Abstract:
An obstacle crossing mechanism, adapted and arranged on a cleaning rack of a photovoltaic panel cleaning equipment configured to clean photovoltaic panel arrays is disclosed. The cleaning rack includes connecting rods detachably-connected, and fixed rods arranged on respective connecting rods. The obstacle crossing mechanism includes a moving rack and a fixed rack, in which moving rack is used for temporarily stopping photovoltaic panel cleaning equipment; and the fixed rack is located below the moving rack and the moving rack ascends or descends on the fixed rack. A telescopic mechanism is further provided with the obstacle crossing mechanism so that the two mechanisms together facilitates the photovoltaic panel cleaning equipment to travel from a photovoltaic panel array to reach another photovoltaic panel array during cleaning process of photovoltaic panels without requiring any human assistance, thus achieve total automation.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates to the technical field of solar power generation, and in particular to an obstacle crossing mechanism configured and arranged on a cleaning rack of a photovoltaic panel cleaning equipment for cleaning photovoltaic panels. 
       BACKGROUND OF THE INVENTION 
       [0002]    With the comprehensive development of global industrialization, demands of all industries in all countries for energy increase sharply, and the amount of energy demands has already been a standard for measuring the situation of economic development of a country or a region. Renewable energy mainly includes hydraulic energy, solar energy, wind energy, geothermal energy, biomass energy, etc., and the most important feature thereof is that it has a self-restoring capacity, renewable energy can be continuously replenished from the nature in a use process by people, and it is energy which is inexhaustible and will never be used up. As studied and proved by scholars, people commonly consider that solar energy and wind energy are of the most effective and feasible energy type which can solve energy crisis and environmental pollution and are of the most important energy type in a new century. Especially, solar energy is increasingly concerned about by people due to its unique advantages since solar energy is inexhaustible, will never be used up and is renewable; the application areas of solar energy are wide; solar energy is clean and pollution-free; and a solar power generator has no moving part, is not easily damaged and is simple to maintain. 
         [0003]    All countries start to invest a great amount of capitals to construct solar photovoltaic power plants, solar photovoltaic panels are foundations for generation of electric energy in photovoltaic power plants, the power generation efficiency of the photovoltaic panels directly decides the power generation capacity of the solar power plants, and whether the surfaces of the photovoltaic panels are clean have a very great influence on the power generation capacity of the solar power plants. With the construction of more and more solar photovoltaic power plants, the number of photovoltaic panels which need to be cleaned increases sharply, and how to rapidly clean the photovoltaic panels and simultaneously guarantee the cleaning effect has already been a problem which needs to be urgently solved by photovoltaic power generation enterprises. 
         [0004]    Typically photovoltaic panels are arranged in various geometric or evenly-distributed configurations and layouts, such as for example, more than one photovoltaic panels can be arranged or organized in one or more arrays, in which one array of photovoltaic panels are arranged at close proximity to one another and belong to a specific array grouping, etc. However, due to the extended distance in between adjacent photovoltaic panel arrays, the existing conventional photovoltaic panel cleaning equipment cannot automatically move from one photovoltaic panel array to another photovoltaic panel array and needs to be manually moved, and thus the relocating or moving operation for the conventional photovoltaic panel cleaning equipment from array to array is time-consuming and labor-consuming. 
         [0005]    In view of the above-mentioned problems or shortcomings, the inventor of the present invention finally obtains the present invention after long-time study and practice. 
       SUMMARY OF THE INVENTION 
       [0006]    For solving the above problems, an object of the present invention is to provide an obstacle crossing mechanism configured and arranged on a cleaning rack of a photovoltaic panel cleaning equipment for cleaning photovoltaic panels. 
         [0007]    For solving the above problems, another object of the present invention is to provide a photovoltaic panel cleaning equipment having the same obstacle crossing mechanism configured therein. 
         [0008]    The technical scheme adopted by an embodiment of the present invention lies in that an obstacle crossing mechanism is arranged on a cleaning rack of a photovoltaic panel cleaning equipment. 
         [0009]    The cleaning rack includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are detachably connected, a first fixed rod being arranged on the first connecting rod, a second fixed rod and a third fixed rod being arranged between the second connecting rod and the fourth connecting rod, a fourth fixed rod being arranged on the third connecting rod. 
         [0010]    The obstacle crossing mechanism includes a moving rack and a fixed rack, and the moving rack is used for temporarily stopping the photovoltaic panel cleaning equipment; and the fixed rack is located below the moving rack and the moving rack can ascend or descend on the fixed rack. 
         [0011]    Preferably, the moving rack includes a first connecting member, a second connecting member, a third connecting member and a fourth connecting member, and the first connecting member, the second connecting member, the third connecting member and the fourth connecting member form a rectangular frame. 
         [0012]    Preferably, a moving wheel and a limiting member are arranged on each of the second connecting member and the fourth connecting member. 
         [0013]    Preferably, a sensor support used for mounting a sensor is arranged on the third connecting member. 
         [0014]    Preferably, the fixed rack includes a bearing rack and a bearing supporting rack, and the bearing supporting rack is located below the bearing rack and is rotatably connected with the bearing rack. 
         [0015]    Preferably, the bearing rack includes a first bearing connecting rod, a second bearing connecting rod, a third bearing connecting rod and a fourth bearing connecting rod; and a locking device is arranged between the second bearing connecting rod and the fourth bearing connecting rod, and the locking device cooperates with the limiting member to lock the moving rack on the fixed rack. 
         [0016]    Preferably, the locking device includes a bottom plate, a locking hook, a rotary force applying member and a restoring member; one end of the bottom plate is fixed on the second bearing connecting rod and the other end is fixed on the fourth bearing connecting rod; a fixed column is arranged on the bottom plate and the locking hook is rotatably connected with the fixed column; the rotary force applying member is connected with one end of the locking hook and the rotary force applying member can outwards pull away the locking hook under an effect of external force to unlock the limiting member; and the restoring member is arranged at a junction between the rotary force applying member and the locking hook, and when the external force acting on the rotary force applying member disappears, the restoring member enables the locking hook to be restored. 
         [0017]    Preferably, the locking device further includes a first stand column, a second stand column, a third stand column and a fourth stand column which are fixed on the bottom plate; the first stand column and the fourth stand column are located at two ends of the bottom plate, and the second stand column and the third stand column are located between the first stand column and the fourth stand column; two vertical pulleys which are respectively at a high position and a low position are arranged on each of the first stand column and the fourth stand column; and a horizontal pulley is arranged on each of the second stand column and the third stand column. 
         [0018]    Preferably, the locking device further includes a pulling rope, and the pulling rope is wound on the vertical pulleys and the horizontal pulleys and then is connected with the rotary force applying member. 
         [0019]    Preferably, the photovoltaic panel cleaning equipment includes a body, a telescopic mechanism being arranged on the body, and the obstacle crossing mechanism cooperates with the telescopic mechanism to enable the body to automatically move from one photovoltaic panel array to another photovoltaic panel array. 
