Floating type photovoltaic panel automatic cleaning device

Abstract

The invention discloses a floating type photovoltaic panel automatic cleaning device which is applied to a floating type platform of an array type distribution structure composed of a plurality of platforms, hollowed-out areas capable of being provided with automatic cleaning devices are arranged between the platforms at intervals, and the automatic cleaning devices can be arranged in the hollowed-out areas to clean photovoltaic panels around the hollowed-out areas. The automatic cleaning device is composed of an adjusting module, a multi-degree-of-freedom platform, a cleaning module and a fixing module, the height, the direction and the cleaning range of the automatic cleaning device are changed through the adjusting module, and continuous cleaning of peripheral photovoltaic panels is achieved. And the fixing module is adsorbed on the surface of the photovoltaic panel, and based on cooperative movement of the freedom degree platform and the floating type photovoltaic panel, the cleaning effect can be guaranteed, and meanwhile damage to the photovoltaic panel can be avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of marine engineering, and in particular relates to an automatic cleaning device for floating photovoltaic panels. Background Art

[0002] Floating photovoltaic, also known as floating photovoltaic, is to use the floating structure on the water surface as the supporting structure of the photovoltaic panel. This new type of photovoltaic power station is directly built on the water surface, does not occupy land resources, and therefore has great development potential. my country has currently become the world's largest builder of floating photovoltaic power stations on the water. However, the surface contamination of offshore photovoltaic panels caused by seabird excrement, biological attachment and other reasons is more serious than that of land photovoltaics, which may cause a significant decline in the power generation performance of floating photovoltaic systems. Therefore, it is necessary to clean the surface of the photovoltaic panels. However, floating photovoltaic panels are usually built in offshore areas. It is difficult to clean photovoltaic panels manually by boat and it is dangerous. Since the floating structure on the water surface is affected by the waves, the photovoltaic panels are not on the same plane, so the photovoltaic panel cleaning robots used on existing land or offshore (photovoltaic panels are fixed on the seabed by brackets) cannot be effectively applied to floating photovoltaic panels. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic cleaning device for floating photovoltaic panels, in which the automatic cleaning device is inserted in a matrix photovoltaic array. An automatic cleaning device can perform continuous cleaning on at least eight photovoltaic panels around it through an adjustment module, can adapt to the fluctuations of waves through a multi-degree-of-freedom platform, can fix the cleaning module on the photovoltaic panel through a fixing module, and can ensure the effective implementation of the cleaning process in combination with the multi-degree-of-freedom characteristics of the multi-degree-of-freedom platform.

[0004] The present invention is implemented by the following technical solutions: A floating photovoltaic panel automatic cleaning device is proposed, which is applied to a floating platform composed of multiple platforms in an array distribution structure; photovoltaic panels are installed on the floating platform, and hollow areas where automatic cleaning devices can be configured are arranged between the platforms. In the hollow areas, the platforms around the hollow areas are connected to the connecting platform through a universal structure; The automatic cleaning device comprises: The adjustment module is installed in the middle of the upper end of the connection platform and is equipped with a lifting, rotating and telescopic structure to adjust the height, cleaning direction and cleaning range of the automatic cleaning device; A fixed module is arranged in the middle of the photovoltaic panel and is used to adsorb the photovoltaic panel; A multi-degree-of-freedom platform installed at the end of the telescopic structure of the adjustment module; The cleaning module is installed between the fixed module and the multi-degree-of-freedom platform and is used to clean the surface of the photovoltaic panel.

[0005] In some embodiments of the present invention, the adjustment module is composed of a support base, a column, a cylinder, a sliding frame, an electric turntable, a rotating frame and a telescopic unit; the support base is installed in the middle of the upper end of the connecting platform, the column is installed in the middle of the upper end of the support base, the cylinder is evenly arranged around the upper end of the support base and the column, the sliding frame is installed on the top of the cylinder through a flange, the cross-section of the sliding frame is L-shaped, the sliding frame and the column are slidably connected, an electric turntable is installed in the middle of the sliding frame, the rotating frame is installed on the electric turntable, and the telescopic unit is installed on the rotating frame.

[0006] In some embodiments of the present invention, the telescopic unit consists of a fixed plate, a second cylinder and a telescopic rod; the fixed plate is installed on a rotating frame, a slide groove is opened in the middle of the fixed plate, the second cylinder is fixed in the slide groove, the telescopic rod is slidably set in the slide groove, and the top end of the second cylinder is connected to the telescopic rod through a flange, and the end of the telescopic rod is installed on the multi-degree-of-freedom platform through bolts.

[0007] In some embodiments of the present invention, the fixing module is composed of a fixing column, an adsorption plate and a flexible pad; the fixing column is installed at the lower end of the multi-degree-of-freedom platform, an installation groove is provided in the middle of the lower end of the fixing column, the adsorption plate is installed in the installation groove, adsorption holes are evenly provided on the adsorption plate, a flexible pad is installed at the lower end of the fixing column, through holes are evenly provided on the flexible pad, and the through holes are connected with the adsorption holes on the adsorption plate.

[0008] In some embodiments of the present invention, the cleaning module is composed of an electric turntable 2, a rotating frame, a fixed frame, a telescopic frame, an ejection unit, a laser cleaning unit, a detection unit and a cleaning unit; the electric turntable 2 is installed in the middle of the fixed module, the rotating frame is installed on the outside of the electric turntable 2, the fixed frame is installed in the middle of the rotating frame, the telescopic frame is slidably assembled on the fixed frame, the ejection unit is installed on the upper end of the fixed module, and the ejection unit is connected to the telescopic frame; the laser cleaning unit is respectively installed on the fixed frame and the telescopic frame, and the lower ends of the fixed frame and the telescopic frame are respectively provided with a through groove and a rectangular groove, the detection unit is evenly installed in the through groove, and the cleaning unit is installed in the rectangular groove.

