Photovoltaic cell panel dust cleaning robot

Abstract

The invention discloses a photovoltaic cell panel dust cleaning robot, and relates to the technical field of photovoltaic panel dust cleaning, the photovoltaic cell panel dust cleaning robot comprises a photovoltaic cell panel main body, a cleaning machine frame, a cleaning dynamic adjusting mechanism and a four-wheel-drive walking system, the cleaning dynamic adjusting mechanism and the four-wheel-drive walking system at the lower end of the cleaning machine frame are responsible for cleaning and moving; a dynamic spraying system on one side of an inner cavity is used for spraying and cleaning, an energy storage battery pack on the other side stores electric energy, an intelligent control unit at the outer end of the inner cavity is used for overall control, a wireless communication module at the upper end of the inner cavity is used for achieving remote interaction, a four-wheel-drive walking system and a main driving walking wheel of a bearing supporting frame provide power, and a main and auxiliary cleaning roller brush cleaning electric plate of a cleaning dynamic adjusting mechanism is arranged. The dynamic spraying system and the pressure regulation and control valve regulate water pressure, the wide-angle nozzle uniformly sprays, the cleaning mechanism and the spraying system project to form a continuous coverage area, and the intelligent control unit regulates the torque of the servo motor according to a sensor signal, so that the pressure of the roller brush is gradually increased along with the dust concentration in a stepped manner, and the cleaning effect is improved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel dust cleaning technology, specifically a photovoltaic panel dust cleaning robot. Background Technology

[0002] With increasing environmental awareness and growing energy demand, solar photovoltaic power generation technology has been widely applied. As a new energy source, photovoltaic power generation is pollution-free and, given that solar energy is inexhaustible and sustainable, it has become an important direction for the global search for clean, environmentally friendly, and sustainable energy.

[0003] Southern Xinjiang boasts abundant solar energy resources. According to NASA's surface energy balance model, its annual total solar radiation is equivalent to 170 million tons of standard coal. Solar radiation data is relatively stable, and the region possesses ample undeveloped land resources, providing excellent conditions for the application of photovoltaic (PV) power generation technology. However, Southern Xinjiang has a large area of ​​desertification, and severe sandstorms in spring cause dust to easily accumulate on the surface of PV modules. This dust blocks sunlight, reducing the transmittance of the glass on the PV module surface and decreasing the amount of solar radiation reaching the cell surface. Furthermore, it alters the heat transfer pattern on the product surface, hindering heat dissipation from the PV module, significantly impacting its power generation efficiency and lifespan, making it difficult to fully develop Southern Xinjiang's excellent solar energy resources.

[0004] Traditional methods for cleaning dust from photovoltaic panels have many limitations. Manual washing consumes a lot of water and is not suitable for water-scarce areas in southern Xinjiang; wind-powered dust removal is ineffective against adhesive dust, with actual measurements showing an annual increase in power generation of only 1.8%, which is not significant; and the problems with fixed cleaning brushes are particularly prominent. Because their cleaning pressure is not adjustable, in the dusty environment of southern Xinjiang, it can cause an annual decrease in glass transmittance of 2.3%, and electron microscopy shows that the scratches caused by them are deeper than 15μm, which seriously damages the lifespan of photovoltaic panels. This defect not only fails to effectively solve the dust accumulation problem, but also exacerbates the wear and tear of photovoltaic modules, which contradicts the need to improve the power generation efficiency and extend the lifespan of photovoltaic panels.

[0005] Based on this, this project, targeting the unique geographical environment of southern Xinjiang, is dedicated to solving the problem of dust accumulation on photovoltaic panels in the desert areas of southern Xinjiang. By relying on intelligent control technology to achieve effective cleaning of photovoltaic panels, the project aims to localize the cleaning method and design a regionally specific, efficient, and low-cost cleaning approach to improve the power generation efficiency and lifespan of photovoltaic panels in southern Xinjiang and enhance the development and utilization of solar energy resources in southern Xinjiang. Summary of the Invention

[0006] The purpose of this invention is to provide a photovoltaic panel dust cleaning robot, which addresses the problem that existing fixed cleaning brushes, due to their non-adjustable pressure, cause a decrease in the light transmittance of photovoltaic panels and result in deep scratches that damage the lifespan of the photovoltaic panels in the dusty environment of southern Xinjiang.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a photovoltaic panel dust cleaning robot, comprising a photovoltaic panel body, a cleaning machine frame, a cleaning dynamic adjustment mechanism, and a four-wheel drive walking system.