         [0020]    As compared with the prior art, the present invention has the beneficial effects as follow: by adopting the obstacle crossing mechanism, the photovoltaic panel cleaning equipment (having the obstacle crossing mechanism) provided by the present invention at least achieve the effect that the body of the photovoltaic panel cleaning equipment can then automatically move or traverse from one photovoltaic panel array to another photovoltaic panel array by using the obstacle crossing mechanism in cooperation with the telescopic mechanism, and the automated relocation operation of the photovoltaic panel cleaning equipment configured with the obstacle crossing mechanism achieves time-saving and labor-saving for moving between different photovoltaic panel arrays. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0021]      FIG. 1  illustrates a functional diagram of a photovoltaic panel cleaning equipment provided in accordance with an embodiment of the present invention. 
           [0022]      FIG. 2  illustrates a structural schematic view of a cleaning rack. 
           [0023]      FIG. 3  illustrates a structural schematic view of a single connecting rod of the cleaning rack. 
           [0024]      FIG. 4  illustrates a structural schematic view of a cleaning mechanism. 
           [0025]      FIG. 5  illustrates a structural schematic view of a strip brush. 
           [0026]      FIG. 6  illustrates a structural schematic view of a water spray device. 
           [0027]      FIG. 7  illustrates a structural schematic view of a moving mechanism. 
           [0028]      FIG. 8  illustrates a structural schematic view of a self-locking mechanism mounted on the moving mechanism. 
           [0029]      FIG. 9  illustrates a structural schematic view of a correction mechanism mounted on the cleaning rack. 
           [0030]      FIG. 10  illustrates a schematic view of an included angle between a correction guide wheel and a driving wheel. 
           [0031]      FIG. 11  illustrates a structural schematic view of an anti-falling mechanism mounted on the cleaning rack. 
           [0032]      FIG. 12  illustrates a structural schematic view of another anti-falling mechanism mounted on the cleaning rack. 
           [0033]      FIG. 13  illustrates a structural schematic view of a dynamic temperature measuring mechanism mounted on the cleaning rack. 
           [0034]      FIG. 14  illustrates a stereoscopic view of a charging connector. 
           [0035]      FIG. 15  illustrates a side view of a charging connector. 
           [0036]      FIG. 16  illustrates a structural schematic view of a charging compartment. 
           [0037]      FIG. 17  illustrates a structural exploded schematic view of a self-charging terminal. 
           [0038]      FIG. 18  illustrates a functional diagram of an another photovoltaic panel cleaning equipment in accordance with another embodiment provided by the present invention. 
           [0039]      FIG. 19  illustrates a structural schematic view of a telescopic mechanism mounted on the cleaning rack. 
           [0040]      FIG. 20  illustrates a structural schematic view of an obstacle crossing mechanism. 
           [0041]      FIG. 21  illustrates a partially enlarged view of the obstacle crossing mechanism. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0042]    The above-mentioned and other technical features and advantages of the present invention will be further described below in detail with reference to the drawings: 
       Preferred Embodiment 1 
       [0043]    As illustrated in  FIG. 1  which illustrates a functional diagram of a photovoltaic panel cleaning equipment disclosed in accordance with an embodiment of the present invention, the photovoltaic panel cleaning equipment comprises a body, a charging compartment  11  and an external terminal  12 . The body of the photovoltaic panel cleaning equipment comprises a cleaning rack  1 , a central controller  2 , a cleaning mechanism  3 , a moving mechanism  4 , a self-locking mechanism  5 , a correction mechanism  6 , an anti-falling mechanism  7 , a dynamic temperature measuring mechanism  8 , a power supply module  9  and a communication module  10 , wherein the central controller  2 , the cleaning mechanism  3 , the moving mechanism  4 , the self-locking mechanism  5 , the correction mechanism  6 , the anti-falling mechanism  7 , the dynamic temperature measuring mechanism  8 , the power supply module  9  and the communication module  10  are arranged on the cleaning rack  1 . The cleaning mechanism  3  is connected with the central controller  2  and is used for cleaning a photovoltaic panel. The moving mechanism  4  is connected with the central controller  2  and is used for enabling the body to stably move on the photovoltaic panel. The self-locking mechanism  5  cooperates with the moving mechanism  4  and is used for enabling the body to be capable of moving at constant speed during movement on the photovoltaic panel and instantaneously becoming immobilized during stopping. The correction mechanism  6  is used for correcting the body when the body is inclined and then enabling the body to stably move on the photovoltaic panel again. The anti-falling mechanism  7  is used for preventing the body from falling off from the photovoltaic panel. The dynamic temperature measuring mechanism  8  is connected with the central controller  2  and is used for dynamically measuring temperature of the photovoltaic panel cleaned by the body. The charging compartment  11  is used for charging and stopping the body. The power supply module  9  is connected with all electrical parts in the body and is used for supplying power to all the electrical parts. The communication module  10  is connected with the central controller  2  and is used for realizing data interaction between the external terminal  12  and the central controller  2 . The external terminal  12  is used for realizing remote control of the body. 
         [0044]    As illustrated in  FIG. 2  which illustrates a structural schematic view of the cleaning rack and  FIG. 3  which illustrates a structural schematic view of a single connecting rod of the cleaning rack. The cleaning rack  1  comprises a first connecting rod  101 , a second connecting rod  102 , a third connecting rod  103  and a fourth connecting rod  104 . The first connecting rod  101 , the second connecting rod  102 , the third connecting rod  103  and the fourth connecting rod  104  form a frame, and preferably the frame is a rectangular frame such that the size of the body can be reduced and the flexibility thereof is improved. Preferably, the area of the cleaning rack  1  is 75% of the area of a photovoltaic panel such that not only can the cleaning effect of the photovoltaic panel be guaranteed, but also the weight of the body is not increased to prevent the photovoltaic panel from being damaged due to compression. The first connecting rod  101  and the third connecting rod  103  are used as short sides of the rectangular frame, and the second connecting rod  102  and the fourth connecting rod  104  are used as long sides of the rectangular frame. The first connecting rod  101 , the second connecting rod  102 , the third connecting rod  103  and the fourth connecting rod  104  are all made of an aluminum material such that the weight of the body can be reduced. Sliding grooves  105  are arranged in four side surfaces of each connecting rod of the cleaning rack. By adopting the sliding grooves, the effect of conveniently increasing or reducing other functional parts of the body can be realized. A plurality of hollow through holes  106  which run through the entire connecting rod are arranged in each connecting rod, and preferably the number of the hollow through holes  106  is five such that the weight of the body can be further reduced and the body is prevented from damaging the photovoltaic panel due to compression. One end of the second connecting rod  102  is fixedly connected with one end of the first connecting rod  101  by using a first T-shaped connecting plate  107 , and the other end is fixedly connected with one end of the third connecting rod  103  by using a second T-shaped connecting plate  108 ; one end of the fourth connecting rod  104  is fixedly connected with the other end of the third connecting rod  103  by using a third T-shaped connecting plate  109 , and the other end is fixedly connected with the other end of the first connecting rod  101  by using a fourth T-shaped connecting plate  1010 ; and by the connection mode of connecting all the connecting rods by using the T-shaped connecting plates, all the connecting rods in the cleaning rack  1  are detachably connected, such that the size of the cleaning rack  1  can be adjusted according to the model of the photovoltaic panel, the body can adapt to photovoltaic panels of different models and the assembling is facilitated. Since the photovoltaic panel to be cleaned and a mounting ground thereof form a certain angle, i.e., the body and the ground also form a certain angle when the body moves on the photovoltaic panel, one end, far away from the ground, of the photovoltaic panel is now called as an upper edge of the photovoltaic panel, and one end close to the ground is called as a lower edge of the photovoltaic panel. When the body is arranged on the photovoltaic panel, the first connecting rod  101  of the cleaning rack  1  is close to the upper edge of the photovoltaic panel and the third connecting rod  103  of the cleaning rack  1  is close to the lower edge of the photovoltaic panel. 