[0009] In some embodiments of the present invention, the ejection unit is composed of a fixed rod, a telescopic spring, a slide rail frame and a ejector rod; the fixed rod is installed on the upper end of the rotating frame, the telescopic frame is slidably connected to the fixed rod, the telescopic spring is installed on the inner side of the fixed rod, and the ends of the telescopic spring are respectively connected to the rotating frame and the telescopic frame; the slide rail frame is installed on the upper end of the fixed module, a groove is opened in the middle of the slide rail frame, an L-shaped ejector rod is installed on the upper end of the telescopic frame, and the end of the ejector rod can be slidably placed in the groove.

[0010] In some embodiments of the present invention, the laser cleaning unit consists of an electric slider, a laser frame and a laser cleaning head; the electric sliders are respectively installed on the sides of the fixed frame and the telescopic frame, the laser frame is installed on the electric slider, and the laser cleaning head is installed in the middle of the laser frame.

[0011] In some embodiments of the present invention, the detection unit is composed of a hollow frame, an arc resistor, an arc slider, a tension spring, a cross bar, a rotating disk, a conductive rod and a connecting rod; the hollow frame is evenly installed in the through groove, the hollow frame is a rectangular hollow structure, and an arc groove is symmetrically opened on one side of the interior, the arc resistor is installed in the arc groove at the upper end, and two arc sliders are slidably set in the middle of the arc groove at the lower end, and a tension spring is installed between each arc slider and the arc groove; a cross bar is installed in the middle of the hollow frame, and a rotating disk is rotatably assembled in the middle of the cross bar, a conductive rod is installed at the upper end of the rotating disk, a conductive sheet is installed at the end of the conductive rod, the conductive sheet is electrically connected to the arc resistor, a connecting rod is installed at the lower end of the rotating disk, the connecting rod body is clamped between the two arc sliders, and a flexible rod is installed at the lower end of the connecting rod.

[0012] In some embodiments of the present invention, the cleaning unit is composed of a U-shaped frame, an electric push rod, a lifting plate, a cleaning frame, a connecting pipe, a feeding frame, a connecting plate and a rubber scraper; the U-shaped frame is installed in an inverted shape in the rectangular groove, the electric push rod is installed on the upper end of the U-shaped frame, the lifting plate is installed on the end of the electric push rod through a flange, the cleaning frame is installed on the lower end of the lifting plate, a flow groove is arranged in the middle of the cleaning frame, a discharge port is evenly opened at the lower end of the cleaning frame, and flexible bristles are evenly arranged on the lower end surface of the cleaning frame, the flexible bristles and the discharge port are staggered, and the connecting pipe is evenly installed on the upper end of the cleaning frame. The connecting pipe is connected with the circulation groove, the feeding rack is evenly installed on the U-shaped rack, a connecting groove is arranged in the middle of the lower end of the feeding rack, and feeding grooves are arranged on both sides of the lower end of the feeding rack. The feeding grooves are connected with the connecting grooves, and an annular sealing ring is installed on the inner side of the feeding groove. The upper end of the connecting pipe passes through the lifting plate and is located in the connecting groove. The annular sealing ring is tightly attached to the connecting pipe. A connecting plate is also installed at the lower end of the lifting plate, an air intake groove is arranged in the middle of the connecting plate, and exhaust holes are evenly arranged at the lower end of the connecting plate. The exhaust holes are arranged obliquely, the exhaust holes are connected with the air intake groove, and a rubber scraper is installed at the lower end of the connecting plate.

[0013] Compared with the prior art, the advantages and positive effects of the present invention include: 1. On the floating platform with an array-type distributed structure composed of multiple platforms, hollow areas where automatic cleaning devices can be configured are set between the platforms, so that one automatic cleaning device can clean at least eight photovoltaic panels around it. The automated cleaning of floating photovoltaic panels in the open sea can be achieved with simple structural modifications.

[0014] 2. Design an adjustment module to realize automatic adjustment of the cleaning position. When one photovoltaic panel is cleaned and another photovoltaic panel needs to be cleaned, the cleaning module is adjusted from the current photovoltaic panel to another adjacent photovoltaic panel through the adjustment module. During this period, based on the multi-degree-of-freedom characteristics of the multi-degree-of-freedom platform, the cleaning device and the photovoltaic panel will not be unable to change position even if there are wave fluctuations.

[0015] 3. The cleaning module can traverse the surface of the photovoltaic panel for cleaning through the telescopic structure design. When the fixed column is adsorbed and fixed at the center of the photovoltaic panel, the electric turntable 2 drives the rotating frame to rotate at a uniform speed, and the fixed frame and the telescopic frame rotate synchronously with the rotating frame. The detection unit detects marine attachments, bird droppings and other impurities on the photovoltaic panel. At the same time, the telescopic frame can be retracted and retracted reciprocatingly under the action of the ejection unit, so that the detection units on the fixed frame and the telescopic frame can detect all positions on the surface of the photovoltaic panel. The laser cleaning unit performs laser cleaning on the detected marine attachments, bird droppings and other impurities. After that, the cleaning unit sprays the cleaning agent on the surface of the photovoltaic panel and sweeps and cleans it, realizing the functions of automatic detection, laser cleaning, spraying cleaning agent and sweeping and cleaning of impurities on the surface of the photovoltaic panel, ensuring the degree of cleaning of the surface of the photovoltaic panel.