[0008] The cleaning machine frame has several ventilation grilles on both sides, a dust concentration sensor is installed in the center of the front surface, a photovoltaic panel for extended operation is installed in the center of the upper surface, and the cleaning dynamic adjustment mechanism and the four-wheel drive system are installed at the lower end. An internal cavity is provided in the center, a dynamic spray system is installed on one side of the cavity, and an energy storage battery pack is fixedly installed on the other side. An intelligent control unit is connected to one side of the energy storage battery pack, and a wireless communication module is fixedly connected to the upper end of the cleaning machine frame.

[0009] Preferably, the four-wheel drive system includes four load-bearing support frames and four clamping frames. The four load-bearing support frames are bolted to the lower surface of the cleaning machine frame around the perimeter. The clamping frames are correspondingly provided at the lower ends, and the inner surfaces of the load-bearing support frames and clamping frames are slidably fitted onto the outer sides of the photovoltaic panel body. The lower inner surfaces of the four load-bearing support frames are equipped with main drive wheels, which slide against the upper surface of the photovoltaic panel body. The upper inner surfaces of the two front load-bearing support frames are equipped with drive control modules, and path photoelectric sensors are installed at the front ends of the drive control modules.

[0010] Preferably, the lower surfaces of the two load-bearing support frames are connected to a connecting control box; the inner sides of the four clamping frames are equipped with follow-up auxiliary wheels, the upper ends of which slide against both sides of the lower surface of the photovoltaic panel body; the upper surface of the clamping frame is equipped with a height adjustment base; the outer surfaces of the four load-bearing support frames and the clamping frames are provided with through holes, and an adjusting screw is sleeved in the through holes. The lower end of the adjusting screw extends through the connecting control box and the height adjustment base to the outer end of the lower end of the clamping frame and is threaded with a rotary knob.

[0011] Preferably, the cleaning dynamic adjustment mechanism includes two mounting plates, which are respectively fixedly connected to the center of both sides of the lower end of the photovoltaic panel body. A secondary cleaning roller brush and a main cleaning roller brush are arranged parallel to each other on their inner opposite surfaces, and the lower ends of the two are in contact with the upper surface of the photovoltaic panel body. Two sets of guide grooves are opened on the inner opposite surfaces of the two mounting plates, and guide sliders are arranged in the grooves. The inner sides of the guide sliders are connected to the two ends of the secondary cleaning roller brush and the main cleaning roller brush.

[0012] Preferably, a limiting spring is connected to the upper surface of the guide slider, and the upper end of the limiting spring is fixedly connected to the inner wall of the upper end of the guide groove; one end of the main cleaning roller brush extends to the outer end through the guide slider and is fixedly connected to a servo motor, and the other end extends to the other end through the guide slider and is equipped with a contact pressure sensor.

[0013] Preferably, the dynamic spraying system includes a water tank, a pressure regulating valve, a delivery pipe, a liquid level monitoring alarm, a water pipe, and a wide-angle nozzle; the water tank is fixed to one side inside the cavity, and its upper end extends to the outer end of the upper part of the cleaning machine frame and is connected to a water injection pipe. The upper end of the water injection pipe is threaded with a sealing cap. Pressure regulating valves are connected to both sides of the outer end of the water tank inside the cavity, and their output ends are connected to the delivery pipe.

[0014] Preferably, the other ends of the two delivery pipes extend to the front and rear surfaces of the lower end of the cleaning machine frame and are connected to water pipes. Several wide-angle nozzles are installed on the lower surface of the water pipes, and a liquid level monitoring alarm is installed on one side of the outer end of the water tank.

[0015] Preferably, the cleaning dynamic adjustment mechanism and the dynamic spraying system are distributed sequentially along the walking direction of the cleaning machine frame, and the projection of the main cleaning roller brush, the auxiliary cleaning roller brush and the wide-angle nozzle on the surface of the photovoltaic panel body forms a continuous coverage area; the four load-bearing support frames of the four-wheel drive walking system are distributed in a rectangle at the lower end of the cleaning machine frame, and the area enclosed by their connecting lines covers the projection range of the cleaning dynamic adjustment mechanism and the dynamic spraying system.

[0016] Preferably, the detection signal of the contact pressure sensor is transmitted to the intelligent control unit. The intelligent control unit adjusts the output torque of the servo motor and the elastic deformation of the limit spring according to the pressure value fed back by the contact pressure sensor and the detection value of the dust concentration sensor, so that the contact pressure between the main cleaning roller brush and the photovoltaic panel body is maintained within a preset range. The preset range increases in a stepwise manner as the dust concentration on the surface of the photovoltaic panel body increases.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] This invention uses an intelligent control unit to regulate water pressure via a pressure regulating valve based on dust concentration detected by a dust concentration sensor. This ensures the water pressure matches the cleaning requirements. When there is less dust, the water pressure is reduced to minimize water consumption; when there is more dust, the water pressure is appropriately increased to ensure the dust is adequately wetted. Simultaneously, the wide-angle nozzles provide a large-area, uniform spray across the circuit board surface, preventing waste caused by excessive water in certain areas. A water level monitoring alarm continuously monitors the water level in the tank. When the water level is insufficient, the intelligent control unit issues an alarm to remind staff to replenish water promptly. This ensures continuous spraying while preventing water waste due to excess water, effectively solving the problem of manual washing being unusable in water-scarce areas of southern Xinjiang.

