Modular intelligent cleaning machine

Abstract

The present application provides a modular intelligent cleaning machine, which relates to the technical field of cleaning devices. The modular intelligent cleaning machine includes a track module and an intelligent cleaning module; the track module includes a first transition guide rail, a rail-changing mechanism and multiple walking guide rails. The multiple walking guide rails are distributed along the photovoltaic panel and fixed on the photovoltaic bracket or the color steel tile through clamps, and the surface of the photovoltaic panel is divided into multiple cleaning areas. The shapes of the multiple cleaning areas include "冂" and / or "口" shapes, and one walking guide rail is shared between two adjacent cleaning areas; the intelligent cleaning module can walk on the track module to clean the cleaning areas, and the rail-changing mechanism is used to perform a rail-changing action to selectively conduct two of the walking guide rails, so as to guide the intelligent cleaning module to the next cleaning area for cleaning. Thus, all cleaning operations of all cleaning areas can be completed by one modular intelligent cleaning machine, with intelligent control, no need for manual participation, convenient maintenance and management, and reduced costs.

Description

Technical Field

[0001] This application relates to the technical field of cleaning devices, and particularly to a modular intelligent cleaning machine. Background Art

[0002] Photovoltaic power generation refers to a power generation system that directly converts solar radiation energy into electrical energy by using the photovoltaic effect of photovoltaic cells. The photovoltaic power generation process does not pollute the environment and does not cause damage to the ecology.

[0003] The construction of photovoltaic power stations mostly selects areas far from people, such as deserts or Gobi deserts. Therefore, the terrain is also complex and diverse. In order to improve the power generation efficiency, large-area arrays are used for photovoltaic panels. After long-term use, the surface of the photovoltaic panels in the photovoltaic power station is prone to dust accumulation, which will affect the power generation efficiency, so regular cleaning is required.

[0004] Currently, most cleaning is done manually. However, for the photovoltaic areas arranged in arrays, the area to be cleaned is large, the terrain is complex, and manual cleaning is time-consuming, labor-intensive, and has a high labor intensity. To solve the problem of manual cleaning, the prior art provides a photovoltaic panel cleaning robot to replace manual cleaning. However, for some photovoltaic vacant areas and irregularly arranged photovoltaic areas, a single photovoltaic panel cleaning robot cannot reach them. Therefore, the photovoltaic area needs to be divided into multiple sub-areas, and one or more photovoltaic panel cleaning robots are configured for each sub-area to meet the requirements, resulting in high investment costs and high difficulty in equipment maintenance and management in the later stage. Summary of the Invention

[0005] The purpose of this application is to provide a modular intelligent cleaning machine to solve the deficiencies in the prior art.

[0006] To achieve the above object, a modular intelligent cleaning machine provided by this application is used to clean photovoltaic panels. The modular intelligent cleaning machine includes a track module and an intelligent cleaning module;

[0007] The track module includes a first transition guide rail, a rail-changing mechanism, and multiple walking guide rails. The multiple walking guide rails are distributed along the surface of the photovoltaic panel and divide the surface of the photovoltaic panel into multiple cleaning areas. The shapes of the multiple cleaning areas include at least one of "冂" and "口", and one walking guide rail is shared between two adjacent cleaning areas; among them, the first transition guide rail is provided only at the intersection of the extension lines of two walking guide rails, and the first transition guide rail connects the corresponding two walking guide rails; the rail-changing mechanism is provided at the intersection of the extension lines of more than two walking guide rails;

[0008] The intelligent cleaning module includes a cleaning mechanism and two omnidirectional traveling mechanisms. The two omnidirectional traveling mechanisms are respectively disposed at both ends of the cleaning mechanism. The two omnidirectional traveling mechanisms cooperate with two parallel traveling guide rails constituting the cleaning area to enable the cleaning mechanism to clean the corresponding cleaning area. The rail-changing mechanism can selectively connect two of the traveling guide rails by performing a rail-changing action to guide the intelligent cleaning module to the next cleaning area.

[0009] In one possible implementation, the three traveling guides where the extension lines intersect are a first traveling guide arranged vertically and two second traveling guides arranged horizontally, and the track-switching mechanism can selectively connect the first traveling guide with one of the second traveling guides.

[0010] In one possible implementation, the track-changing mechanism includes a track-changing drive and a second transition rail. The second transition rail has the same structure as the first transition rail. The track-changing drive is mounted on the mounting bracket on which the photovoltaic panel is installed. The output end of the track-changing drive is connected to the second transition rail and is used to drive the second transition rail to move in order to perform the track-changing action and connect the corresponding two travel rails.

[0011] In one possible implementation, each of the three traveling guide rails where the extension lines intersect is equipped with a detection mechanism at one end near the rail-changing mechanism. The detection mechanism is used to sense the omnidirectional traveling mechanism and control the rail-changing mechanism to perform the corresponding rail-changing action.

[0012] In one possible implementation, the cleaning zone has two first travel rails arranged vertically and at least one second travel rail arranged laterally, wherein the width of the two first travel rails is adapted to the cleaning mechanism.

[0013] In one possible implementation, the omnidirectional traveling mechanism includes a traveling frame, a traveling drive component, and traveling wheels. The traveling frame is rotatably connected to the cleaning mechanism, and the traveling wheels are provided on both sides of the traveling frame. The traveling drive component is disposed on the traveling frame and is used to drive the traveling wheels to rotate.