[0016] 4. A detection unit is designed. When detecting impurities adhered to the photovoltaic panel, the electric turntable 2 drives the rotating frame to rotate at a uniform speed, and the fixed frame and the telescopic frame rotate synchronously with the rotating frame. When the flexible rod at the lower end of the connecting rod encounters adhered impurities, the connecting rod rotates a certain angle under the action of the adhered impurities, and the rotating disk rotates with the connecting rod. At this time, the position where the conductive sheet at the end of the conductive rod contacts the arc resistor changes, so that the current passing through the arc resistor changes. The arc resistor is electrically connected to the controller. The controller calculates the size of the adhered impurities according to the current passing through the arc resistor and records the impurity position. After that, it is fed back to the laser cleaning unit, so that the laser cleaning head can accurately clean the adhered impurities, realizing the function of automatic detection of adhered impurities, facilitating the subsequent automatic cleaning of adhered impurities, and improving the cleaning efficiency.

[0017] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the present invention; Figure 2 It is a schematic diagram of the top view of the structure of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure between the adjustment module, the fixing module, the multi-degree-of-freedom platform and the cleaning module of the present invention; Figure 4 is a schematic diagram of the cross-sectional structure of the regulating module of the present invention; Figure 5 It is a schematic diagram of the cross-sectional structure between the fixed module, the multi-degree-of-freedom platform, the second electric turntable, the rotating frame, the telescopic frame and the ejection unit of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure between the fixing frame, the telescopic frame, the ejection unit, the laser cleaning unit, the detection unit and the cleaning unit of the present invention; Figure 7 It is a schematic diagram of the cross-sectional structure of the detection unit of the present invention; Figure 8 is a schematic diagram of the cross-sectional structure between the fixing frame and the detection unit of the present invention; Fig. 9 It is a schematic diagram of the cross-sectional structure between the telescopic frame and the cleaning unit of the present invention; Fig.10 It is a schematic diagram of the cross-sectional structure between the telescopic frame, the detection unit and the cleaning unit of the present invention; Fig.11 It is a schematic diagram of the cross-sectional structure between the fixed frame, the telescopic frame, the laser cleaning unit, the slide rail frame and the ejector rod of the present invention; Fig.12 It is a schematic diagram of the cross-sectional structure of the multi-degree-of-freedom platform of the present invention; Explanation of reference numerals: 1. floating platform; 2. connecting platform; 3. adjusting module; 31. supporting seat; 32. column; 33. cylinder 1; 34. sliding frame; 35. electric turntable 1; 36. rotating frame; 37. telescopic unit; 371. fixing plate; 372. cylinder 2; 373. telescopic rod; 4. fixing module; 41. fixing column; 42. adsorption plate; 43. flexible pad; 5. multi-degree-of-freedom platform; 6. cleaning module; 61. electric turntable 2; 62. rotating frame; 63. fixing frame; 64. telescopic frame; 65. ejection unit; 651. fixing rod; 652. telescopic spring ; 653, slide rail frame; 654, push rod; 66, laser cleaning unit; 661, electric slider; 662, laser frame; 663, laser cleaning head; 67, detection unit; 671, hollow frame; 672, arc resistor; 673, arc slider; 674, tension spring; 675, cross bar; 676, rotating disk; 677, conductive rod; 678, connecting rod; 68, cleaning unit; 681, U-shaped frame; 682, electric push rod; 683, lifting plate; 684, cleaning frame; 685, connecting pipe; 686, feeding frame; 687, connecting plate; 688, rubber scraper. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The embodiment of the present invention discloses an automatic cleaning device for a floating photovoltaic panel, which can realize the function of automatically and continuously cleaning the floating photovoltaic panel.

[0022] Reference Figure 1 As shown, the floating photovoltaic panel automatic cleaning device disclosed in this embodiment is applied to a floating platform 1 of an array distribution structure composed of multiple platforms. The platforms of the floating platform 1 are connected by hinges, photovoltaic panels are installed on the platforms, and hollow areas for configuring automatic cleaning devices are arranged between the platforms. In the hollow areas, the platforms around them are connected to the connecting platform 2 through a universal structure.

[0023] The automatic cleaning device comprises: The adjustment module 3 is installed in the middle of the upper end of the connecting platform 2 and is equipped with a lifting, rotating and telescopic structure to adjust the height, cleaning direction and cleaning range of the automatic cleaning device.

[0024] The fixing module 4 is arranged in the middle of the photovoltaic panel and is used for adsorbing the photovoltaic panel.

[0025] The multi-degree-of-freedom platform 5 is installed at the end of the telescopic structure of the adjustment module 3 .

[0026] The cleaning module 6 is installed between the fixing module 4 and the multi-degree-of-freedom platform 5 and is used for cleaning the surface of the photovoltaic panel.

[0027] In actual use, the connecting platform 2 is first installed in the hollow area of ​​the floating platform 1, and then the adjusting module 3 is installed on the connecting platform 2. Thereafter, the fixing module 4 and the cleaning module 6 are installed at the end of the telescopic structure of the adjusting module 3 through the multi-degree-of-freedom platform 5.