[0019] This invention uses a contact pressure sensor to detect the contact pressure between the main cleaning roller brush and the photovoltaic panel in real time, and feeds the data back to the intelligent control unit. The intelligent control unit combines the detection results of the dust concentration sensor and dynamically adjusts the output torque of the servo motor. With the elastic deformation of the limit spring, the contact pressure between the main cleaning roller brush and the photovoltaic panel is maintained within a reasonable range. When the contact pressure is too high, the operator can rotate the adjusting screw to change the relative position of the load-bearing support frame and the clamping frame, thereby adjusting the compression degree of the guide slider on the limit spring, reducing the pressure generated by the deformation of the limit spring, and thus reducing the contact pressure between the roller brush and the photovoltaic panel. In addition, the main and auxiliary cleaning roller brushes rotate in opposite directions, which enhances the dust removal effect and avoids excessive wear caused by unidirectional friction, effectively solving the problem of damage to the photovoltaic panel caused by fixed cleaning brushes.

[0020] This invention employs a cleaning mode that combines spraying and roller brushes. When the intelligent control unit determines that spraying is necessary, the dynamic spraying system is activated to moisten adhesive dust and reduce its adhesion. Subsequently, the main and auxiliary cleaning roller brushes operate in a counter-rotating manner, utilizing reverse friction to enhance the ability to grasp and remove dust, thus performing a deep cleaning of the sprayed photovoltaic panel surface. The intelligent control unit adjusts the contact pressure of the roller brushes according to different dust concentrations to ensure that stubborn stains are effectively removed. Simultaneously, the cleaning dynamic adjustment mechanism and the dynamic spraying system work sequentially along the travel direction, with the projections of the main cleaning roller brush, auxiliary cleaning roller brush, and wide-angle nozzle forming a continuous coverage area, ensuring thorough cleaning without blind spots. In this way, adhesive dust can be effectively removed, solving the problem of poor wind-powered dust removal, improving the light transmittance of the photovoltaic panel, and thus enhancing its power generation efficiency. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the lower structure of the cleaning machine frame of the present invention;

[0023] Figure 3 This is a schematic diagram of the four-wheel drive system structure of the present invention;

[0024] Figure 4 This is a schematic diagram of the dynamic spraying system of the present invention;

[0025] Figure 5 This is a schematic diagram of the cleaning dynamic adjustment mechanism of the present invention;

[0026] Figure 6 This is a further structural schematic diagram of the cleaning dynamic adjustment mechanism of the present invention.