         [0045]    As illustrated in  FIG. 4  which illustrates a structural schematic view of the cleaning mechanism, the cleaning mechanism  3  comprises a cleaning rack, a cleaning member, a sweeping member and a cleaning member power unit. The cleaning member is used for stripping off adhesive materials on the photovoltaic panel, the sweeping member is used for sweeping away the stripped-off adhesive materials, and the cleaning member power unit is used for providing power to the cleaning member. Connection between the cleaning member and the cleaning rack and connection between the sweeping member and the cleaning rack are detachable connection such that the replacement and maintenance are easy to perform. Through the cooperation between the cleaning member and the sweeping member, the cleaning effect of the photovoltaic panel can be effectively improved. 
         [0046]    The cleaning member comprises a first rolling brush  301  and a second rolling brush  302  which are coaxially connected. In a cleaning process, the first rolling brush  301  and the second rolling brush  302  simultaneously rotate. The cleaning rack further comprises a fifth connecting rod  1011 , one end of the fifth connecting rod  1011  is fixedly connected with the second connecting rod  102  by using a fifth T-shaped connecting plate  1012  and the other end is fixedly connected with the fourth connecting rod  104  by using a sixth T-shaped connecting plate  1013 . One end of the first rolling brush  301  is detachably mounted on the first connecting rod  101  and the other end is detachably mounted on the fifth connecting rod  1011 . One end of the second rolling brush  302  is detachably mounted on the third connecting rod  103  and the other end is detachably mounted on the fifth connecting rod  1011 . Of course, the cleaning member is not limited to the combination of the two rolling brushes, i.e. the first rolling brush  301  and the second rolling brush  302 , the number of the rolling brushes may be adjusted according to the actual need, and for example, when the width of the photovoltaic panel to be cleaned is greater, the number of the rolling brushes may be increased. 
         [0047]    The sweeping member comprises two first strip brushes  303  and two second strip brushes  304 . The two first strip brushes  303  are both detachably mounted on the second connecting rod  102  and the two second strip brushes  304  are both detachably mounted on the fourth connecting rod  104 . The structures of the strip brushes are the same. As illustrated in  FIG. 5  which illustrates a structural schematic view of a strip brush, each strip brush comprises a strip brush rack  305  and a plurality of bristles  306 , mounting holes  3051  are arranged in the strip brush rack  305 , screws penetrate through the mounting holes  3051  to fix the strip brush rack  305  on the connecting rod, certain ends of the bristles  306  are fixed in bristle grooves  3052  in the strip brush rack  305 , preferably the bristle grooves  3052  is filled with binder to fix the bristles  306  on the strip brush rack  305 , and thereby in the cleaning process, the bristles can be effectively prevented from falling off and the service life of the sweeping member is prolonged. Since the sweeping member and the cleaning rack are detachably connected, the sweeping member can be conveniently replaced at any time. Preferably, the bristles  306  are made of nylon. By adopting nylon, the bristles  306  can be directly molten and solidified in the bristle grooves  3052  such that binder does not need to be used and the cost is reduced. Of course, the sweeping member is not limited to the combination of the two first strip brushes  303  and the two second strip brushes  304 , the number of the strip brushes may be adjusted according to the actual need, and when the width of the photovoltaic panel to be cleaned is greater, the number of the strip brushes may be increased. 
         [0048]    The cleaning member power unit comprises a rolling brush motor  307 , the rolling brush motor  307  is mounted on the first connecting rod  101 , of course may also be mounted on the third connecting rod  103  and is connected with the central controller  2 , and the rolling brush motor  307  can be controlled to work by using the central controller  2  to control the cleaning member to rotate. The cleaning member power unit further comprises a self-locking device (which is similar or same as the self-locking unit of the self-locking mechanism  5 ), the self-locking device is located between the rolling brush motor  307  and the cleaning member, and when the rolling brush motor  307  is shut down (or stops), the cleaning member can be enabled to instantaneously stop rotating such that the cleaning member is prevented from idling, the unnecessary wear between the cleaning member and the photovoltaic panel is reduced and meanwhile sundries can be prevented from being twisted thereon. 
         [0049]    The self-locking device comprises a worm gear and a worm. A power output shaft of the rolling brush motor  307  is connected with the worm, the worm is connected with the worm gear, and the worm gear and the first rolling brush  301  of the cleaning member are coaxially connected. When the rolling brush motor  307  is controlled to work by using the central controller, the power output shaft of the rolling brush motor  307  drives the worm to rotate, the worm drives the worm gear to rotate, the worm gear drives the first rolling brush  301  to rotate, the second rolling brush  302  also simultaneously rotates along with the first rolling brush  301 , the bristles on the first rolling brush  301  and the second rolling brush  302  are quickly in contact with the panel surface of the photovoltaic panel to strip off the adhesive materials adhered onto the panel surface of the photovoltaic panel, the stripped-off adhesive materials are swept away by the first strip brushes  303  and the second strip brushes  304 , and the rolling brush motor  307  is controlled to stop or shut off by using the central controller when sweeping is finished. Since the worm can drive the worm gear only and the worm gear cannot drive the worm, when the rolling brush motor  307  stops or shut off, the first rolling brush  301  and the second rolling brush  302  will instantaneously stop rotating. 
         [0050]    Sometimes the adhesive materials on the photovoltaic panel are tightly adhered to the panel surface, and it is difficult to strip off the adhesive materials from the panel surface of the photovoltaic panel by solely using the cleaning member. The cleaning mechanism on the body of the photovoltaic panel cleaning equipment provided by the embodiment of the present invention further comprises a water spray device. The water spray device can spray water onto the photovoltaic panel to wet the adhesive materials (so as to possibly soften the adhesive materials for easier removal thereof) and as well as providing an effect of cooling down the photovoltaic panel. 