[0028] The adjustment module 3 can realize the functions of lifting, rotating and extending. It adjusts the fixing module 4 and the cleaning module 6 to the center of the photovoltaic panel through the multi-degree-of-freedom platform 5. The multi-degree-of-freedom platform 5 can adapt to the ups and downs of the photovoltaic panel to ensure that the fixing module 4 can be effectively adsorbed and fixed on the photovoltaic panel. After that, the cleaning module 6 cleans the surface of the photovoltaic panel. After cleaning, the adjustment module 3 drives the multi-degree-of-freedom platform 5, the fixing module 4 and the cleaning module 6 to move, so that they move to the center of another photovoltaic panel that needs to be cleaned and are adsorbed and fixed. After that, the cleaning module 6 cleans the surface of the photovoltaic panel, realizing the function of automatically cleaning the photovoltaic panels one by one.

[0029] It should be noted that the connecting platform 2 and the floating platform 1 are connected by a hinge, and the adjusting module 3 and the fixing module 4 are connected by a multi-degree-of-freedom platform 5. The multi-degree-of-freedom platform 5 can adapt to the ups and downs of the photovoltaic panel, not only realizing the effective adsorption of the fixing module 4 on the surface of the photovoltaic panel, but also enabling the fixing module 4 and the cleaning module 6 to move in coordination with the photovoltaic panel to prevent the impact of waves on the equipment during the cleaning process.

[0030] Reference Figure 4 As shown, the adjustment module 3 is composed of a support base 31, a column 32, a cylinder 33, a sliding frame 34, an electric turntable 35, a rotating frame 36 and a telescopic unit 37. The support base 31 is installed in the middle of the upper end of the connecting platform 2, and the column 32 is installed in the middle of the upper end of the support base 31. The cylinder 33 is evenly arranged around the upper end of the support base 31 and the column 32. The top of the cylinder 33 is installed with a sliding frame 34 through a flange. The cross section of the sliding frame 34 is L-shaped. The sliding frame 34 is slidably connected with the column 32. The electric turntable 35 is installed in the middle of the sliding frame 34, and the rotating frame 36 is installed on the electric turntable 35. The telescopic unit 37 is installed on the rotating frame 36.

[0031] In actual use, when one photovoltaic panel is cleaned and another photovoltaic panel needs to be cleaned, the cylinder 33 lifts the sliding frame 34 upward, and the rotating frame 36 and the telescopic unit 37 move upward synchronously with the sliding frame 34. At this time, the fixed module 4 is separated from the photovoltaic panel, and the electric turntable 35 drives the rotating frame 36 and the telescopic unit 37 to rotate 45°. The fixed module 4 and the cleaning module 6 follow the telescopic unit 37 to rotate 45° synchronously through the multi-degree-of-freedom platform 5. At the same time, the telescopic unit 37 adjusts its length by extending or retracting, so that the fixed module 4 moves to the center of the photovoltaic panel, and the cylinder 33 drives the sliding frame 34 to move downward. After the fixed module 4 moves, it is adsorbed and fixed in the center of the photovoltaic panel, realizing the function of automatically and accurately positioning the photovoltaic panel, which is convenient for the cleaning module 6 to clean the photovoltaic panels one by one.

[0032] Reference Figure 4 As shown, the telescopic unit 37 is composed of a fixed plate 371, a second cylinder 372 and a telescopic rod 373. The fixed plate 371 is mounted on the rotating frame 36, a slide groove is provided in the middle of the fixed plate 371, the second cylinder 372 is fixed in the slide groove, the telescopic rod 373 is slidably arranged in the slide groove, and the top end of the second cylinder 372 is connected to the telescopic rod 373 through a flange, and the end of the telescopic rod 373 is mounted on the multi-degree-of-freedom platform 5 through bolts.

[0033] During actual use, when one photovoltaic panel needs to be cleaned after another photovoltaic panel is cleaned, the cylinder 1 33 lifts the sliding frame 34 upward, and the rotating frame 36 and the fixed plate 371 move upward synchronously with the sliding frame 34. At this time, the fixed module 4 is separated from the photovoltaic panel, and the electric turntable 1 35 drives the rotating frame 36 and the fixed plate 371 to rotate 45°, and the fixed module 4 and the cleaning module 6 rotate 45° synchronously with the telescopic rod 373 through the multi-degree-of-freedom platform 5. At the same time, the cylinder 2 372 drives the multi-degree-of-freedom platform 5, the cleaning module 6 and the fixed module 4 to adjust to the center position of the photovoltaic panel by extending or retracting, and the cylinder 1 33 drives the sliding frame 34 to move downward. After the fixed module 4 moves, it is adsorbed and fixed in the center position of the photovoltaic panel.

[0034] Reference Figure 5 As shown, the fixing module 4 is composed of a fixing column 41, an adsorption plate 42 and a flexible pad 43. The fixing column 41 is installed at the lower end of the multi-degree-of-freedom platform 5. A mounting groove is provided in the middle of the lower end of the fixing column 41. The adsorption plate 42 is installed in the mounting groove. Adsorption holes are evenly provided on the adsorption plate 42. A flexible pad 43 is installed at the lower end of the fixing column 41. Through holes are evenly provided on the flexible pad 43, and the through holes are connected with the adsorption holes on the adsorption plate 42.

[0035] During actual use, when the adjustment module 3 drives the fixed column 41 to move to the center of the photovoltaic panel through the multi-degree-of-freedom platform 5, the adjustment module 3 drives the fixed column 41 to move downward so that the flexible pad 43 is in close contact with the photovoltaic panel. At this time, the adsorption plate 42 is energized to generate negative pressure, so that the fixed column 41 is adsorbed and fixed on the photovoltaic panel. The flexible pad 43 can play a role of buffering and protection to prevent the fixed column 41 from damaging the photovoltaic panel.

