point j, and m is the time, the following formula can be used to update the pheromone concentration:

where ρ is the volatilization rate of the pheromone, is the amount of information left by the kth ant on the path, namely:

Among them, Q is a constant, and L ^k is the total length of the path that the kth ant has passed. The role of adding a constant Q is to ensure that the pheromone keeps increasing without decaying to 0. After updating all pheromones, skip to step 3 and repeat for several iterations.

5. Repeat steps 3 and 4 until the maximum number of iterations or other stopping conditions are reached.

6. Output the shortest cleaning path.

Then drive to each cleaning position, scan whether the distance between the photovoltaic panel and the telescopic rod is within the working distance of the telescopic rod, the trolley controller repeatedly compares the position signals of the photovoltaic panel and the trolley, and after moving the trolley to an appropriate distance, unlock the solar cleaning panel and lock it state, drive the telescopic rod to move the solar cleaning panel to the set position parallel to the upward direction of the photovoltaic panel. After the telescopic rod reaches the designated position, the upper locking structure 12 will work and lock in the direction of the photovoltaic panel, and buckle the upper edge of the photovoltaic panel. After the sensor of the upper locking structure 12 judges that the locking has been successful, the cleaning device is fixed on the photovoltaic panel. There is also a running mechanism tire 11 between the cleaning device and the photovoltaic panel, and the cleaning operation is carried out under the drive of the trolley, so that the It cleans back and forth on the solar panel, which greatly improves the cleaning effect of the cleaning device, reduces the overall weight of the cleaning panel device, reduces the load-bearing pressure of the photovoltaic panel structure, and places the photovoltaic panel structure deformation, which greatly improves the service life of the photovoltaic panel. Reduce the damage caused by cleaning the photovoltaic panel surface.

The cleaning robot includes a locking mechanism, a telescopic mechanism, a high-cleanliness brush, and a pulley block for the cleaning plate. There are limit mechanisms at both ends of each photovoltaic panel. When the cleaning robot walks on the photovoltaic panel, it is always located in the middle of the limit devices at both ends to prevent The cleaning robot falls. When the cleaning robot is placed on the photovoltaic panel, first judge whether the distance from the limit mechanism at the starting end is within the starting working distance, if not, move the cleaning robot to the preset starting position, and after the starting conditions are met, the cleaning robot starts to work normally. When it moves quickly to the end limit, the trolley starts to decelerate until it reaches the end limit and starts fully. A complete cleaning with an anhydrous roller brush is completed. At this time, the cleaning robot recognizes whether the photovoltaic panels passing by have met the cleaning requirements. If the working area has To meet the cleaning requirements, the trolley first starts the locking mechanism 12, rotates away from the photovoltaic panel, and breaks away from the locked state with the photovoltaic panel. Then the telescopic mechanism 19 retracts the main body 18 of the cleaning device to the initial state of the telescopic rod. When it is detected that the telescopic rod has reached the initial state , the car locks the entire cleaning robot, and after the entire cleaning robot is locked successfully, the car moves to the next area to be cleaned and starts the next cleaning task.

In addition, after the first pass of waterless cleaning, if the camera judges that the cleaning robot has not completed the cleaning requirements, it is necessary to perform the cleaning task on the photovoltaic panel. During the first cleaning task, the stain detection device has already performed image recognition processing on the cleaned area, and compares the areas that do not meet the cleaning requirements with the cleaning requirements to determine the cleaning task that needs to be performed.

In this embodiment: the cleaning tasks include: the overall waterless roller brush, the designated area waterless roller brush, the overall water spray roller brush and the designated area water spray roller brush. The overall waterless roller brush operation needs to determine whether the starting position is in line with the working position of the cleaning device. After adjusting the cleaning device to the working position, start the overall waterless roller brush cleaning; there is no water roller brush in the designated area, and a trolley is required to move the cleaning device to Designate the area to delineate the working area, and move the cleaning device back and forth repeatedly in the set area to clean; the overall water spray roller brush cleaning needs to determine whether the starting position is in line with the working position of the cleaning device, adjust the cleaning device to the working position, and start spraying Water roller brush cleaning, spraying water on the surface of the photovoltaic panel can make the dirt on the surface soft and easy to clean, and can also wash away the dirt under cleaning; the designated area is sprayed with water, and the cleaning device needs to be moved to the designated area by a trolley. Set the working area, the cleaning device cleaning brush motor works synchronously, spray water on the surface of the photovoltaic panel, the car moves the cleaning device to the designated area to delineate the working area, and repeatedly moves the cleaning device back and forth in the set area to clean, which can be effective Removes stubborn dirt such as bird droppings, caked sludge, etc.