         [0051]    As illustrated in  FIG. 6  which illustrates a structural schematic view of the water spray device, the water spray device comprises a water spray pipe  308  and a water storage tank  309 . The water spray pipe  308  is communicated with the water storage tank  309 . The water spray pipe  308  is detachably mounted on the sweeping member, and a plurality of spray nozzles  3081  used for atomizing water are arranged in the water spray pipe  308 . The water storage tank  309  is detachably mounted on the cleaning rack  1 , a water pressure pump  3091  is mounted in the water storage tank  309 , and the water pressure pump  3091  is connected with the water spray pipe  308  and can pump water in the water storage tank  309  into the water spray pipe  308 . The water pressure pump  3091  is connected with the central controller  2 . The water pressure pump  3091  can be controlled to be started up and shut down at any time through using the central controller  2  such that the water pressure pump  3091  is controlled to spray water for cleaning the photovoltaic panel according to the need. Atomized water sprayed out by the spray nozzles  3081  can wet the photovoltaic panel in large area (and soften the adhesive materials thereon), and not only can the water be saved, but also the cleaning effect/performance of the photovoltaic panel can be improved. Besides, since the atomized water sprayed out by the spray nozzles  3081  can cover the photovoltaic panel in larger area, the water left remaining on the photovoltaic panel will be evaporated after the remained behind water is illuminated or irradiated by sunlight, and heat on the photovoltaic panel will be taken away or removed during evaporation of the remained-behind water, such that the photovoltaic panel is cooled down and the power generation efficiency of the photovoltaic panel is thereby improved. 
         [0052]    In order to accurately assess or know the situation or condition for detecting the amount of water in the water storage tank  309 , a water amount detection and alarm device  3010  is further arranged in the water storage tank  309 , alarm information is given out when the water amount detection and alarm device  3010  detects that the water storage tank  309  is in shortage of water and thereby a user is notified to replenish the water storage tank  309  with water. The water amount detection and alarm device  3010  can be implemented by a conventional water level indicator alarm available on the market. In order to enable the user to conveniently replenish the water storage tank  309  with water, the water spray device further comprises a water suction device  3011 . Preferably, the water suction device is arranged on the water storage tank  309 , and can be implemented by a conventional water pump. When the water amount detection and alarm device  3010  gives out alarm information, the user controls the body of the photovoltaic panel cleaning equipment by using the central controller to rapidly move to a water tank at a water getting point, and the water suction device  3011  sucks water from the external water tank and replenishes the water storage tank  309  with the water. Thereby, the body of the photovoltaic panel cleaning equipment can be enabled to be always under an optimum cleaning condition. The water spray device further comprises a path recording unit. The path recording unit is respectively connected with the water amount detection and alarm device and the central controller. When the water amount detection and alarm device detects that the water storage tank  309  is in shortage of water, the path recording unit can record distance data of movement of the body of the photovoltaic panel cleaning equipment from a water shortage point to the water getting point. After water is obtained, the central controller controls the body to move to the position of the water shortage point according to the distance data and then controls the cleaning mechanism to continuously perform remaining cleaning work until completion. 
         [0053]    As illustrated in  FIG. 7  which illustrates a structural schematic view of the moving mechanism  4 , the moving mechanism  4  comprises a cleaning rack, a plane walking unit and a side surface walking unit. The plane walking unit is located below the cleaning rack and the side surface walking unit is located on one side of the cleaning rack. When the body of the photovoltaic panel cleaning equipment moves on the photovoltaic panel, the plane walking unit is in contact with the panel surface of the photovoltaic panel, the side surface walking unit is in contact with the side surface of the upper edge of the photovoltaic panel, and an effect of preventing the body from falling off from the photovoltaic panel can also be achieved. 
         [0054]    The plane walking unit comprises a first driving wheel  401 , a first driving motor  4001 , a second driving wheel  402 , a second driving motor  4002 , a first driven wheel  403  and a second driven wheel  404 . The first driving wheel  401  is detachably mounted at a junction between the first connecting rod  101  and the fourth connecting rod  104 , and the second driving wheel  402  is detachably mounted at a junction between the third connecting rod  103  and the second connecting rod  102 , i.e., the first driving wheel  401  and the second driving wheel  402  are diagonally mounted on one diagonal line of the cleaning rack  1 . Thereby, when the body moves forwards or backwards on the photovoltaic panel, the acting pushing force is uniform and the body can be enabled to stably move on the photovoltaic panel. The first driven wheel  403  is detachably mounted at a junction between the first connecting rod  101  and the second connecting rod  102 , and the second driven wheel  404  is detachably mounted at a junction between the fourth connecting rod  104  and the third connecting rod  103 , i.e., the two driven wheels are diagonally mounted on the other diagonal line of the cleaning rack  1 . Of course, the first driving wheel  401  and the second driving wheel  402  may also be arranged on a single side, and one or both of the first driven wheel  403  and the second driven wheel  404  may also be replaced with a driving wheel/driving wheels. The plane walking unit further comprises a third driven wheel  407  and a fourth driven wheel  408 , the third driven wheel  407  is detachably mounted at a junction between the fifth connecting rod  1011  and the second connecting rod  102 , and the fourth driven wheel  408  is detachably mounted at a junction between the fifth connecting rod  1011  and the fourth connecting rod  104 . Thereby, the pressure applied by the body to the photovoltaic panel can be more evenly distributed such that the pressure of the body is prevented from being concentrated on the two sides of the photovoltaic panel and causing damages to the photovoltaic panel. The first driving wheel  401 , the second driven wheel  404  and the fourth driven wheel  408  are connected through a first axle rod  410 , and first couplings  4100  are arranged at the two ends of the first axle rod  410 . The second driving wheel  402 , the first driven wheel  403  and the third driven wheel  407  are connected through a second axle rod  420 , and second couplings  4200  are arranged at the two ends of the second axle rod  420 . By arranging the axle rods, the operation stability of the body can be improved. The first driving motor  4001  drives the first driving wheel  401  to rotate, the first axle rod  410  is driven to rotate, and further the second driven wheel  404  and the fourth driven wheel  408  are driven to rotate. The second driving motor  4002  drives the second driving wheel  402  to rotate, the second axle rod  420  is driven to rotate, and further the first driven wheel  403  and the third driven wheel  407  are driven to rotate. 
         [0055]    The side surface walking unit comprises a third driving wheel  405 , a third driving motor  4005 , a fourth driving wheel  406  and a fourth driving motor  4006 . The third driving wheel  405  and the fourth driving wheel  406  are both detachably mounted on the first connecting rod  101 . The first driving motor  4001 , the second driving motor  4002 , the third driving motor  4005  and the fourth driving motor  4006  are all connected with the central controller  2 . The working states of the driving motors can be controlled by using the central controller  2  such that the body is controlled to move back and forth on the photovoltaic panel. 
         [0056]    As illustrated in  FIG. 8  which illustrates a structural schematic view of the self-locking mechanism mounted on the moving mechanism, the self-locking mechanism comprises a first self-locking unit  501  and a second self-locking unit  502  which are arranged in the plane walking unit. The first self-locking unit  501  is arranged between the first driving motor  4001  and the first driving wheel  401  and is used for realizing self-locking of the first driving wheel  401 ; and the second self-locking unit  502  is arranged between the second driving motor  4002  and the second driving wheel  402  and is used for realizing self-locking of the second driving wheel  402 . 