[0036] Reference Figure 5 and Figure 6 As shown, the cleaning module 6 is composed of an electric turntable 2 61, a rotating frame 62, a fixed frame 63, a telescopic frame 64, an ejection unit 65, a laser cleaning unit 66, a detection unit 67 and a cleaning unit 68. The electric turntable 2 61 is installed in the middle of the fixed module 4, the rotating frame 62 is installed outside the electric turntable 2 61, the fixed frame 63 is installed in the middle of the rotating frame 62, the telescopic frame 64 is slidably assembled on the fixed frame 63, the ejection unit 65 is installed on the upper end of the fixed module 4, and the ejection unit 65 is connected to the telescopic frame 64; the laser cleaning unit 66 is installed on the fixed frame 63 and the telescopic frame 64, and the lower ends of the fixed frame 63 and the telescopic frame 64 are respectively provided with a through groove and a rectangular groove, the detection unit 67 is evenly installed in the through groove, and the cleaning unit 68 is installed in the rectangular groove.

[0037] During actual use, after the fixed column 41 is adsorbed and fixed at the exact center of the photovoltaic panel, the electric turntable 61 drives the rotating frame 62 to rotate at a uniform speed, and the fixed frame 63 and the telescopic frame 64 rotate synchronously with the rotating frame 62. The detection unit 67 detects marine attachments, bird droppings and other impurities on the photovoltaic panel. At the same time, the telescopic frame 64 can be retracted and retracted reciprocatingly under the action of the ejection unit 65, so that the detection units 67 on the fixed frame 63 and the telescopic frame 64 can detect all positions on the surface of the photovoltaic panel, and the laser cleaning unit 66 performs laser cleaning on the detected marine attachments, bird droppings and other impurities. After that, the cleaning unit 68 sprays the cleaning agent on the surface of the photovoltaic panel and sweeps and cleans it, realizing the functions of automatically detecting impurities on the surface of the photovoltaic panel, laser cleaning, spraying the cleaning agent and sweeping and cleaning, thereby ensuring the degree of cleaning of the surface of the photovoltaic panel.

[0038] Reference Figure 5 As shown, the ejection unit 65 is composed of a fixed rod 651, a telescopic spring 652, a slide rail frame 653 and a push rod 654. The fixed rod 651 is installed on the upper end of the rotating frame 62, the telescopic frame 64 is slidably connected to the fixed rod 651, the telescopic spring 652 is installed inside the fixed rod 651, and the ends of the telescopic spring 652 are respectively connected to the rotating frame 62 and the telescopic frame 64; the slide rail frame 653 is installed on the upper end of the fixed module 4, a groove is provided in the middle of the slide rail frame 653, and an L-shaped push rod 654 is installed on the upper end of the telescopic frame 64, and the end of the push rod 654 can be slidably placed in the groove.

[0039] During actual use, when the electric turntable 61 drives the rotating frame 62 to rotate at a constant speed, the top rod 654 and the telescopic frame 64 rotate synchronously with the rotating frame 62. At this time, the top rod 654 moves along the groove under the action of the groove and the telescopic spring 652, so as to realize the extension and retraction of the telescopic frame 64, and the telescopic frame 64 cooperates with the fixed frame 63, so that the laser cleaning unit 66, the detection unit 67 and the cleaning unit 68 on the telescopic frame 64 and the fixed frame 63 can detect and clean all areas of the photovoltaic panel, thereby realizing the function of completely cleaning the surface of the photovoltaic panel.

[0040] Reference Figure 6 As shown, the laser cleaning unit 66 is composed of an electric slider 661, a laser frame 662 and a laser cleaning head 663. The electric slider 661 is installed on the side of the fixed frame 63 and the side of the telescopic frame 64 respectively, the laser frame 662 is installed on the electric slider 661, and the laser cleaning head 663 is installed in the middle of the laser frame 662.

[0041] During actual use, after the detection of impurities adhered to the surface of the photovoltaic panel is completed, the electric slider 661 drives the laser cleaning head 663 to move on the telescopic frame 64 and the fixed frame 63 through the laser frame 662, so that the laser cleaning head 663 can be accurately aligned with the adhered impurities. After that, the laser cleaning head 663 cleans the impurities adhered to the photovoltaic panel.

[0042] Reference Figure 7 and Figure 8 As shown, the detection unit 67 is composed of a hollow frame 671, an arc-shaped resistor 672, an arc-shaped slider 673, a tension spring 674, a cross bar 675, a rotating disk 676, a conductive rod 677 and a connecting rod 678. A hollow frame 671 is evenly installed in the through groove. The hollow frame 671 is a rectangular hollow structure. An arc groove is symmetrically provided on one side of the interior. An arc resistor 672 is installed in the arc groove at the upper end. Two arc sliders 673 are slidably arranged in the middle of the arc groove at the lower end. A tension spring 674 is installed between each arc slider 673 and the arc groove. A cross bar 675 is installed in the middle of the hollow frame 671. A rotating disk 676 is rotatably assembled in the middle of the cross bar 675. A conductive rod 677 is installed at the upper end of the rotating disk 676. A conductive sheet is installed at the end of the conductive rod 677. The conductive sheet is electrically connected to the arc resistor 672. A connecting rod 678 is installed at the lower end of the rotating disk 676. The main body of the connecting rod 678 is clamped between the two arc sliders 673, and a flexible rod is installed at the lower end of the connecting rod 678.