[0014] Both sides of the walking guide rail and the first transition guide rail are provided with guide grooves to accommodate the walking wheels.

[0015] In one possible implementation, the cleaning mechanism includes a frame, a water spraying assembly, and at least one cleaning vehicle;

[0016] The frame is arranged across the cleaning area, and the universal travel mechanism is provided at both ends of the frame.

[0017] The water spraying component is mounted on the frame and is capable of spraying water onto the photovoltaic panel in the direction of travel of the omnidirectional traveling mechanism.

[0018] The at least one cleaning vehicle is disposed on the frame and located below the water spraying assembly, and the cleaning vehicle is used to clean the photovoltaic panel.

[0019] In one possible implementation, the cleaning vehicle includes a mounting base, a cleaning assembly, and a floating assembly. The mounting base is connected to the frame, and both ends of the cleaning assembly are connected to the mounting base via a floating assembly. The floating assembly enables the cleaning assembly to remain in contact with the photovoltaic panel, and the cleaning assembly is used to clean the photovoltaic panel.

[0020] In one possible implementation, the cleaning vehicle further includes a displacement sensor disposed on the mounting base and connected to the cleaning assembly. The displacement sensor is capable of detecting the floating stroke of the floating assembly to control the movement of the cleaning assembly.

[0021] In one possible implementation, the cleaning vehicle further includes lifting components, with two lifting components at each end of the mounting base. The two lifting components are symmetrically arranged about the floating component. The output end of the lifting component is connected to the cleaning component, and the lifting component can drive the cleaning component to move towards or away from the mounting base.

[0022] In one possible implementation, the cleaning machine is also equipped with an infrared camera detector, which is wirelessly connected to an external cloud server. The infrared camera detector can acquire the temperature information of the photovoltaic panel surface and feed it back to the cloud server.

[0023] Compared to existing technologies, the beneficial effects of this application are:

[0024] This application provides a modular intelligent cleaning machine, including a track module and an intelligent cleaning module. The track module divides the surface of a photovoltaic panel into multiple cleaning zones using multiple walking guides, with each adjacent cleaning zone sharing a single walking guide. A first transition guide is provided at the intersection of the extensions of two walking guides, connecting the corresponding two walking guides. Track-changing mechanisms are provided at the intersections of the extensions of more than two walking guides. The intelligent cleaning module uses two omnidirectional walking mechanisms to cooperate with two parallel walking guides forming the cleaning zones, driving the cleaning module to move along the track module and thus cleaning the corresponding cleaning zones. The modular intelligent cleaning machine can selectively connect two walking guides through the track-changing mechanism to guide the intelligent cleaning module to the next cleaning zone, thereby completing the cleaning operation for all zones. Therefore, only one modular intelligent cleaning machine is needed to complete the cleaning operation for all zones. Through intelligent control, no manual intervention is required, making subsequent maintenance and management more convenient and significantly reducing costs. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This paper shows a schematic diagram of the structure of the first modular intelligent cleaning machine provided in an embodiment of this application;

[0027] Figure 2 This paper shows a schematic diagram of the structure of the omnidirectional walking mechanism and the track module in the modular intelligent cleaning machine provided in the embodiment of this application;

[0028] Figure 3 It shows Figure 1 The diagram shows the state of the first type of modular intelligent cleaning machine cleaning the first cleaning zone.

[0029] Figure 4 It shows Figure 1 The diagram shows the state of the first type of modular intelligent cleaning machine cleaning the second cleaning zone.

[0030] Figure 5 This paper shows a schematic diagram of the cleaning path of a second type of modular intelligent cleaning machine provided in an embodiment of this application;

[0031] Figure 6 A schematic diagram of the cleaning path of the third type of modular intelligent cleaning machine provided in the embodiments of this application is shown;

[0032] Figure 7 This paper shows a schematic diagram of the return path of the fourth modular intelligent cleaning machine provided in an embodiment of this application;

[0033] Figure 8 This illustration shows a return path diagram of the fifth modular intelligent cleaning machine provided in an embodiment of this application;

[0034] Figure 9 This paper shows a three-dimensional structural diagram of the intelligent cleaning module in the modular intelligent cleaning machine provided in an embodiment of this application;

[0035] Figure 10 It shows Figure 9 Left view of the intelligent cleaning module shown;

[0036] Figure 11 It shows Figure 9 A three-dimensional structural diagram of the cleaning vehicle in the intelligent cleaning module shown;

[0037] Figure 12 It shows Figure 11 A magnified schematic diagram of the local structure at point A;

[0038] Figure 13 It shows Figure 12 The left view of the cleaning truck when one side is lifted.

