Omnidirectional photovoltaic cleaning robot based on aerodynamic force

The invention discloses an omni-directional photovoltaic cleaning robot based on aerodynamic force. The omni-directional photovoltaic cleaning robot comprises a transverse power module, a thrust module, a rolling cleaning module and a control module. The two sides of the bottom plate are each provided with two paddles, and leftward acceleration and rightward acceleration are provided. And the tail part of the bottom plate is provided with two paddles for providing forward thrust, so that the solar panel can run on the solar panel with a relatively large inclination angle. The two rollers wrapped with the dust removal cloth are installed in front of and behind the bottom plate, and the dust removal task can be completed while power is provided. On the control system level, a cascade nonlinear PID control algorithm is utilized, the control precision is improved, and the attitude is stabilized. Efficient and green cleaning of the solar panel can be achieved, stable walking on the solar panel is controlled, and t