[0043] In actual use, when detecting impurities adhered to the photovoltaic panel, the electric turntable 2 61 drives the rotating frame 62 to rotate at a constant speed, and the fixed frame 63 and the telescopic frame 64 rotate synchronously with the rotating frame 62. When the flexible rod at the lower end of the connecting rod 678 encounters the adhered impurities, the connecting rod 678 rotates a certain angle under the action of the adhered impurities, and the rotating disk 676 rotates with the connecting rod 678. At this time, the position where the conductive sheet at the end of the conductive rod 677 contacts the arc resistor 672 changes, so that the current size through the arc resistor 672 changes. The arc resistor 672 is electrically connected to the controller, and the controller calculates the size of the adhered impurities and records the impurity position according to the current size through the arc resistor 672. After that, it is fed back to the laser cleaning unit 66, so that the laser cleaning head 663 can accurately clean the adhered impurities, realize the function of automatically detecting the adhered impurities, facilitate the subsequent automatic cleaning of the adhered impurities, and improve the cleaning efficiency. After the cleaning is completed, the connecting rod 678 is restored to a vertical state by the restoring force of the tension springs 674 on both sides thereof.

[0044] Reference Fig. 9 and Fig.10As shown, the cleaning unit 68 is composed of a U-shaped frame 681, an electric push rod 682, a lifting plate 683, a cleaning frame 684, a connecting pipe 685, a feeding frame 686, a connecting plate 687 and a rubber scraper 688. The U-shaped frame 681 is installed in an inverted shape in the rectangular groove, the electric push rod 682 is installed on the upper end of the U-shaped frame 681, the lifting plate 683 is installed on the end of the electric push rod 682 through a flange, and the cleaning frame 684 is installed on the lower end of the lifting plate 683. A circulation groove is arranged in the middle of the cleaning frame 684, and a discharge port is evenly opened at the lower end of the cleaning frame 684. Flexible bristles are evenly arranged on the lower end surface of the cleaning frame 684, and the flexible bristles are staggered with the discharge port. The connecting pipe 685 is evenly installed on the upper end of the cleaning frame 684, and the connecting pipe 685 is connected to the circulation groove. The feeding frame 684 is evenly installed on the U-shaped frame 681. 86. A connecting groove is provided in the middle of the lower end of the feed rack 686. Feed grooves are provided on both sides of the lower end of the feed rack 686. The feed grooves are connected to the connecting grooves. An annular sealing ring is installed on the inner side of the feed groove. The upper end of the connecting pipe 685 passes through the lifting plate 683 and is located in the connecting groove. The annular sealing ring is tightly attached to the connecting pipe 685. A connecting plate 687 is also installed at the lower end of the lifting plate 683. An air inlet groove is provided in the middle of the connecting plate 687. Exhaust holes are evenly provided at the lower end of the connecting plate 687. The exhaust holes are arranged obliquely. The exhaust holes are connected to the air inlet groove. A rubber scraper 688 is installed at the lower end of the connecting plate 687.

[0045] During actual use, when the laser cleaning unit 66 finishes cleaning the impurities adhered to the photovoltaic panel, the electric turntable 61 drives the rotating frame 62 to continue to rotate at a uniform speed, the telescopic frame 64 and the fixed frame 63 rotate synchronously with the rotating frame 62, and the electric push rod 682 drives the lifting plate 683 to move downward, the cleaning frame 684 and the connecting pipe 685 move downward synchronously with the lifting plate 683, and the connecting pipe 685 is connected to the feed trough, and the cleaning liquid enters the flow groove in the cleaning frame 684 through the feed trough, the connecting groove, and the connecting pipe 685. After that, the cleaning liquid drips onto the photovoltaic panel through the discharge port, and the flexible bristles on the cleaning frame 684 evenly apply the cleaning agent to the surface of the photovoltaic panel and sweep the photovoltaic panel. The rubber scraper 688 scrapes the impurities on the surface of the photovoltaic panel, and the exhaust hole at the lower end of the connecting plate 687 blows out strong wind to gradually blow the impurities and cleaning liquid on one side of the rubber scraper 688 out of the surface of the photovoltaic panel.

[0046] Reference Fig.12 As shown, the multi-degree-of-freedom platform 5 uses a six-degree-of-freedom platform, and the six-degree-of-freedom platform is sealed.

[0047] In combination with the above structure, the automatic cleaning of the automatic cleaning device of the present invention includes: 1. Adsorption detection: When the adsorption plate 42 is energized to generate negative pressure, the fixed column 41 is adsorbed and fixed at the center of the photovoltaic panel. When the electric turntable 61 drives the rotating frame 62 to rotate at a uniform speed, the fixed frame 63 and the telescopic frame 64 rotate synchronously with the rotating frame 62. When the flexible rod at the lower end of the connecting rod 678 encounters adhered impurities, the connecting rod 678 rotates a certain angle under the action of the adhered impurities, and the rotating disk 676 rotates with the connecting rod 678. At this time, the position where the conductive sheet at the end of the conductive rod 677 contacts the arc resistor 672 changes, so that the current passing through the arc resistor 672 changes. The arc resistor 672 is electrically connected to the controller. The controller calculates the size of the adhered impurities according to the current passing through the arc resistor 672 and records the impurity position, and then feeds back to the laser cleaning unit 66.