[0039] Explanation of key component symbols:

[0040] 10-Photovoltaic panel; 10a-Cleaning area; 11-Solar panel; 12-Vacant area; 100-Intelligent cleaning module; 110-Cleaning mechanism; 111-Frame; 1110-Crossbeam; 1111-Support column; 112-Sprinkler assembly; 1120-Water tank; 1121-Sprinkler pipe; 1122-Nozzle; 113-Cleaning cart; 1130-Mounting base; 1131-Floating assembly; 1131a-Guide rod; 1131b-First limiting boss; 1131c-Second limiting boss; 1131d-Spring; 1132-Cleaning assembly; 1132a-Cleaning frame; 1132b-Cleaning roller; 1132c-Shielding cover; 1133-Lifting assembly; 1133a-Take-up roller; 1133b-Take-up base; 1133c-Take-up motor; 1133d-Lifting rope; 1134-Displacement sensor; 114-Lifting mechanism; 120-Universal traveling mechanism; 121-Traveling frame; 122-Traveling wheel; 200-Track module; 201-Guide groove; 210-Traveling guide rail; 211-First traveling guide rail; 212-Second traveling guide rail; 220-First transition guide rail; 230-Track changing mechanism; 231-Second transition guide rail; 232-Track changing drive; 240-Detection mechanism; 250-Rapid return mechanism; 251-Return drive; 252-Straight guide rail. Detailed Implementation

[0041] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0042] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0044] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0046] Example 1

[0047] Please see Figure 1 This embodiment provides a modular intelligent cleaning machine, and more particularly an automatic track-changing modular intelligent cleaning machine for cleaning photovoltaic panels 10.

[0048] In this embodiment, the photovoltaic panel 10 is composed of an array of multiple solar panels 11 arranged on a mounting frame, wherein the surface area of ​​the formed photovoltaic panel 10 can be large or small. The modular intelligent cleaning machine provided in this embodiment can be adapted to the aforementioned photovoltaic panel 10.

[0049] The modular intelligent cleaning machine provided in this embodiment includes a track module 200 and an intelligent cleaning module 100. The track module 200 is mounted on a mounting frame, and the intelligent cleaning module 100 is mounted on the track module 200. The intelligent cleaning module 100 can clean the photovoltaic panel 10 along the track module 200.

[0050] Please refer to the following: Figure 5 and Figure 6, specifically, in this embodiment, the track module 200 includes a first transition guide rail 220, a track-changing mechanism 230, and multiple walking guide rails 210. Among them, the multiple walking guide rails 210 are distributed along the surface of the photovoltaic panel 10, and the walking guide rails 210 are installed on the mounting rack. The multiple walking guide rails 210 divide the surface of the photovoltaic panel 10 into multiple cleaning areas 10a, and the multiple cleaning areas 10a are arranged in sequence. The shapes of the multiple cleaning areas 10a include "冂" or "口" or a shape combined with "冂" and "口".

[0051] Furthermore, each cleaning area 10a includes at least one solar panel 11. And the number of solar panels 11 in each cleaning area 10a along the width direction is the same. Of course, in some embodiments, the number of solar panels 11 in each cleaning area 10a can also be two, three, four, five or other numbers. It can be understood that the number of solar panels 11 in each cleaning area 10a can be adjusted according to the actual situation. Therefore, in this embodiment, the number of solar panels 11 in the cleaning area 10a is not limited.

[0052] In this embodiment, the number of cleaning areas 10a is greater than or equal to two, and one walking guide rail 210 is shared between two adjacent cleaning areas 10a to reduce the layout quantity of the walking tracks and save costs.

[0053] In order to make the cleaning area 10a form a shape of "冂" or "口" or a combination of "冂" and "口", walking guide rails 210 where the extension lines meet are arranged in each cleaning area 10a, and there are walking guide rails 210 where two, three or four extension lines meet. Among them, in this embodiment, a first transition guide rail 220 is provided only at the intersection of the extension lines of two walking guide rails 210, and the first transition guide rail 220 connects the two walking guide rails 210; track-changing mechanisms 230 are provided at the intersections of the extensions of three or four walking guide rails 210, and the track-changing mechanisms 230 can selectively conduct two of the walking guide rails 210 by performing a track-changing action. This embodiment takes the cleaning area 10a where the extensions of three walking guide rails 210 meet as an example for detailed description.

[0054] Furthermore, the first transition guide rail 220 is an arc-shaped guide rail to facilitate the intelligent cleaning module 100 to move smoothly onto the next walking guide rail 210 connected to the first transition guide rail 220.

[0055] In this embodiment, each cleaning area 10a has two vertically arranged walking guide rails 210 and at least one horizontally arranged walking guide rail 210. For the convenience of description, in this embodiment, the vertically arranged walking guide rail 210 is defined as the first walking guide rail 211, and the horizontally arranged walking guide rail 210 is defined as the second walking guide rail 212.

[0056] Therefore, the two traveling guide rails 210 where the extension lines intersect include one first traveling guide rail 211 and one second traveling guide rail 212. Thus, the first transition guide rail 220 connects the corresponding first traveling guide rail 211 and second traveling guide rail 212. The three traveling guide rails 210 where the extension lines intersect include one first traveling guide rail 211 and two second traveling guide rails 212. Therefore, in this embodiment, the rail-changing mechanism 230 can selectively connect the first traveling guide rail 211 with one of the second traveling guide rails 212 to achieve the rail-changing function.

[0057] The track-changing mechanism 230 includes a track-changing drive component 232 and a second transition guide rail 231. The second transition guide rail 231 has the same structure as the first transition guide rail 220, meaning they are identical rails, with the first transition guide rail 220 being fixedly installed. The track-changing drive component 232 is mounted on a mounting bracket, and its output end is connected to the second transition guide rail 231, driving the second transition guide rail 231 to connect the corresponding first travel guide rail 211 and second travel guide rail 212.

[0058] Alternatively, the first transition guide 220 can also be replaced by a rail-changing mechanism 230.

[0059] In this embodiment, the track-changing drive 232 can output rotational motion to drive the second transition guide 231 to rotate, thereby connecting the second transition guide 231 to the corresponding first travel guide 211 and second travel guide 212. For example, the track-changing drive 232 drives the second transition guide 231 to rotate by an angle of 90° to connect the second transition guide 231 to the corresponding first travel guide 211 and second travel guide 212.