         [0057]    The first self-locking unit  501  comprises a worm gear and a worm, a power output shaft of the first driving motor  4001  is connected with the worm, the worm is connected with the worm gear, the worm gear and the first driving wheel  401  are coaxially connected, the first driving motor  4001  is controlled to work by using the central controller  2 , the power output shaft of the first driving motor  4001  drives the worm to rotate, the worm drives the worm gear to rotate and the worm gear drives the first driving wheel  401  to rotate; and when the first driving motor  4001  stops working, since the worm can drive the worm gear only and the worm gear cannot drive the worm, the first driving wheel  401  stops rotating once the first driving motor  4001  stops working such that the self-locking of the first driving wheel  401  is realized. 
         [0058]    The second self-locking unit  502  comprises a worm gear and a worm, a power output shaft of the second driving motor  4002  is connected with the worm, the worm is connected with the worm gear, the worm gear and the second driving wheel  402  are coaxially connected, the second driving motor  4002  is controlled to work by using the central controller  2 , the power output shaft of the second driving motor  4002  drives the worm to rotate, the worm drives the worm gear to rotate and the worm gear drives the second driving wheel  402  to rotate; and when the second driving motor  4002  stops or shut off, since the worm can drive the worm gear only and the worm gear cannot drive the worm, the second driving wheel  402  stops rotating once the second driving motor  4002  stops or shut off, such that the self-locking of the second driving wheel  402  is realized. The self-locking mechanism further comprises a third self-locking unit  503  and a fourth self-locking unit  504  which are arranged in the side surface walking unit. The third self-locking unit  503  is arranged between the third driving motor  4005  and the third driving wheel  405  and is used for realizing self-locking of the third driving wheel  405 ; and the fourth self-locking unit  504  is arranged between the fourth driving motor  4006  and the fourth driving wheel  406  and is used for realizing self-locking of the fourth driving wheel  406 . 
         [0059]    The third self-locking unit  503  comprises a worm gear and a worm, a power output shaft of the third driving motor  4005  is connected with the worm, the worm is connected with the worm gear, the worm gear and the third driving wheel  405  are coaxially connected, the third driving motor  4005  is controlled to work by using the central controller  2 , the power output shaft of the third driving motor  4005  drives the worm to rotate, the worm drives the worm gear to rotate and the worm gear drives the third driving wheel  405  to rotate; and when the third driving motor  4005  stops or power off, since the worm can drive the worm gear only and the worm gear cannot drive the worm, the third driving wheel  405  stops rotating once the third driving motor  4005  stops or shut off, such that the self-locking of the third driving wheel  405  is realized. 
         [0060]    The fourth self-locking unit  504  comprises a worm gear and a worm, a power output shaft of the fourth driving motor  4006  is connected with the worm, the worm is connected with the worm gear, the worm gear and the fourth driving wheel  406  are coaxially connected, the fourth driving motor  4006  is controlled to work by using the central controller  2 , the power output shaft of the fourth driving motor  4006  drives the worm to rotate, the worm drives the worm gear to rotate and the worm gear drives the fourth driving wheel  406  to rotate; and when the fourth driving motor  4006  stops or shut off, since the worm can drive the worm gear only and the worm gear cannot drive the worm, the fourth driving wheel  406  stops rotating once the fourth driving motor  4006  stops or shut off, such that the self-locking of the fourth driving wheel  406  is realized. 
         [0061]    The worm gears and worms in the self-locking mechanism  5  can enable the body of the photovoltaic panel cleaning equipment to move at constant speed on the photovoltaic panel, such that the cleaning effect or performance of the photovoltaic panel is guaranteed or improved. Besides, the self-locking mechanism can also enable the body to instantaneously stop on the photovoltaic panel such that the body is prevented from running out of the photovoltaic panel due to inertia and the body can be prevented from falling down due to the effect of gravity when the body is stopped on the photovoltaic panel with a gradient with respect to the ground. 
         [0062]    The photovoltaic panels can be arranged in sequence or order as a photovoltaic panel array, and since the photovoltaic panels in the photovoltaic panel array may be not be arranged properly in flush (or not aligned in an organized manner) for a reason of being that the mounting ground or the body is caused to be inclined and even shake or shaking on the photovoltaic panel array during cleaning operation when the power drawn (electric power provided to) the body is not uniform or consistent, the body cannot stably move and thereby the cleaning effect/performance of the photovoltaic panels is reduced. Therefore, the body further comprises a correction mechanism  6 . As illustrated in  FIG. 9  which illustrates a structural schematic view of the correction mechanism  6  mounted on the cleaning rack  1 , the correction mechanism  6  comprises a first correction guide wheel  601  and a second correction guide wheel  602 . The first correction guide wheel  601  and the second correction guide wheel  602  are both detachably-mounted on the third connecting rod  103 . 
         [0063]    As illustrated in  FIG. 10  which illustrates a schematic view of an included angle between a correction guide wheel and a driving wheel, the first correction guide wheel  601  and the third driving wheel  405  form an included angle of a, where 0°&lt;a≦5°; the second correction guide wheel  602  and the fourth driving wheel  406  form an included angle of b, where 0°&lt;b≦5°; and preferably, the included angle a is equal to the included angle b. Since the first correction guide wheel  601  and the third driving wheel  405  form the included angle a and the second correction guide wheel  602  and the fourth driving wheel  406  form the included angle b, when the body is not inclined on the photovoltaic panel, the first correction guide wheel  601  and the second correction guide wheel  602  are not in contact with the side surface of the lower edge of the photovoltaic panel, and only when the body is inclined on the photovoltaic panel and an inclination angle c satisfies 0°&lt;c≦5°, the first correction guide wheel  601  and the second correction guide wheel  602  are in contact with the side surface of the lower edge of the photovoltaic panel, such that the body can stably move on the photovoltaic panel without shaking. 
         [0064]    Sometimes an included angle between the photovoltaic panel to be cleaned and the ground is possibly close to 90°, when the body moves on the photovoltaic panel at this moment, the body may fall off from the photovoltaic panel. The body further comprises an anti-falling mechanism  7 . The anti-falling mechanism  7  is detachably mounted on the cleaning rack  1  and is used for preventing the body from falling off from the photovoltaic panel. 
         [0065]    As illustrated in  FIG. 11  which illustrates a structural schematic view of the anti-falling mechanism mounted on the cleaning rack, the anti-falling mechanism comprises a first hook and a second hook. Of course, the anti-falling mechanism may also adopt just one hook instead of two hooks. The first hook and the second hook are detachably mounted on the first connecting rod  101 . Each of the first hook and the second hook comprises a fixed part  701  and an anti-falling part  702 , the fixed part  701  is used for being fixed on the cleaning rack  1  by using screws and the anti-falling part  702  is used for fastening the photovoltaic panel. Preferably, the fixed part  701  and the anti-falling part  702  are connected perpendicular to each other, i.e., the first hook and the second hook are both in L-shaped structures. When the body normally moves on the photovoltaic panel, the anti-falling parts  702  of the first hook and the second hook are not in contact with the photovoltaic panel. Preferably, the first hook and the second hook are respectively and detachably mounted on the two sides of the rolling brush motor  307 . Thereby, when the body is hung on the photovoltaic panel, the pressure or force applied by the body to the upper edge of the photovoltaic panel can be better distributed to prevent the photovoltaic panel from being damaged. 