[0027] In the diagram: 1. Photovoltaic panel body; 2. Cleaning machine frame; 21. Ventilation grille; 22. Rechargeable photovoltaic panel; 3. Dust concentration sensor; 4. Cleaning dynamic adjustment mechanism; 41. Mounting plate; 42. Secondary cleaning roller brush; 43. Main cleaning roller brush; 44. Servo motor; 45. Contact pressure sensor; 46. Guide slider; 47. Limit spring; 5. Four-wheel drive system; 51. Load-bearing support frame; 52. Clamping frame; 53. Path photoelectric sensor; 54. Main drive wheels; 55. Height adjustment base; 56. Follow-up auxiliary wheels; 57. Adjustment screw; 58. Rotary knob; 59. Connecting control box; 510. Drive control module; 6. Energy storage battery pack; 7. Intelligent control unit; 71. Wireless communication module; 8. Dynamic sprinkler system; 81. Water tank; 82. Pressure regulating valve; 83. Delivery pipe; 84. Liquid level monitoring alarm; 85. Water pipe; 86. Wide-angle sprinkler head; 87. Water injection pipe. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figures 1-6As shown, the present invention provides a technical solution: a photovoltaic panel dust cleaning robot, including a photovoltaic panel body 1, a cleaning machine frame 2, a cleaning dynamic adjustment mechanism 4, and a four-wheel drive system 5; the cleaning machine frame 2 has ventilation grilles 21 on both sides to achieve internal heat dissipation, a dust concentration sensor 3 at the front end to detect the amount of dust on the photovoltaic panel surface in real time, a continuous power photovoltaic panel 22 on the upper surface to provide continuous power to the equipment, a cleaning dynamic adjustment mechanism 4 and a four-wheel drive system 5 at the lower end, a dynamic spray system 8 on one side of the internal cavity to spray and clean the photovoltaic panel, and an energy storage battery pack 6 on the other side to store electrical energy. The energy storage battery pack 6 is connected to an intelligent control unit 7 at its external end, which is responsible for coordinating and controlling the operation of each component. The intelligent control unit 7 has... The end extends to the outer end of the frame and connects to the wireless communication module 71, supporting remote control and data transmission; the four load-bearing support frames 51 of the four-wheel drive walking system 5 are bolted to the lower end of the frame around the perimeter, and the corresponding clamping frame 52 and the inner side of the load-bearing support frame 51 are sleeved on both sides of the photovoltaic panel body 1 to achieve a stable connection between the equipment and the photovoltaic panel. The lower inner side of the load-bearing support frame 51 is equipped with the main drive walking wheel 54 to provide power for the movement of the equipment. The two front load-bearing support frames 51 are equipped with the drive control module 510 and the path photoelectric sensor 53, which can plan the walking path and avoid obstacles. The lower surface of the load-bearing support frame 51 is connected to the connecting control box 59. The inner side of the clamping frame 52 is equipped with the follow-up auxiliary wheel 56, and the upper surface is equipped with the height adjustment base 55. The adjustment screw 57 passes through the load-bearing support. The through holes of the frame 51 and the clamping frame 52 are connected to the height adjustment base 55 through the connecting control box 59. The lower end is connected to the rotary knob 58, which can be used to adjust the compatibility of the equipment with photovoltaic panels of different thicknesses. The two mounting plates 41 of the cleaning dynamic adjustment mechanism 4 are fixed to the lower ends of the photovoltaic panel body 1 on both sides. The inner side is provided with parallel auxiliary cleaning roller brush 42 and main cleaning roller brush 43 for deep cleaning of the photovoltaic panel surface. The guide slider 46 in the guide groove inside the mounting plate 41 is connected to the two ends of the roller brush. The upper surface of the guide slider 46 is connected to the limiting spring 47, which can buffer the contact pressure between the roller brush and the photovoltaic panel. One end of the main cleaning roller brush 43 is connected to the servo motor 44, and the other end is equipped with a contact pressure sensor 45. The servo motor 44 provides rotational power for the roller brush. The pressure sensor 45 can detect the contact force between the roller brush and the photovoltaic panel; the water tank 81 of the dynamic spray system 8 is fixed on one side of the cavity, with the upper end connected to the water inlet pipe 87 for easy water filling. The water tank 81 is connected to the pressure regulating valve 82 and the delivery pipe 83 on both sides to adjust the spray pressure. The other end of the delivery pipe 83 is connected to the water pipe 85 at the lower end of the frame. The lower surface of the water pipe 85 is equipped with a wide-angle nozzle 86 to achieve uniform spraying over a large area. The water tank 81 is equipped with a liquid level monitoring alarm 84 to remind you to add water in time. The cleaning dynamic adjustment mechanism 4 and the dynamic spray system 8 are distributed along the walking direction. The roller brush and the nozzle projection form a continuous coverage area to ensure cleaning without dead corners. The load-bearing support frame 51 of the four-wheel drive walking system covers the projection range of the above mechanism to ensure stable operation of the equipment.The contact pressure sensor 45 transmits a signal to the intelligent control unit 7. The intelligent control unit 7 adjusts the torque of the servo motor 44 based on the pressure value and dust concentration. This, in conjunction with the limit spring 47, maintains the contact pressure between the main cleaning roller brush 43 and the photovoltaic panel body 1 within a preset range that increases with dust concentration. This achieves adaptive cleaning under different dust levels, improving cleaning effectiveness and photovoltaic panel protection.

[0030] Technical parameters

[0031] Cleaning efficiency ≥ 98.2% (ISO 18535 standard)

[0032] Water consumption: 0.38L / m 2 (Water saving 67%)

[0033] Battery life of 8 hours (daily cleaning of 200m) 2 )

[0034] Suitable for environments ranging from -20℃ to 50℃, IP68 protection.