[0060] In some embodiments, the track-changing drive 232 is a motor, a rotary cylinder, or a rotary hydraulic cylinder.

[0061] In other embodiments, the track-changing drive 232 includes a drive and an actuation component, wherein the second transition guide 231 is disposed at the output end of the actuation component, and the drive can drive the actuation component to output rotational motion.

[0062] Optionally, the driving component is a motor, and the actuating component is a mechanical transmission component, such as a worm gear transmission component, a gear transmission component, a sprocket transmission component, or a belt transmission component.

[0063] Optionally, the driving component is a linear motor, an electric actuator, a piston cylinder, or a piston hydraulic cylinder, and the actuating component is a gear and rack transmission assembly.

[0064] It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0065] Please see Figure 1 and Figure 2 The intelligent cleaning module 100 includes a cleaning mechanism 110 and two omnidirectional traveling mechanisms 120. In its initial state, the intelligent cleaning module 100 is located in one or the last of a plurality of cleaning zones 10a. The cleaning mechanism 110 is laterally positioned within the corresponding cleaning zone 10a, parallel to the second traveling guide rail 212. Both ends of the cleaning mechanism 110 correspond to the first traveling guide rails 211 on both sides of the cleaning zone 10a, and the width between the first traveling guide rails 211 on both sides of the cleaning zone 10a is adapted to the cleaning mechanism 110. The two omnidirectional traveling mechanisms 120 are respectively positioned at both ends of the cleaning mechanism 110, and the omnidirectional traveling mechanisms 120 can rotate relative to the cleaning mechanism 110.

[0066] In this embodiment, the omnidirectional traveling mechanism 120 can cooperate with the first traveling guide rail 211, the second traveling guide rail 212, the first transition guide rail 220, and the second transition guide rail 231 in the track module 200. Furthermore, the omnidirectional traveling mechanism 120 can drive the cleaning mechanism 110 to travel on the track module 200, so that the cleaning mechanism 110 cleans its assigned cleaning area 10a. After cleaning one cleaning area 10a is completed, the track-changing mechanism 230 performs a track-changing action to guide the intelligent cleaning module 100 to the next cleaning area 10a for continued cleaning, thereby achieving cleaning of all cleaning areas 10a.

[0067] Furthermore, a detection mechanism 240 is provided at one end of the three walking guide rails 210 where the extension lines intersect, near the rail changing mechanism 230. When one of the detection mechanisms 240 senses the universal walking mechanism 120, the detection mechanism 240 can control the rail changing mechanism 230 to perform the corresponding rail changing action to achieve intelligent rail changing.

[0068] Optionally, the detection mechanism 240 can be a limit switch, proximity switch, or infrared sensor. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0069] In order to clean the photovoltaic panel 10 in the cleaning zone 10a without any blind spots, in this embodiment, the length of the first travel guide rail 211 on both sides of the cleaning zone 10a is greater than the vertical length of the photovoltaic panel 10 in the cleaning zone 10a.

[0070] The omnidirectional traveling mechanism 120 includes a traveling frame 121, a traveling drive component, and traveling wheels 122. The traveling frame 121 is rotatably connected to the cleaning mechanism 110 via a rotating shaft. At least one traveling wheel 122 is provided on both sides of the traveling frame 121. The traveling drive component is mounted on the traveling frame 121 and is used to drive the traveling wheels 122 on the traveling frame 121 to rotate. Optionally, the traveling drive component includes a motor.

[0071] In some embodiments, the walking drive is used to drive the walking wheel 122 on one side of the walking frame 121 to rotate actively, and then the walking wheel 122 on the other side of the walking frame 121 rotates passively, so that the universal walking mechanism 120 can better pass through the first transition guide rail 220 or the second transition guide rail 231.

[0072] In this embodiment, guide grooves 201 for accommodating the traveling wheels 122 are provided on both sides of the first traveling guide rail 211, the second traveling guide rail 212, the first transition guide rail 220, and the second transition guide rail 231, so that the omnidirectional traveling mechanism 120 can travel along the rails, making the travel more stable. Thus, when the two omnidirectional traveling mechanisms 120 are on collinear guide rails, the intelligent cleaning module 100 is prevented from tipping over.

[0073] Please see Figures 1 to 7 To more clearly describe the cleaning process of the modular intelligent cleaning machine provided in this embodiment, the following example is given.

[0074] Please combine Figure 1 , Figure 3 and Figure 4 Multiple guide rails 210 divide the photovoltaic panel 10 into two "U"-shaped cleaning zones 10a. Initially, the intelligent cleaning module 100 is located at the upper end of the first cleaning zone 10a. The cleaning process of the intelligent cleaning module 100 is as follows:

[0075] Cleaning the first cleaning zone 10a: When the intelligent cleaning module 100 descends to the lower end of the first cleaning zone 10a, the first cleaning zone 10a is cleaned when the detection mechanism 240 of the first walking guide 211 in the middle detects the universal walking mechanism 120 at the right end of the cleaning mechanism 110.