         [0066]    As illustrated in  FIG. 12  which illustrates a structural schematic view of another anti-falling mechanism mounted on the cleaning rack, a difference between the hook in the anti-falling mechanism and the hook illustrated in  FIG. 11  lies in that a plurality of through holes  703  are vertically arranged in the respective fixed part of the first hook and the second hook, screws are inserted into different through holes and are tightened with the cleaning rack, and thereby the adjustment of the distance between the anti-falling part  702  of the hook and the cleaning rack can be realized such that the anti-falling mechanism can better adapt to photovoltaic panels with different thickness. 
         [0067]    There are a great number of photovoltaic panel arrays in a solar photovoltaic power plant. In an operation process, some photovoltaic panels are inevitably damaged. It is time-consuming and labor-consuming to manually observe or detect as to whether a certain/particular photovoltaic panel is damaged. Therefore, the body of the photovoltaic panel cleaning equipment in the embodiments of the present application comprises a dynamic temperature measuring mechanism which is arranged on the cleaning rack and is used for dynamically measuring temperature of the photovoltaic panel and measuring the position of the body on the photovoltaic panel. In an embodiment, the dynamic temperature measuring mechanism can be a commercially available dynamic temperature sensor and recording device. 
         [0068]    As illustrated in  FIG. 13  which illustrates a structural schematic view of the dynamic temperature measuring mechanism mounted on the cleaning rack, the dynamic temperature measuring mechanism  8  comprises a temperature probe  801 , a probe moving device and a position measuring device  802 . The temperature probe  801  is used for acquiring the temperature of the photovoltaic panel and transmitting temperature data to the central controller  2 . Preferably, a wireless transmission mode is adopted for transmission. The probe moving device is used for driving the temperature probe  801  to move on the photovoltaic panel. The position measuring device  802  is used for acquiring position data of the body on the photovoltaic panel and transmitting the position data to the central controller. Preferably, a wireless transmission mode is adopted for transmission. 
         [0069]    The probe moving device comprises a first gear  803 , a second gear  804 , a first worm  805 , a first worm gear  806 , a first conveyor wheel  807 , a second conveyor wheel  808  and a conveyor belt  809 . The first gear  803  is coaxially connected with the worm gear in the second self-locking unit  502 , the second gear  804  is engaged with the first gear  803 , the first worm gear  806  is connected with the second gear  804  by using the first worm  805 , the first conveyor wheel  807  is coaxially connected with the first worm gear  806 , the second conveyor wheel  808  is connected with the first conveyor wheel  807  by using the conveyor belt  809 , a probe support  8010  is arranged on the conveyor belt  809  and the temperature probe  801  is mounted on the probe support  8010 . When the second driving motor  4002  is driven or powered on, the worm gear in the second self-locking unit  502  is driven to rotate, the worm gear in the second self-locking unit  502  drives the first gear  803  to rotate, the first gear  803  drives the second gear  804  to rotate, the second gear  804  drives the first worm  805  to rotate, the first worm  805  drives the first worm gear  806  to rotate, the first worm gear  806  drives the first conveyor wheel  807  to rotate, the first conveyor wheel  807  drives the conveyor belt  809  to rotate and thereby the temperature probe  801  is driven to move. The central controller  2  judges whether there are damaged photovoltaic panels in the photovoltaic panels through which the body passes according to the acquired temperature data and position data. If there are damaged photovoltaic panels, the central controller will notify maintenance personnel about the position information of the damaged photovoltaic panels by using a display device or by means of short messages or voice messages, such that the maintenance personnel maintain the damaged photovoltaic panels as soon as possible. 
         [0070]    The power supply module  9  in the body is mounted on the cleaning rack and is used for supplying power to all the electrical parts of the body. The power supply module  9  is further connected with a charging connector for charging the power supply module. As illustrated in  FIG. 14  which illustrates a stereoscopic or perspective view of the charging connector, and  FIG. 15  which illustrates a side view of the charging connector, the charging connector comprises a connector connecting member  901 , a telescopic conductive member, a conductive member insulating housing  902  and a conductive member mounting member  903 . The connector connecting member  901  is fixedly connected with the conductive member mounting member  903  and is used for being connected with the cleaning rack. As shown in  FIG. 14 , threaded holes  9031  are arranged in the two ends of the conductive member mounting member  903 , and after the conductive member insulating housing  902  is inserted into the threaded holes  9031 , the conductive member insulating housing  902  is fixed on the conductive member mounting member  903  by using hollow insulating nuts  904 . The telescopic conductive member comprises a spring and a conductive member  905 , the spring is arranged in the conductive member insulating housing  902  and one end of the conductive member  905  is connected with the charging module by using the spring or a conducting wire. Due to the effect or property of the spring, the conductive member  905  may vertically extend and retract in the conductive member insulating housing  902 . A waterproof and dustproof cap  906  is further mounted on the conductive member insulating housing  902  to prevent dust and rainwater from entering the conductive member insulating housing  902  and causing the service life of the charging connector to be shortened. The conductive member  905  may be a copper column or a carbon column. The copper column is preferred since it is not easily ruptured and the service life is long. 
         [0071]    As illustrated in  FIG. 16  which illustrates a structural schematic view of the charging compartment  11 , the charging compartment is used for stopping the body and recharging/charging battery power in the body. The charging compartment  11  comprises a charging and stopping rack  111  and a telescopic supporting rack. The charging and stopping rack  111  is used for stopping the body and for recharging/charging a battery (not shown) in the body; and the telescopic supporting rack is used for supporting the charging and stopping rack  111  and adjusting the angle of the charging and stopping rack  111  to enable the charging and stopping rack  111  and a photovoltaic panel to be cleaned to be on a same plane. The charging and stopping rack  111  comprises a charging part  1110  and a stopping part  1111 . A solar photovoltaic panel  1112  used for charging the body is mounted on the charging part  1110 ; and the stopping part  1111  is used for stopping the body (so that the body remain stationary or stopped while the recharging/charging process takes place). A photoelectric converter and an electric energy storage device are mounted at a back portion of the charging part  1110 , the photoelectric converter is used for converting sunlight energy into electric energy and the electric energy storage device is used for storing the electric energy. A self-charging terminal  112  is detachably mounted on the stopping part  1111 . The self-charging terminal  112  is used for being connected with a charging connector. 
         [0072]    As illustrated in  FIG. 17  which illustrates a structural exploded schematic view of the self-charging terminal  112 , the self-charging terminal  112  comprises a terminal fixing block  1121 , a sloped conductive member  1122  and a sloped conductive member mounting member  1123 . A first mounting groove  11231  is arranged in one end of the sloped conductive member mounting member  1123  and a second mounting groove  11232  is arranged in the other end. The sloped conductive member mounting member  1123  is fixedly mounted on the terminal fixing block  1121 , and the two ends of the sloped conductive member  1122  are respectively mounted in the first mounting groove  11231  and the second mounting groove  11232 . The sloped conductive member  1122  is preferably a copper conductive member. The sloped conductive member  1122  is connected with the electric energy storage device by using a conducting wire. 