[0035] according to Figure 2 and Figure 3 As shown, the four-wheel drive walking system 5 includes four load-bearing support frames 51 and four clamping frames 52. The four load-bearing support frames 51 are bolted to the lower surface of the cleaning machine frame 2 around the perimeter. The clamping frames 52 are correspondingly installed at the lower ends, and the inner surfaces of the load-bearing support frames 51 and clamping frames 52 are slidably fitted onto the outer sides of the photovoltaic panel body 1, enabling stable clamping of photovoltaic panels of different widths. The main drive wheels 54 are installed on the lower inner sides of the four load-bearing support frames 51, and their lower ends slide against the upper surface of the photovoltaic panel body 1, providing driving force for the robot to move along the surface of the photovoltaic panel. The drive control module 510 is installed on the upper inner side of the two front load-bearing support frames 51. The path photoelectric sensor 53 is installed at the front end of the drive control module 510, which can detect the walking path in real time and avoid obstacles, ensuring the accuracy of movement. The control box 59 is connected to the lower surface of the two load-bearing support frames 51. Four gripping frames 52 are equipped with follow-up auxiliary wheels 56 on their inner sides. Their upper ends slide against the lower surface of the photovoltaic panel body 1 on both sides, assisting the main drive wheels 54 to reduce movement resistance. A height adjustment base 55 is installed on the upper surface of the gripping frame 52. Through holes are opened on the outer surfaces of the four load-bearing support frames 51 and the gripping frame 52. Adjustment screws 57 are fitted in the through holes. The lower end of the adjustment screws 57 is connected to the control box 59 and the interior of the height adjustment base 55, extends to the lower outer end of the gripping frame 52, and is threaded onto the rotary knob 58. By rotating the rotary knob 58, the distance between the load-bearing support frame 51 and the gripping frame 52 can be adjusted to accommodate photovoltaic panels of different thicknesses. The four load-bearing support frames 51 are rectangularly distributed at the lower end of the cleaning machine frame 2. The area enclosed by their connection covers the projection range of the cleaning dynamic adjustment mechanism 4 and the dynamic spraying system 8, ensuring stable operation of the cleaning mechanism when the robot moves.

[0036] according to Figure 2 , Figure 5 and Figure 6 As shown, the cleaning dynamic adjustment mechanism 4 includes two mounting plates 41, which are fixedly connected to the center of both sides of the lower end of the photovoltaic panel body 1. A secondary cleaning roller brush 42 and a main cleaning roller brush 43 are arranged parallel to each other on their inner opposing surfaces, with their lower ends in contact with the upper surface of the photovoltaic panel body 1, allowing for rolling cleaning of the surface of the photovoltaic panel body 1. Two sets of guide grooves are formed on the inner opposing surfaces of the two mounting plates 41, with guide sliders 46 installed within the grooves. The inner sides of the guide sliders 46 are connected to the two ends of the secondary cleaning roller brush 42 and the main cleaning roller brush 43, providing movement guidance for the roller brushes. A limit spring 47 is connected to the upper surface of the guide slider 46, with its upper end fixedly connected to the inner wall of the upper end of the guide groove, allowing for adjustment of the contact pressure between the roller brush and the photovoltaic panel body 1 through elastic deformation. One end of the main cleaning roller brush 43 extends outward through the guide slider 46 and is fixedly connected to a servo motor 44, providing power for the rotation of the roller brush. A contact pressure sensor 45 is installed at one end of a guide slider 46 to the other end, which can detect the contact pressure between the main cleaning roller brush 43 and the photovoltaic panel body 1. This mechanism and the dynamic spray system 8 are distributed sequentially along the walking direction of the cleaning machine frame 2, and the projection of the main cleaning roller brush 43, the auxiliary cleaning roller brush 42 and the wide-angle nozzle 86 on the surface of the photovoltaic panel body 1 perpendicular to the surface of the main cleaning roller brush 43 form a continuous coverage area to ensure that no part of the cleaning is missed. The detection signal of the contact pressure sensor 45 is transmitted to the intelligent control unit 7. The intelligent control unit 7 adjusts the output torque of the servo motor 44 and the elastic deformation of the limit spring 47 according to the pressure value fed back by the intelligent control unit 7 and the detection value of the dust concentration sensor 3, so that the contact pressure between the main cleaning roller brush 43 and the photovoltaic panel body 1 is maintained within a preset range. The preset range increases in a stepwise manner as the dust concentration on the surface of the photovoltaic panel body 1 increases, so as to achieve adaptive cleaning under different dust amounts.