[0076] like Figures 3 to 4As shown, switching from the first cleaning area 10a to the second cleaning area 10a: When the detection mechanism 240 of the first walking guide rail 211 in the middle detects the universal walking mechanism 120 at the right end of the cleaning mechanism 110, the rail switching mechanism 230 performs a rail switching action, making the first walking guide rail 211 in the middle conduct with the second walking guide rail 212 at the lower end of the second cleaning area 10a through the second transition guide rail 231. The intelligent cleaning module 100 starts to enter the second cleaning area 10a. At this time, the universal walking mechanism 120 at the left end of the cleaning mechanism 110 walks along the first transition guide rail 220 to the second walking guide rail 212 at the lower end of the first cleaning area 10a, and the universal walking mechanism 120 at the right end of the cleaning mechanism 110 walks along the second transition guide rail 231 to the second walking guide rail 212 in the second cleaning area 10a. When the universal walking mechanism 120 at the left end of the cleaning mechanism 110 is detected by the detection mechanism 240 on the second walking guide rail 212, the rail switching mechanism 230 performs a rail switching action, making the first walking guide rail 211 in the middle conduct with the second walking guide rail 212 at the lower end of the first cleaning area 10a through the second transition guide rail 231. After that, the entire intelligent cleaning module 100 completely enters the second cleaning area 10a. At this time, the universal walking mechanism 120 at the right end of the cleaning mechanism 110 is on the first walking guide rail 211 on the right side of the second cleaning area 10a, and the universal walking mechanism 120 at the left end of the cleaning mechanism 110 is on the first walking guide rail 211 in the middle.

[0077] Cleaning the second cleaning area 10a: The intelligent cleaning module 100 descends to the upper end of the second cleaning area 10a.

[0078] The intelligent cleaning module 100 returns to the initial position: Method 1, return along the original cleaning path. Of course, during the return process, cleaning can be performed again to improve the cleaning effect. Method 2, return to the first cleaning area 10a by means of rail switching through the rail switching mechanism 230 at the upper end of the first walking guide rail 211 in the middle.

[0079] Please refer to Figure 5 , where Figure 5 shows that multiple walking guide rails 210 divide the photovoltaic panel 10 into four "冂"-shaped cleaning areas 10a. Among them, through the rail switching action of the rail switching mechanism 230, the path of the intelligent cleaning module 100 when cleaning all cleaning areas 10a is as shown in Figure 5 .

[0080] Please refer to Figure 6 , where Figure 6 shows that multiple walking guide rails 210 divide the photovoltaic panel 10 into two "冂" and two "口"-shaped cleaning areas 10a. Among them, through the rail switching action of the rail switching mechanism 230, the path of the intelligent cleaning module 100 when cleaning all cleaning areas 10a is as shown in Figure 6As shown in the image.

[0081] Furthermore, in some embodiments, the track module 200 is fixed to the photovoltaic bracket or color steel tile by photovoltaic clamps, thereby enabling the intelligent cleaning module 100 to adapt to different cleaning spans without requiring special design based on the arrangement of the photovoltaic panel 10. This maximizes the utilization and adaptability of the construction area of ​​the photovoltaic power station, improves cleaning efficiency, and reduces costs.

[0082] Example 2

[0083] Please see Figure 1 and Figure 7 This embodiment provides a modular intelligent cleaning machine for cleaning photovoltaic panels 10. This embodiment is an improvement on the technology of Embodiment 1 described above. The difference between Embodiment 1 and Embodiment 1 is as follows:

[0084] In this embodiment, to shorten the return path of the intelligent cleaning module 100, the track module 200 further includes a rapid return mechanism 250, which is applied in the three or more cleaning zones 10a. The rapid return mechanism 250 is disposed between two adjacent cleaning zones 10a and corresponds to the track-changing mechanism 230. The rapid return mechanism 250 can directly connect the second travel guide rail 212 between two adjacent cleaning zones 10a, and in conjunction with the track-changing mechanism 230, it can greatly shorten the return path of the intelligent cleaning module 100.

[0085] Specifically, the rapid return mechanism 250 includes a return drive component 251 and a straight guide rail 252. The output end of the return drive component 251 is connected to the straight guide rail 252, and is used to drive the straight guide rail 252 to connect two adjacent second travel guide rails 212. The rapid return mechanism 250 can shorten the return path of the intelligent cleaning module 100 on the one hand, and on the other hand, it can also allow the intelligent cleaning module 100 to skip the cleaning area 10a without photovoltaic panels 10.

[0086] Optionally, the return drive component 251 can be a linear motor, an electric actuator, a piston cylinder, or a piston cylinder. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0087] Please see Figure 8 In some embodiments, a straight guide rail 252 is provided on the track-changing drive component 232, thereby driving the straight guide rail 252 to rotate and connect two adjacent second travel guide rails 212. At this time, the second transition guide rail 231 is not connected to the first travel guide rail 211 and the second travel guide rail 212, which can also realize the rapid return of the intelligent cleaning module 100.

[0088] Example 3

[0089] Please see Figure 1 , Figure 9 and Figure 10 This embodiment provides a modular intelligent cleaning machine for cleaning photovoltaic panels 10. This embodiment is an improvement on the technology of Embodiment 1 or Embodiment 2 described above. The difference between this embodiment and Embodiment 1 or Embodiment 2 is as follows:

[0090] In this embodiment, the cleaning mechanism 110 includes a frame 111, a water spraying assembly 112, and at least one cleaning vehicle 113. The frame 111 is a gantry structure, including a crossbeam 1110 and supporting columns 1111 located at both ends of the crossbeam 1110. The crossbeam 1110 is arranged across the cleaning area 10a. The end of the supporting column 1111 away from the crossbeam 1110 is rotatably engaged with the traveling frame 121 in the omnidirectional traveling mechanism 120 via a rotating shaft.