         [0073]    The telescopic supporting rack comprises two first telescopic members  1131  which are symmetrically arranged, two second telescopic members  1132  which are symmetrically arranged and two third telescopic members  1133  which are symmetrically arranged. The upper ends of the two first telescopic members  1131  which are symmetrically arranged are rotatably connected with one end of the charging and stopping rack  111 ; the two third telescopic members  1133  which are symmetrically arranged are fixedly-connected with the other end of the charging and stopping rack  111 ; and the two second telescopic members  1132  which are symmetrically arranged are fixedly-mounted at the middle portion of the charging and stopping rack  111 . Each of the first telescopic members  1131 , the second telescopic members  1132  and the third telescopic members  1133  comprises a sleeve  113  and a telescopic rod  114 , a plurality of through holes are arranged in the sleeve  113 , a plurality of threaded holes are arranged in the telescopic rod  114 , and screws penetrate through different through holes and threaded holes to realize telescopic connection between the telescopic rod  114  and the sleeve  113 . A difference lies in that the telescopic rods  114  in the first telescopic members  1131  are rotatably-connected with the charging and stopping rack  111 , and while the telescopic rods  114  in the second telescopic members  1132  and the third telescopic members  1133  are all fixedly-connected with the charging and stopping rack  111 . Of course, the telescopic fixed connection between the sleeve and the telescopic rod may also be realized through hydraulic connection. Of course, it is not only limited to just these two types of telescopic fixed connection. A plurality of first reinforcing members  115  are further arranged between the first telescopic members  1131 , the second telescopic members  1132  and the third telescopic members  1133 , two second reinforcing members  116  are further arranged between every two first reinforcing members  115  and thereby the stability of the charging compartment can be increased. 
         [0074]    A plurality of universal wheels  117  are arranged at the lower ends of the first telescopic members  1131 , the second telescopic members  1132  and the third telescopic members  1133  to facilitate the movement of the charging compartment and improve the mobility and flexibility of the charging compartment. 
         [0075]    Before the photovoltaic panel to be cleaned is started to be cleaned, the charging compartment is moved to a position beside the photovoltaic panel to be cleaned, the telescopic supporting rack of the charging compartment is adjusted to enable the charging and stopping rack  111  and the photovoltaic panel to be cleaned to be on the same plane, the body starts photovoltaic panel cleaning process, the body simultaneously cleans the solar photovoltaic panel  1112  on the charging and stopping rack  111  in a process that the body leaves from the charging and stopping rack  111  and enters the photovoltaic panel to be cleaned, and thereby the self-cleaning function of the charging compartment is realized. 
         [0076]    When the battery in the body needs to be charged or recharged, after the body is stopped (which means that the body remain stationary or stopped while the recharging/charging process of the (battery of) the photovoltaic panel cleaning equipment takes place) on the charging and stopping rack  111  of the charging compartment, the charging connector on the body will be in contact with the self-charging terminal  112  and thereby the recharging/charging of a battery in the body is realized. Specifically, in the present application, the charging connector comprises two telescopic charging members, the self-charging terminal  112  comprises two sloped conductive members  1122 , the two telescopic charging members and the two sloped conductive members  1122  are in contact and are in sliding friction on slopes of the sloped conductive members  1122  when the body is stopped on the charging and stopping rack  111  of the charging compartment, and (due to the fact that shape of the sloped conductive member of the self-charging terminal is specifically matched with the shape of the telescopic charging member) thereby oxidization layers on the sloped conductive members  1122  can be wiped off such that the stable contact between the two telescopic charging members and the two sloped conductive members  1122  is guaranteed, the self-charging terminal  112  of the charging compartment can be prevented from being aged and the service life of the self-charging terminal  112  is prolonged. 
       Preferred Embodiment 2 
       [0077]    As illustrated in  FIG. 18  which illustrates a functional diagram of another photovoltaic panel cleaning equipment disclosed by the present invention, a difference between the photovoltaic panel cleaning equipment disclosed by this embodiment and the photovoltaic panel cleaning equipment disclosed in embodiment 1 lies in that the photovoltaic panel cleaning equipment disclosed by this embodiment further comprises an obstacle crossing mechanism  13  and a telescopic mechanism  14  arranged on the cleaning rack  1 . The obstacle crossing mechanism  13  is used for enabling the body to smoothly pass through a space between two photovoltaic panel arrays. The telescopic mechanism  14  is connected with the central controller  2 , is used for enabling the body to move on the obstacle crossing mechanism  13  and cooperates with the obstacle crossing mechanism  13  to enable the body to smoothly pass through a space between two dislocated photovoltaic panel arrays. Sometimes, since photovoltaic panel arrays not only have a certain distance therebetween but also are possibly dislocated in height, through the cooperation between the obstacle crossing mechanism  13  and the telescopic mechanism  14  in the present application, the body can be enabled to smoothly move or travel from one photovoltaic panel array to another photovoltaic panel array. 
         [0078]    As illustrated in  FIG. 19  which illustrates a structural schematic view of the telescopic mechanism  14  mounted on the cleaning rack, the telescopic mechanism comprises a first telescopic unit and a second telescopic unit, each of the first telescopic unit and the second telescopic unit comprises a telescopic part  141 , a housing part  142  and a power part  143 , and the telescopic part  141  is located in the housing part  142  and can make telescopic motion under the drive of the power part  143 . A first fixed rod  1014  is arranged on the first connecting rod  101  of the cleaning rack  1 , a second fixed rod  1015  and a third fixed rod  1016  are arranged between the second connecting rod  102  and the fourth connecting rod  104  of the cleaning rack  1 , and a fourth fixed rod  1017  is arranged on the third connecting rod  103  of the cleaning rack  1 . The first telescopic unit is detachably mounted between the first fixed rod  1014  and the second fixed rod  1015 . The second telescopic unit is detachably mounted between the third fixed rod  1016  and the fourth fixed rod  1017 . In the present application, the first telescopic unit is a first linear motor and the second telescopic unit is a second linear motor. The first linear motor and the second linear motor are both connected with the central controller  2 , and the central controller  2  controls the first linear motor and the second linear motor to work. 
         [0079]    As illustrated in  FIG. 20  which illustrates a structural schematic view of the obstacle crossing mechanism, the obstacle crossing mechanism  13  is used for temporarily stopping the body and cooperating with the telescopic mechanism  14  to realize the movement of the body from a photovoltaic panel at a lower position to a photovoltaic panel at a higher position, or from a photovoltaic panel at a higher position to a photovoltaic panel at a lower position. 