[0048] 2. Cleaning and discharging: The electric slider 661 drives the laser cleaning head 663 to move on the telescopic frame 64 and the fixed frame 63 through the laser frame 662, so that the laser cleaning head 663 can accurately align with the adhered impurities. After that, the laser cleaning head 663 cleans the impurities adhered to the photovoltaic panel. After the laser cleaning unit 66 finishes cleaning the impurities adhered to the photovoltaic panel, the electric turntable 61 drives the rotating frame 62 to continue to rotate at a uniform speed, the telescopic frame 64 and the fixed frame 63 rotate synchronously with the rotating frame 62, the electric push rod 682 drives the lifting plate 683 to move downward, and the cleaning frame 684 and the connecting pipe 685 follow As the lifting plate 683 moves downward synchronously, the connecting pipe 685 is connected to the feed trough, and the cleaning liquid enters the flow groove in the cleaning rack 684 through the feed trough, the connecting groove, and the connecting pipe 685. After that, the cleaning liquid drips onto the photovoltaic panel through the discharge port. The flexible bristles on the cleaning rack 684 evenly apply the cleaning agent to the surface of the photovoltaic panel and sweep the photovoltaic panel. The rubber scraper 688 scrapes the impurities on the surface of the photovoltaic panel, and the exhaust hole at the lower end of the connecting plate 687 blows out strong wind to gradually blow the impurities and cleaning liquid on one side of the rubber scraper 688 out of the surface of the photovoltaic panel, thereby realizing the function of automatic cleaning of the photovoltaic panel.

[0049] 3. Rotation positioning: when one photovoltaic panel needs to be cleaned and another photovoltaic panel needs to be cleaned, the cylinder 33 lifts the sliding frame 34 upward, and the rotating frame 36 and the telescopic unit 37 move upward synchronously with the sliding frame 34. At this time, the fixed module 4 is separated from the photovoltaic panel, and the electric turntable 35 drives the rotating frame 36 and the telescopic unit 37 to rotate 45°. The fixed module 4 and the cleaning module 6 rotate 45° synchronously with the telescopic unit 37 through the multi-degree-of-freedom platform 5. At the same time, the telescopic unit 37 adjusts the position of the fixed module 4 by extending or retracting, so that the fixed module 4 moves to the center of the photovoltaic panel, and the cylinder 33 drives the sliding frame 34 to move downward. After the fixed module 4 moves, it is adsorbed and fixed in the center of the photovoltaic panel. Repeat 1 and 2 to clean the photovoltaic panels one by one.

[0050] It should be noted that, in the specific implementation process, the above-mentioned control part can be implemented by a hardware processor executing computer execution instructions in software form stored in the memory, which will not be elaborated here, and the programs corresponding to the actions performed by the above-mentioned control circuit can be stored in the computer-readable storage medium of the system in software form, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0051] The computer-readable storage medium mentioned above may include volatile memory, such as random access memory; may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; may also include a combination of the above types of memory.

[0052] The processor mentioned above may also be a general term for multiple processing elements. For example, the processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc., or may be a dedicated processor.

[0053] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A floating photovoltaic panel automatic cleaning device, applied to a floating platform (1) having an array-type distributed structure composed of a plurality of platforms; photovoltaic panels are installed on the floating platform (1), characterized in that: A hollow area configured with an automatic cleaning device is provided between the platforms, and in the hollow area, a connecting platform (2) is connected to the surrounding platforms via a universal structure; The automatic cleaning device comprises: An adjustment module (3) is installed in the middle of the upper end of the connection platform (2) and is provided with a lifting, rotating and telescopic structure for adjusting the height, cleaning direction and cleaning range of the automatic cleaning device; A fixing module (4) is arranged in the middle of the photovoltaic panel and is used to adsorb the photovoltaic panel; A multi-degree-of-freedom platform (5) is installed at the end of the telescopic structure of the adjustment module (3); The cleaning module (6) is installed between the fixing module (4) and the multi-degree-of-freedom platform (5) and is used to clean the surface of the photovoltaic panel.

2. The automatic cleaning device for floating photovoltaic panels according to claim 1, characterized in that: The adjustment module (3) is composed of a support base (31), a column (32), a cylinder (33), a sliding frame (34), an electric turntable (35), a rotating frame (36) and a telescopic unit (37); A support seat (31) is installed in the middle of the upper end of the connecting platform (2), and a column (32) is installed in the middle of the upper end of the support seat (31). Cylinders (33) are evenly arranged around the upper end of the support seat (31) and the column (32). A sliding frame (34) is installed at the top of the cylinder (33) through a flange. The sliding frame (34) has an L-shaped cross section. The sliding frame (34) and the column (32) are slidably connected. An electric turntable (35) is installed in the middle of the sliding frame (34). A rotating frame (36) is installed on the electric turntable (35), and a telescopic unit (37) is installed on the rotating frame (36).

3. The automatic cleaning device for floating photovoltaic panels according to claim 2 is characterized in that: The telescopic unit (37) is composed of a fixed plate (371), a second cylinder (372) and a telescopic rod (373); The fixed plate (371) is mounted on the rotating frame (36), a slide groove is provided in the middle of the fixed plate (371), the second cylinder (372) is fixed in the slide groove, the telescopic rod (373) is slidably arranged in the slide groove, and the top end of the second cylinder (372) is connected to the telescopic rod (373) through a flange, and the end of the telescopic rod (373) is mounted on the multi-degree-of-freedom platform (5) through bolts.

4. The automatic cleaning device for floating photovoltaic panels according to claim 1, characterized in that: The fixing module (4) is composed of a fixing column (41), an adsorption plate (42) and a flexible pad (43); A fixed column (41) is installed at the lower end of the multi-degree-of-freedom platform (5), a mounting groove is provided in the middle of the lower end of the fixed column (41), an adsorption plate (42) is installed in the mounting groove, adsorption holes are evenly provided on the adsorption plate (42), and a flexible pad (43) is installed at the lower end of the fixed column (41), through holes are evenly provided on the flexible pad (43), and the through holes are connected to the adsorption holes on the adsorption plate (42).