[0091] Furthermore, a power module is provided on the rack 111, which is used to provide the intelligent cleaning module 100 with the electrical energy required for operation.

[0092] A water spraying assembly 112 is mounted on the frame 111 and is capable of spraying water onto the photovoltaic panel 10 in the direction of travel of the omnidirectional traveling mechanism 120. A cleaning vehicle 113 is mounted on the crossbeam frame 1110 and located below the water spraying assembly 112. The cleaning vehicle 113 is used to clean the photovoltaic panel 10.

[0093] Specifically, the sprinkler assembly 112 includes a water storage tank 1120, a water pump, and a spray pipe 1121 mounted on the crossbeam frame 1110. The water pump inlet is connected to the water storage tank 1120 via a water supply pipeline, and the water outlet is connected to the spray pipe 1121 via a water supply pipeline.

[0094] In this embodiment, a water spray pipe 1121 is provided on both sides of the crossbeam frame 1110, and the two water spray pipes 1121 correspond to the cleaning vehicle 113 and are located on both sides of the cleaning vehicle 113. The water spray pipes 1121 are provided with a preset number of nozzles 1122, which face the photovoltaic panel 10 and are used to spray water onto the photovoltaic panel 10. Figure 3 As shown, when the omnidirectional traveling mechanism 120 descends along the first traveling guide rail 211, water is sprayed from the water spray pipe 1121 on the descending side of the crossbeam frame 1110; as Figure 4 As shown, when the omnidirectional traveling mechanism 120 moves upward along the first traveling guide rail 211, water is sprayed from the water spray pipe 1121 on the upward side of the crossbeam frame 1110.

[0095] Furthermore, in order to better control the water spraying of the water spray pipe 1121, a solenoid valve is installed on the water supply pipeline between the water pump outlet and the water spray pipe 1121, and the water spraying of the water spray pipe 1121 is selected and controlled by the solenoid valve.

[0096] The number of cleaning vehicles 113 can be set to multiple to accommodate cleaning areas 10a of different widths. Each cleaning vehicle 113 has a water spray pipe 1121 on both sides, and each water spray pipe 1121 is equipped with a corresponding solenoid valve. Thus, each water spray pipe 1121 is independently controlled by its corresponding solenoid valve. Understandably, since there will inevitably be empty areas 12 in the photovoltaic panel 10, when the corresponding cleaning vehicle 113 reaches an empty position in the cleaning area 10a, the cleaning vehicle 113 stops cleaning, and the corresponding water spray pipe 1121 stops spraying water to avoid wasting electricity and water resources. The cleaning vehicle 113 will resume cleaning when it reaches a non-empty area 12.

[0097] In some embodiments, the number of cleaning vehicles 113 corresponds to the number of solar panels 11 in the width direction of the cleaning area 10a, and each cleaning vehicle 113 corresponds to one solar panel 11. Thus, when a cleaning vehicle 113 runs to an area of ​​the cleaning area 10a without a solar panel 11, the cleaning vehicle 113 stops cleaning, and the corresponding water spray pipe 1121 stops spraying water.

[0098] Please see Figure 9 , Figure 11 , Figure 12 and Figure 13 Specifically, the cleaning vehicle 113 includes a mounting base 1130, a cleaning component 1132, and a floating component 1131. The mounting base 1130 is connected to the crossbeam frame 1110. The cleaning component 1132 is used to clean the photovoltaic panel 10. Both ends of the cleaning component 1132 are connected to the mounting base 1130 via a floating component 1131. Thus, the cleaning component 1132 can float relative to the mounting base 1130, and the floating component 1131 allows the cleaning component 1132 to abut against the surface of the photovoltaic panel 10, adapting the cleaning component 1132 to the unevenness of the photovoltaic panel 10 surface, thereby preventing damage to the photovoltaic panel 10 and improving the cleaning effect.

[0099] The cleaning assembly 1132 includes a cleaning frame 1132a, a cleaning drive motor, and two cleaning rollers 1132b. The cleaning frame 1132a is connected to the mounting base 1130 via a floating assembly 1131. The two cleaning rollers 1132b are arranged parallel to each other on the cleaning frame 1132a and are rotatably engaged with the cleaning frame 1132a. The two cleaning rollers 1132b are used to abut against the photovoltaic panel 10. The cleaning drive motor is mounted on the cleaning frame 1132a, and its output end is connected to the two cleaning rollers 1132b via a mechanical transmission mechanism to drive the two cleaning rollers 1132b to rotate synchronously, so as to cooperate with the water spray assembly 112 to clean the photovoltaic panel 10.

[0100] Optionally, the mechanical transmission mechanism may be a sprocket drive mechanism, a belt drive mechanism, or a gear drive mechanism. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application.

[0101] In some embodiments, the cleaning rack 1132a is also provided with a shield 1132c, and the cleaning drive motor and the two cleaning rollers 1132b are located below the shield 1132c, thereby preventing the sprayed water from affecting the operation of the cleaning drive motor.

[0102] The floating assembly 1131 includes a guide rod 1131a and a spring 1131d. The mounting base 1130 has a corresponding guide hole for the guide rod 1131a to pass through. The guide rod 1131a passes through the mounting base 1130 along the guide hole and is hinged to the cleaning assembly 1132. The guide rod 1131a and the guide hole of the mounting base 1130 are clearance fit, and the guide rod 1131a and the cleaning frame 1132a are pin hinged or ball hinged.