         [0080]    The obstacle crossing mechanism  13  comprises a moving rack and a fixed rack. The moving rack is used for temporarily stopping the body; and the fixed rack is used for storing the moving rack and cooperating with the telescopic mechanism to realize ascending or descending of the moving rack. The moving rack comprises a first connecting member  1301 , a second connecting member  1302 , a third connecting member  1303  and a fourth connecting member  1304 . The first connecting member  1301 , the second connecting member  1302 , the third connecting member  1303  and the fourth connecting member  1304  are connected end to end to form a rectangular frame, and a moving wheel  1305  is arranged on each of the second connecting member  1302  and the fourth connecting member  1304 . A limiting member  1306  is arranged on each of the second connecting member  1302  and the fourth connecting member  1304 . A sensor support  1307  is arranged on the third connecting member  1303  and is used for storing a sensor (not shown), the sensor is connected with the central controller  2  and the sensor is used for detecting whether the body is stopped on the moving rack. The fixed rack comprises a bearing rack and a bearing supporting rack. The bearing rack comprises a first bearing connecting rod  1308 , a second bearing connecting rod  1309 , a third bearing connecting rod  1310  and a fourth bearing connecting rod  1311 . The first bearing connecting rod  1308 , the second bearing connecting rod  1309 , the third bearing connecting rod  1310  and the fourth bearing connecting rod  1311  are connected end to end to form a rectangular frame. A locking device is further arranged on the bearing rack, and the locking device is fixedly arranged between the second bearing connecting rod  1309  and the fourth bearing connecting rod  1311 . The locking device cooperates with the limiting member  1306  to lock the moving rack on the fixed rack. A baffle  1312  is fixedly arranged on the third bearing connecting rod  1310 . 
         [0081]    As illustrated in  FIG. 21  which illustrates a partially enlarged view of the obstacle crossing mechanism  13 , the locking device disposed or configured on the obstacle crossing mechanism  13  comprises a bottom plate  1313 , a first stand column  1314 , a second stand column  1315 , a third stand column  1316 , a fourth stand column  1317 , a locking hook  1318 , a rotary force applying member  1319 , a restoring member and a pulling rope  1320 . One end of the bottom plate  1313  is fixed on the second bearing connecting rod  1309  and the other end is fixed on the fourth bearing connecting rod  1311 . A fixed column  1321  is arranged on each of two sides of the bottom plate  1313 . The locking hook  1318  is rotatably connected with the fixed column  1321  and is used for locking the limiting member  1306 . The rotary force applying member  1319  is connected with one end of the locking hook  1318  and can outwards pull away the locking hook  1318  under an effect of external force to unlock the limiting member  1306 . The restoring member is arranged at a junction between the rotary force applying member  1319  and the locking hook  1318 , and when the external force acting on the rotary force applying member  1319  disappears, the restoring member enables the locking hook  1318  to be inwards restored. The restoring mechanism is a torsion spring. The first stand column  1314  and the fourth stand column  1317  are respectively fixed at the two ends of the bottom plate  1313 , two vertical pulleys  1322  are arranged on each of the stand columns, the two vertical pulleys  1322  are respectively located at a higher position and a lower position on the stand column, the two vertical pulleys  1322  are detachably mounted on the stand column by using a first fixed block  1323  and the two vertical pulleys  1322  are both mounted at one end of the first fixed block  1323 . The second stand column  1315  and the third stand column  1316  are arranged between the first stand column  1314  and the fourth stand column  1317 , a horizontal pulley  1324  is arranged on each of the second stand column  1315  and the third stand column  1316 , and the horizontal pulley  1324  is detachably mounted on each stand column by using a second fixed block  1325 , wherein the horizontal pulley  1324  of the second stand column  1325  is arranged above one end of the second fixed block  1325  and the horizontal pulley  1324  of the third stand column  1316  is arranged below one end of the second fixed block  1325 . One end of the pulling rope  1320  is fixedly connected with one rotary force applying member  1319 , and the other end is wound around the vertical pulleys  1322  and the horizontal pulleys  1324  and then is fixedly connected with the other rotary force applying member. The structure of the locking device is simple and the stability is reliable. By arranging the vertical pulleys and the horizontal pulleys, the pulling rope is not to easily depart from the pulleys and the continuous application of force to the rotary force applying members  1319  is guaranteed. 
         [0082]    The bearing supporting rack is used for supporting the bearing rack and is rotatably connected with the bearing rack. Supporting legs of the bearing supporting rack are adjustable in height. A resisting rack  1327  is further arranged on the bearing supporting rack and is used for resisting against the baffle  1312  and preventing the baffle  1312  from being inclined when the telescopic part of the second telescopic unit presses against the baffle  1312 . 
         [0083]    When the body moves from a photovoltaic panel at a low position to a photovoltaic panel at a high position, the body firstly moves from the photovoltaic panel at the low position to the moving rack, the sensor on the moving rack senses that the body moves onto the moving rack and sends a signal to the central controller, the central controller controls the body to be immobilized on the moving rack, then the central controller controls the second telescopic unit to enable the telescopic part  141  of the second telescopic unit to continuously stretch out, the telescopic part  141  presses against the baffle  1312  to enable the moving rack to slowly move up along the bearing rack until the limiting member  1306  on the moving rack presses the locking hook  1318  to open, the locking hook  1318  clamps the limiting member  1306  when the locking hook  1318  is restored under the effect of the restoring member, at this moment the central controller  2  controls the telescopic part  141  of the second telescopic unit to retract, the moving rack cannot slide down since the locking hook  1318  has already clamped the limiting member  1306 , then the central controller  2  controls the body to move from the moving rack to the photovoltaic panel at the high position, and thereby the obstacle crossing function that the body moves from the photovoltaic panel at the low position to the photovoltaic panel at the high position is realized. 
         [0084]    When the body moves from a photovoltaic panel at a high position to a photovoltaic panel at a low position, the body firstly moves from the photovoltaic panel at the high position to the moving rack, the sensor on the moving rack senses that the body moves onto the moving rack and sends a signal to the central controller, the central controller controls the body to be immobilized on the moving rack, then the central controller firstly controls the second telescopic unit to enable the telescopic part  141  of the second telescopic unit to continuously stretch out, the telescopic part  141  presses against the baffle  1312 , then the first telescopic unit is controlled to enable the telescopic part of the first telescopic unit to continuously stretch out, the pulling rope  1320  is clamped in the groove in the telescopic part, the pulling rope  1320  applies force to the rotary force applying member  1319  through the vertical pulleys  1322  and the horizontal pulleys  1324 , the rotary force applying member  1319  then outwards pulls the locking hook  1318  to open to enable the locking hook  1318  to be separated from the limiting member  1306 , then the telescopic part of the second telescopic unit is enabled to slowly retract, the moving rack slows moves down along the bearing rack under the effect of gravity until the moving rack is stopped by a limiting stop block  1326  on the bearing rack, thereafter the central controller controls the body to move from the moving rack to the photovoltaic panel at the low position, and thereby the obstacle crossing function that the body moves from the photovoltaic panel at the high position to the photovoltaic panel at the low position is realized. 
         [0085]    Although the present invention is described in detail with reference to the above-mentioned embodiments, one skilled in the art may still make amendment to the technical solution recorded in each embodiment or make equivalent replacement to partial technical features therein. However, any amendment, equivalent replacement, improvement and the like made within the spirit and rule of the present invention shall be still included in the protection scope of the present invention.