[0037] according to Figure 4As shown, the dynamic sprinkler system 8 includes a water tank 81, a pressure regulating valve 82, a delivery pipe 83, a liquid level monitoring alarm 84, water pipes 85, and wide-angle nozzles 86. The water tank 81 is fixed to one side of the internal cavity of the cleaning machine frame 2, and its upper end extends to the outer end of the upper end of the cleaning machine frame 2 to connect to the water injection pipe 87. The upper end of the water injection pipe 87 is threaded with a sealing cap. The pressure regulating valve 82 is connected to both sides of the outer end of the water tank 81 inside the cavity, and its output end is connected to the delivery pipe 83. The other ends of the two delivery pipes 83 extend to the front and rear surfaces of the lower end of the cleaning machine frame 2 to connect to the water pipes 85. Several wide-angle nozzles 86 are installed on the lower surface of the water pipes 85. A liquid level monitoring alarm 84 is installed on one side of the outer end of the water tank 81. The water tank 81 is used to store cleaning water. The water inlet pipe 87 facilitates the replenishment of water into the water tank 81. The sealing cover can prevent water from overflowing or impurities from falling into the water tank 81. The pressure regulating valve 82 can regulate the water flow pressure, so that the water flow is delivered to the water pipe 85 through the delivery pipe 83 at a suitable pressure, and then sprayed on the surface of the photovoltaic panel body 1 through the wide-angle nozzle 86. The wide-angle nozzle 86 can expand the spray range and improve the cleaning coverage. The liquid level monitoring alarm 84 can monitor the water level in the water tank 81. When the water level is too low, an alarm is issued to remind people to replenish water in time and ensure the continuous operation of the spray cleaning work.

[0038] according to Figure 4 As shown, the energy storage battery pack 6 is fixed to one side of the internal cavity of the cleaning machine frame 2, and the outer end is connected to the intelligent control unit 7. The upper end of the intelligent control unit 7 extends to the upper outer end of the cleaning machine frame 2 and is fixedly connected to the wireless communication module 71. The energy storage battery pack 6 can store the power generated by the photovoltaic panel 22, providing continuous power to all electrical components of the robot, such as the four-wheel drive walking system 5, the cleaning dynamic adjustment mechanism 4, and the dynamic spraying system 8, ensuring that the equipment can still operate normally when there is insufficient light. As the core control component, the intelligent control unit 7 can receive the contact pressure signal between the main cleaning roller brush 43 and the photovoltaic panel body 1 fed back by the contact pressure sensor 45 and the surface dust amount signal detected by the dust concentration sensor 3, and then accurately adjust the output torque of the servo motor 44. With the help of the limit spring 47, it can achieve dynamic adaptation of the cleaning pressure. At the same time, it can control the drive control module 510 to adjust the walking path, operate the pressure regulating valve 82 to adjust the spray intensity, and can also interact with the remote terminal through the wireless communication module 71 to realize real-time monitoring of the robot's working status and remote command issuance, ensuring the intelligence and efficiency of the cleaning process.

[0039] The overall effect achieved by the organization is as follows:

[0040] After the equipment is started, the energy storage battery pack 6 provides continuous power to all components, ensuring that the equipment can still operate when there is insufficient sunlight. The photovoltaic panel 22 absorbs light energy and replenishes the energy storage battery pack 6 to extend the battery life. The intelligent control unit 7 connects to the remote terminal through the wireless communication module 71 to realize remote monitoring and control. At the same time, it self-checks the status of each system: the liquid level monitoring alarm 84 of the dynamic spray system 8 detects the water volume of the water tank 81 to ensure that the spray function can start normally; the drive control module 510 of the four-wheel drive system 5 initializes the path photoelectric sensor 53 to ensure accurate path detection; and the contact pressure sensor 45 of the cleaning dynamic adjustment mechanism 4 calibrates the initial pressure value to provide a reference for subsequent pressure adjustment. The dust concentration sensor 3 at the front of the cleaning machine frame 2 scans the surface of the photovoltaic panel body 1 in real time, detects the dust concentration, and transmits the data to the intelligent control unit 7. The intelligent control unit 7 combines the information of the panel edge and obstacles detected by the path photoelectric sensor 53 to plan the optimal cleaning path, avoiding repeated cleaning or omissions. At the same time, it determines the cleaning mode according to the dust concentration (the spray + roller brush linkage mode is triggered when the dust concentration is too high). The drive control module 510 of the four-wheel drive walking system 5 controls the rotation of the main drive walking wheels 54 inside the four load-bearing support frames 51 according to the planned path, providing the robot with the power to move and drive the robot to move stably along the surface of the photovoltaic panel body 1. The follow-up auxiliary wheels 56 inside the clamping frame 52 move synchronously. The rolling mechanism, in conjunction with the sleeve structure of the load-bearing support frame 51 and the clamping frame 52, achieves stable clamping of circuit boards of different widths. The distance between the load-bearing support frame 51 and the clamping frame 52 can be changed by rotating the knob 58 to adjust the screw 57, adapting to circuit boards of different thicknesses. When the intelligent control unit 7 determines that spraying is needed, the dynamic spraying system 8 is activated: the pressure regulating valve 82 adjusts the water pressure according to the dust concentration, ensuring the water flow pressure matches the cleaning requirements. Water in the water tank 81 is sent through the delivery pipe 83 to the water pipe 85 at the lower end of the cleaning machine frame 2, and then sprayed evenly over a wide area onto the circuit board surface through the wide-angle nozzle 86, wetting the dust to enhance the subsequent roller brush cleaning effect. The liquid level monitoring alarm 84 monitors the water level in real time, and if insufficient, it triggers an intelligent alarm. Control unit 7 issues an alarm to remind timely water replenishment to ensure continuous spraying; cleaning dynamic adjustment mechanism 4 works synchronously with the robot: servo motor 44 drives main cleaning roller brush 43 and auxiliary cleaning roller brush 42 to work in a counter-rotating manner, using reverse friction to enhance the ability to grab and remove dust, and perform deep cleaning on the surface of the circuit board after spraying; guide slider 46 slides in the guide groove of mounting plate 41 to provide movement guidance for roller brushes, and with the elastic deformation of limit spring 47, the roller brushes are always in close contact with the surface of the circuit board to ensure thorough cleaning; contact pressure sensor 45 detects the contact pressure between main cleaning roller brush 43 and circuit board in real time and feeds the data back to intelligent control unit 7 to provide a basis for pressure adjustment;The intelligent control unit 7 dynamically adjusts the output torque of the servo motor 44 based on the detection value of the dust concentration sensor 3 and the feedback value of the contact pressure sensor 45: when the dust concentration increases, the torque is increased and the deformation of the limit spring 47 is used to make the contact pressure of the main cleaning roller brush 43 increase stepwise according to the preset range, ensuring that stubborn stains are effectively removed; when the dust concentration is low, the pressure is reduced to avoid damage to the photovoltaic panel due to excessive pressure; if the contact pressure between the main cleaning roller brush 43, the auxiliary cleaning roller brush 42 and the upper surface of the photovoltaic panel body 1 is too high, the relative position of the load-bearing support frame 51 and the clamping frame 52 can be adjusted by rotating the adjusting screw 57, thereby changing the degree of compression of the limit spring 47 by the guide slider 46, reducing the pressure generated by the deformation of the limit spring 47, and thus reducing the main cleaning roller brush 43's contact pressure. The contact pressure between the cleaning roller brush 43, the auxiliary cleaning roller brush 42 and the upper surface of the photovoltaic panel body 1 allows for flexible pressure adjustment. The robot reciprocates along the planned path, and the cleaning dynamic adjustment mechanism 4 and the dynamic spraying system 8 act sequentially along the walking direction. The projections of the main cleaning roller brush 43, the auxiliary cleaning roller brush 42, and the wide-angle nozzle 86 form a continuous coverage area, ensuring no blind spots in cleaning. The rectangular distribution load-bearing support frame 51 of the four-wheel drive walking system 5 encloses the area covering the cleaning mechanism, ensuring stable operation of the cleaning mechanism when the robot walks. The intelligent control unit 7 transmits data such as cleaning progress and equipment status in real time through the wireless communication module 71. After the entire panel is cleaned, the robot automatically returns to the starting point or enters standby mode, achieving efficient and intelligent cleaning of the photovoltaic panel and ensuring its power generation efficiency.

[0041] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A photovoltaic panel dust cleaning robot, comprising a photovoltaic panel body (1), a cleaning machine frame (2), a cleaning dynamic adjustment mechanism (4), and a four-wheel drive walking system (5), characterized in that: The cleaning machine frame (2) has several ventilation grilles (21) on both sides, a dust concentration sensor (3) is installed in the center of the front surface, a photovoltaic panel (22) is installed in the center of the upper surface, the cleaning dynamic adjustment mechanism (4) and the four-wheel drive system (5) are installed at the lower end, and a cavity is opened in the center of the interior. A dynamic spray system (8) is installed on one side of the cavity, and an energy storage battery pack (6) is fixedly installed on the other side. An intelligent control unit (7) is connected to one side of the outer end of the energy storage battery pack (6), and a wireless communication module (71) is fixedly connected to the upper outer end of the intelligent control unit (7) extending to the upper outer end of the cleaning machine frame (2).

2. The photovoltaic panel dust cleaning robot according to claim 1, characterized in that: The four-wheel drive system (5) includes four load-bearing support frames (51) and four clamping frames (52). The four load-bearing support frames (51) are bolted to the lower surface of the cleaning machine frame (2) and the clamping frames (52) are respectively provided at the lower end. The load-bearing support frames (51) and the clamping frames (52) are slidably sleeved on the outer sides of the photovoltaic panel body (1). The lower inner side of the four load-bearing support frames (51) is equipped with main drive wheels (54), and their lower ends are slidably attached to the upper surface of the photovoltaic panel body (1). The upper inner side of the two front load-bearing support frames (51) is equipped with drive control modules (510), and the front end of the drive control modules (510) is equipped with path photoelectric sensors (53).