[0103] Therefore, it can be understood that the cleaning assembly 1132 as a whole has the degree of freedom to rotate along the hinge and the degree of freedom to move axially along the guide rod 1131a, which makes the cleaning assembly 1132 more adaptable, thereby avoiding damage to the surface of the photovoltaic panel 10 during cleaning by the cleaning roller 1132b, and better performing cleaning on the photovoltaic panel 10.

[0104] Furthermore, the guide rod 1131a is provided with a first limiting boss 1131b and a second limiting boss 1131c along the axial direction. The first limiting boss 1131b is located at the end of the guide rod 1131a near the cleaning frame 1132a, and the second limiting boss 1131c is located at the end of the guide rod 1131a away from the cleaning assembly 1132. A spring 1131d is sleeved on the guide rod 1131a, with one end of the spring 1131d abutting against the first limiting boss 1131b and the other end abutting against the mounting base 1130.

[0105] Understandably, when the cleaning roller 1132b in the cleaning assembly 1132 contacts the photovoltaic panel 10, the spring 1131d is in a compressed state. This compressed spring 1131d applies a pre-pressure to the photovoltaic panel 10 through the cleaning assembly 1132, ensuring that the cleaning assembly 1132 maintains contact with the photovoltaic panel 10 during the cleaning process, thereby improving the cleaning effect. When the cleaning roller 1132b is not in contact with the photovoltaic panel 10, i.e., when the entire cleaning assembly 1132 is suspended, the cleaning assembly 1132, due to its own gravity, will drive the guide rod 1131a to move vertically. At this time, the spring 1131d is stretched or in a free state. Therefore, the intelligent cleaning module 100 is supported by the mounting frame or corrugated steel sheet, and the cleaning roller 1132b adopts a floating head design, ensuring constant cleaning pressure and minimizing wear on the photovoltaic panel 10 during cleaning.

[0106] Furthermore, the cleaning vehicle 113 also includes a displacement sensor 1134, which is disposed on the mounting base 1130 and connected to the cleaning assembly 1132. The displacement sensor 1134 can detect the floating stroke of the floating assembly 1131 to control the operation of the cleaning assembly 1132. Specifically, the number of displacement sensors 1134 corresponds to the number of floating assemblies 1131, and the displacement sensor 1134 is a limit switch. The limit switch and the second limiting boss 1131c on the guide rod 1131a are in contact engagement. Understandably, when the cleaning component 1132 is suspended, the gravity of the cleaning component 1132 will cause the entire guide rod 1131a to move downward along its own axis. At the same time, the second limiting boss 1131c at the end of the guide rod 1131a will touch the limit switch after moving downward for a certain distance. At this time, it is determined that the area where the cleaning component 1132 is located is the empty area 12, thereby controlling the corresponding water spray pipe 1121 to stop spraying water, and the cleaning component 1132 to stop cleaning, thus saving energy.

[0107] In this embodiment, the cleaning cart 113 further includes four lifting components 1133. Two lifting components 1133 are provided at each end of the mounting base 1130, and the two lifting components 1133 are symmetrically arranged about the floating component 1131. The lifting components 1133 are used to lift the cleaning module. Since the guide rod 1131a in the floating component 1131 is hinged to the cleaning component 1132, the two lifting components 1133 on the traveling side of the cleaning component 1132 perform a lifting action, causing the cleaning roller 1132b on that side of the cleaning component 1132 to sway with the cleaning frame 1132a. The sway direction is as follows... Figure 13 In the upper left of the image, the cleaning roller 1132b on this side of the cleaning assembly 1132 is lifted so that the entire cleaning assembly 1132 can smoothly transition from the empty area 12 onto the photovoltaic panel 10, ensuring the safety of the equipment.

[0108] It should also be noted that when the cleaning component 1132 sways under the action of the lifting component 1133, the limit switch remains in contact with the second limit boss 1131c on the guide rod 1131a. When the cleaning component 1132 is switched onto the photovoltaic panel 10, the limit switch and the second limit boss 1131c are disengaged, and the cleaning component 1132 and the water spraying component 112 return to normal working state.

[0109] Furthermore, the lifting assembly 1133 includes a take-up motor 1133c, a take-up reel 1133a, and a lifting rope 1133d. The take-up reel 1133a is rotatably mounted on the mounting base 1130 via a take-up seat 1133b. The take-up motor 1133c is mounted on the take-up seat 1133b, and its output end is connected to the take-up reel 1133a. One end of the lifting rope 1133d is wound around the take-up reel 1133a, and the other end is connected to the cleaning frame 1132a of the cleaning assembly 1132. Thus, the take-up motor 1133c drives the take-up reel 1133a to perform take-up and unwinding, thereby controlling the lifting and lowering of the cleaning assembly 1132.

[0110] In some embodiments, to ensure the long-term stable operation of the modular intelligent cleaning machine and improve its intelligence, the modular intelligent cleaning machine is equipped with an automatic water replenishment module, an automatic charging module, and a washing roller module in the first and / or last cleaning zone 10a of the multiple cleaning zones 10a.

[0111] The automatic water replenishment module automatically adds water or cleaning fluid to the water storage tank 1120. The automatic charging module is used to charge the power module. The washing roller module is used to clean the washing roller 1132b.