In this embodiment, a photovoltaic power generation panel can be installed on the side of the trolley platform that is not close to the photovoltaic panel, which can continuously supply power to the trolley and the cleaning device during the working period, rationally uses energy, and prolongs the working time and efficiency of the entire cleaning robot. Installing photovoltaics on the other side can balance the force on the left and right sides of the car, so that the car can run more stably.

Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included in the protection scope of the present invention.

Claims (8)

1. A solar panel cleaning robot, comprising a cleaning device main body (18) and a telescopic rod main body (19), is characterized in that the bottom end of the telescopic rod main body (19) is installed to the cleaning device angle adjustment device (8) , and the cleaning device angle adjustment device (8) is fixedly installed on the trolley, the inner bottom surface of the telescopic rod main body (19) is fixedly connected with a screw motor (7), and the output shaft of the screw motor (7) is vertical Up is fixedly connected with the bottom end of the screw shaft (6), and the screw shaft (6) is rotatably connected in the main body of the telescopic rod (19), the screw shaft (6) is threadedly connected with a slide block, and the slide block and the cleaning device The main body (18) is fixedly connected, and constitutes the whole telescopic mechanism by the screw shaft (6), the screw motor (7) and the telescopic rod main body (19). 2. A kind of solar cell panel cleaning robot according to claim 1, is characterized in that, described cleaning device angle adjusting device (8) comprises turbine (20) and worm (17), and turbine (20) and worm (17) ) are meshed with each other, and the worm (17) is rotatably connected to the trolley, and the turbine (20) is fixedly connected to the bottom end of the telescopic rod main body (19). 3. A kind of solar cell panel cleaning robot according to claim 1, is characterized in that, the interior of described cleaning device main body (18) is connected with the high-cleanliness roller brush (5) that is vertically arranged, and cleaning device The inside of the main body (18) is also provided with a first water spray port (14) and a second water spray port (15) symmetrically arranged with respect to the high-cleanliness roller brush (5), wherein the first water spray port (14) and the second water spray port (15) Two water jets (15) are all positioned at the upper end inner side of the cleaning device main body (18), and the first water jet (14) and the second water jet (15) are connected with an external active water pump by a built-in pipeline for delivering water. 4. A solar panel cleaning robot according to claim 3, characterized in that the high-cleanliness roller brush (5) is driven by a brush motor. 5. A solar panel cleaning robot according to claim 3, characterized in that, the inner upper end of the cleaning device main body (18) is rotatably connected with two cleaning rollers arranged symmetrically about the high-cleanliness roller brush (5). Pulley group (16) on the board, the inner lower end of cleaning device main body (18) is connected with two cleaning board lower pulley groups (9) symmetrically arranged about high-cleanliness roller brush (5). 6. A solar panel cleaning robot according to claim 1, characterized in that, the top of the cleaning device main body (18) is fixedly connected with a locking mechanism main body (12), and the locking mechanism main body (12) is provided with The locking mechanism pulley block (11), the top of the locking mechanism main body (12) is fixedly connected with the locking mechanism motor (1), and both sides of the locking mechanism main body (12) are provided with locking mechanisms (3), on the locking mechanism (3) The locking mechanism pulley (2) is installed. 7. A solar panel cleaning robot according to claim 1, wherein a lidar (10) is fixedly connected to one end of the top of the car, and a stain detection camera (4) is fixedly connected to the other end of the top of the car , a navigation system is formed by a laser radar (10) and a stain detection camera (4). 8. The working method of a solar panel cleaning robot according to any one of claims 1-7, comprising the steps of: Step 1: first install the robot on the photovoltaic panel through the locking mechanism (3) and the main body of the locking mechanism (12); Step 2: Use the camera and lidar to build a map in advance, and then store the map in the management system. When cleaning is required, select the coordinate points to be cleaned in the management system. Next, the cleaning robot will use the ant colony algorithm to plan a Appropriate shortest path, not only can reach the exact coordinate point, but also can make the passing path the shortest; Step 3: Use the car to drive the robot to clean the photovoltaic panel to realize the robot cleaning back and forth on the photovoltaic panel. The cleaning effect is remarkable, easy to use, cost controllable, and highly automated. It is very suitable for daily solar panel cleaning.