3. The photovoltaic panel dust cleaning robot according to claim 2, characterized in that: The lower surfaces of the two load-bearing support frames (51) are connected to a connecting control box (59); the inner sides of the four clamping frames (52) are equipped with follow-up auxiliary wheels (56), the upper ends of which slide against the lower surface of the photovoltaic panel body (1) on both sides; the upper surface of the clamping frame (52) is equipped with a height adjustment base (55); the outer surfaces of the four load-bearing support frames (51) and the clamping frames (52) are provided with through holes, and an adjusting screw (57) is sleeved in the through holes. The lower end of the adjusting screw (57) extends through the connecting control box (59) and the height adjustment base (55) to the lower outer end of the clamping frame (52) and is threaded with a rotating knob (58).

4. The photovoltaic panel dust cleaning robot according to claim 1, characterized in that: The cleaning dynamic adjustment mechanism (4) includes two mounting plates (41). The two mounting plates (41) are fixedly connected to the center of the lower end of the photovoltaic panel body (1). The inner opposite surfaces are provided with a secondary cleaning roller brush (42) and a main cleaning roller brush (43), and the lower ends of the two are in contact with the upper surface of the photovoltaic panel body (1). Two sets of guide grooves are opened on the inner opposite surfaces of the two mounting plates (41). Guide sliders (46) are provided in the grooves. The inner side of the guide sliders (46) is connected to the two ends of the secondary cleaning roller brush (42) and the main cleaning roller brush (43).

5. The photovoltaic panel dust cleaning robot according to claim 4, characterized in that: The upper surface of the guide slider (46) is connected to a limiting spring (47), and the upper end of the limiting spring (47) is fixedly connected to the inner wall of the upper end of the guide groove; one end of the main cleaning roller brush (43) extends to the outer end through the guide slider (46) and is fixedly connected to a servo motor (44), and the other end extends to the other end through the guide slider (46) and is equipped with a contact pressure sensor (45).

6. The photovoltaic panel dust cleaning robot according to claim 1, characterized in that: The dynamic spray system (8) includes a water tank (81), a pressure regulating valve (82), a delivery pipe (83), a liquid level monitoring alarm (84), a water pipe (85), and a wide-angle nozzle (86). The water tank (81) is fixed to one side inside the cavity, and its upper end extends to the upper outer end of the cleaning machine frame (2) and is connected to a water injection pipe (87). The upper end of the water injection pipe (87) is threaded with a sealing cap. The water tank (81) inside the cavity is connected to the pressure regulating valve (82) on both sides of its outer end, and its output end is connected to the delivery pipe (83).

7. The photovoltaic panel dust cleaning robot according to claim 6, characterized in that: The other ends of the two delivery pipes (83) extend to the front and rear surfaces of the lower end of the cleaning machine frame (2) and are connected to water pipes (85). Several wide-angle nozzles (86) are installed on the lower surface of the water pipes (85), and a liquid level monitoring alarm (84) is installed on one side of the outer end of the water tank (81).

8. The photovoltaic panel dust cleaning robot according to claim 1, characterized in that: The cleaning dynamic adjustment mechanism (4) and the dynamic spray system (8) are distributed sequentially along the walking direction of the cleaning machine frame (2), and the main cleaning roller brush (43), the auxiliary cleaning roller brush (42) and the wide-angle nozzle (86) form a continuous coverage area on the projection perpendicular to the surface of the photovoltaic panel body (1); the four load-bearing support frames (51) of the four-wheel drive walking system (5) are distributed in a rectangular shape at the lower end of the cleaning machine frame (2), and the area enclosed by their connecting lines covers the projection range of the cleaning dynamic adjustment mechanism (4) and the dynamic spray system (8).

9. The photovoltaic panel dust cleaning robot according to claim 5, characterized in that: The detection signal of the contact pressure sensor (45) is transmitted to the intelligent control unit (7). The intelligent control unit (7) adjusts the output torque of the servo motor (44) and the elastic deformation of the limiting spring (47) according to the pressure value fed back by the contact pressure sensor (45) and the detection value of the dust concentration sensor (3), so that the contact pressure between the main cleaning roller brush (43) and the photovoltaic panel body (1) is maintained within a preset range. The preset range increases in a stepwise manner as the dust concentration on the surface of the photovoltaic panel body (1) increases.

Images