5. The automatic cleaning device for floating photovoltaic panels according to claim 1, characterized in that: The cleaning module (6) is composed of an electric turntable (61), a rotating frame (62), a fixed frame (63), a telescopic frame (64), an ejection unit (65), a laser cleaning unit (66), a detection unit (67) and a cleaning unit (68); The electric turntable 2 (61) is mounted in the middle of the fixed module (4), a rotating frame (62) is mounted outside the electric turntable 2 (61), a fixed frame (63) is mounted in the middle of the rotating frame (62), a telescopic frame (64) is slidably assembled on the fixed frame (63), an ejection unit (65) is mounted on the upper end of the fixed module (4), and the ejection unit (65) is connected to the telescopic frame (64); a laser cleaning unit (66) is mounted on the fixed frame (63) and the telescopic frame (64), respectively, and a through groove and a rectangular groove are respectively arranged at the lower ends of the fixed frame (63) and the telescopic frame (64), a detection unit (67) is evenly mounted in the through groove, and a cleaning unit (68) is mounted in the rectangular groove.

6. The automatic cleaning device for floating photovoltaic panels according to claim 5, characterized in that: The ejection unit (65) is composed of a fixed rod (651), a telescopic spring (652), a slide rail frame (653) and an ejector rod (654); A fixed rod (651) is installed at the upper end of the rotating frame (62), the telescopic frame (64) is slidably connected to the fixed rod (651), a telescopic spring (652) is installed inside the fixed rod (651), and the ends of the telescopic spring (652) are respectively connected to the rotating frame (62) and the telescopic frame (64); a slide rail frame (653) is installed at the upper end of the fixed module (4), a groove is provided in the middle of the slide rail frame (653), an L-shaped push rod (654) is installed at the upper end of the telescopic frame (64), and the end of the push rod (654) is slidably placed in the groove.

7. The automatic cleaning device for floating photovoltaic panels according to claim 5, characterized in that: The laser cleaning unit (66) is composed of an electric slider (661), a laser frame (662) and a laser cleaning head (663); Electric sliders (661) are respectively installed on the side of the fixed frame (63) and the side of the telescopic frame (64), a laser frame (662) is installed on the electric slider (661), and a laser cleaning head (663) is installed in the middle of the laser frame (662).

8. The automatic cleaning device for floating photovoltaic panels according to claim 5, characterized in that: The detection unit (67) is composed of a hollow frame (671), an arc-shaped resistor (672), an arc-shaped slider (673), a tension spring (674), a crossbar (675), a rotating disk (676), a conductive rod (677) and a connecting rod (678); A hollow frame (671) is evenly installed in the through groove. The hollow frame (671) is a rectangular hollow structure. An arc groove is symmetrically provided on one side of the hollow frame (671) in the upper arc groove. An arc resistor (672) is installed in the arc groove at the upper end. Two arc sliders (673) are slidably arranged in the middle of the arc groove at the lower end. A tension spring (674) is installed between each arc slider (673) and the arc groove. A cross bar (675) is installed in the middle of the hollow frame (671). A rotating disk (676) is rotatably assembled in the middle of the cross bar (675). A conductive rod (677) is installed at the upper end of the rotating disk (676). A conductive sheet is installed at the end of the conductive rod (677). The conductive sheet is electrically connected to the arc resistor (672). A connecting rod (678) is installed at the lower end of the rotating disk (676). The main body of the connecting rod (678) is clamped between the two arc sliders (673). A flexible rod is installed at the lower end of the connecting rod (678).

9. The automatic cleaning device for floating photovoltaic panels according to claim 5, characterized in that: The cleaning unit (68) is composed of a U-shaped frame (681), an electric push rod (682), a lifting plate (683), a cleaning frame (684), a connecting pipe (685), a feeding frame (686), a connecting plate (687) and a rubber scraper (688); A U-shaped frame (681) is installed in an inverted shape in the rectangular groove, an electric push rod (682) is installed on the upper end of the U-shaped frame (681), a lifting plate (683) is installed on the end of the electric push rod (682) through a flange, a cleaning frame (684) is installed on the lower end of the lifting plate (683), a circulation groove is arranged in the middle of the cleaning frame (684), a discharge port is evenly opened at the lower end of the cleaning frame (684), and flexible bristles are evenly arranged on the lower end surface of the cleaning frame (684), and the flexible bristles and the discharge port are arranged in a staggered manner, a connecting pipe (685) is evenly installed on the upper end of the cleaning frame (684), and the connecting pipe (685) is connected to the circulation groove, and a feeding pipe (685) is evenly installed on the U-shaped frame (681). A connecting groove is provided at the middle of the lower end of the feeding rack (686), feeding grooves are provided at both sides of the lower end of the feeding rack (686), the feeding grooves are connected to the connecting grooves, an annular sealing ring is installed on the inner side of the feeding groove, the upper end of the connecting pipe (685) passes through the lifting plate (683) and is located in the connecting groove, the annular sealing ring is in close contact with the connecting pipe (685), and a connecting plate (687) is also installed at the lower end of the lifting plate (683), an air inlet groove is provided in the middle of the connecting plate (687), exhaust holes are evenly provided at the lower end of the connecting plate (687), the exhaust holes are arranged obliquely, the exhaust holes are connected to the air inlet grooves, and a rubber scraper (688) is installed at the lower end of the connecting plate (687).

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