[0112] Furthermore, the washing roller module includes a washing roller water tank and a scraper disposed in the washing roller water tank. During cleaning, the washing roller 1132b in the washing assembly 1132 is in contact with the water in the washing roller water tank and the scraper simultaneously. The washing roller 1132b is rotated by the cleaning drive motor to perform cleaning.

[0113] In some embodiments, the mounting base 1130 is connected to the crossbeam 1110 via a lifting mechanism 114, which can drive the entire cleaning assembly 1132 closer to or further away from the crossbeam 1110. During cleaning operations, the cleaning roller 1132b remains in contact with the surface of the photovoltaic panel 10. When cleaning is complete, or when the smart cleaning module 100 needs to return to its initial position for water replenishment or charging, the lifting mechanism 114 drives the entire cleaning assembly 1132 to move closer to the crossbeam 1110, causing the cleaning roller 1132b to disengage from the surface of the photovoltaic panel 10, so that the smart cleaning module 100 can return quickly and undisturbed.

[0114] Optionally, the lifting mechanism 114 can be a linear motor, an electric push rod, a piston cylinder, or a piston hydraulic cylinder. It should be understood that the above are merely illustrative examples and are not intended to limit the scope of protection of this application. In some embodiments, the cleaning mechanism 110 is also equipped with an infrared camera detector on the frame 111. The infrared camera detector is wirelessly connected to an external cloud server, for example, via WIFI, 3G, 4G, or 5G signals.

[0115] The infrared camera detector uses an infrared camera to photograph the surface of the photovoltaic panel 10 along the travel direction of the cleaning mechanism 110. Utilizing infrared thermal imaging principles, it acquires the temperature information of the corresponding area of ​​the photovoltaic panel 10 surface and feeds it back to the cloud server. Since dust accumulation or obstruction by other foreign objects on the surface of the photovoltaic panel 10 can cause hot spots, the infrared thermal imaging principle can identify areas with high surface temperatures, allowing for timely detection and handling of problems, ensuring the normal and stable operation of the photovoltaic panel 10. Therefore, the infrared camera detector enables automatic inspection.

[0116] Of course, during the above testing process, the water spraying component 112 does not spray water to avoid interfering with the testing work. At the same time, the four lifting components 1133 operate synchronously to lift the entire cleaning component 1132, so that the cleaning component 1132 is no longer in contact with the photovoltaic panel 10, thereby improving testing efficiency and minimizing interference with the testing.

[0117] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0118] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A modular intelligent cleaning machine for cleaning photovoltaic panels, characterized in that, The modular intelligent cleaning machine includes a track module and an intelligent cleaning module; The track module includes a first transition guide rail, a rail-changing mechanism, and multiple walking guide rails. The multiple walking guide rails are distributed along the surface of the photovoltaic panel and divide the surface of the photovoltaic panel into multiple cleaning areas. The shapes of the multiple cleaning areas include at least one of "冂" and "口". And one of the walking guide rails is shared between two adjacent cleaning areas; among them, the first transition guide rail is provided only at the intersection of the extension lines of two walking guide rails. These two walking guide rails include a first walking guide rail arranged vertically and a second walking guide rail arranged horizontally. The first transition guide rail connects the corresponding two walking guide rails; the rail-changing mechanism is provided at the intersection of the extension lines of more than two walking guide rails. Among them, more than two walking guide rails include the first walking guide rail arranged vertically and two second walking guide rails arranged horizontally on both vertical sides of the first walking guide rail. The rail-changing mechanism can selectively connect the first walking guide rail with one of the second walking guide rails; The intelligent cleaning module includes a cleaning mechanism and two universal walking mechanisms. The two universal walking mechanisms are respectively arranged at both ends of the cleaning mechanism. The two universal walking mechanisms respectively perform walking cooperation with two parallel walking guide rails in the cleaning area to enable the cleaning mechanism to clean the corresponding cleaning area. The rail-changing mechanism can selectively connect two of the walking guide rails by performing a rail-changing action to guide the intelligent cleaning module to the next cleaning area.

2. The modular intelligent cleaning machine according to claim 1, characterized in that, The rail-changing mechanism includes a rail-changing driving part and a second transition guide rail. The second transition guide rail has the same structure as the first transition guide rail. The rail-changing driving part is arranged on the mounting rack for mounting the photovoltaic panel. The output end of the rail-changing driving part is connected to the second transition guide rail for driving the second transition guide rail to move to perform the rail-changing action to connect the corresponding two walking guide rails.

3. The modular intelligent cleaning machine according to any one of claims 1-2, characterized in that, Detection mechanisms are provided at one ends of the three walking guide rails where the extension lines meet and are close to the rail-changing mechanism. The detection mechanisms are used to sense the universal walking mechanism and control the rail-changing mechanism to perform the corresponding rail-changing action.

4. The modular intelligent cleaning machine according to claim 1, characterized in that, The universal walking mechanism includes a walking frame, a walking driving part, and walking wheels. The walking frame is rotatably connected to the cleaning mechanism. Walking wheels are provided on both sides of the walking frame. The walking driving part is arranged on the walking frame for driving the walking wheels to rotate; Among them, guide grooves for accommodating the walking wheels are provided on both sides of the walking guide rail and the first transition guide rail.

5. The modular intelligent cleaning machine according to claim 1, characterized in that, The cleaning mechanism includes a frame, a watering component, and at least one cleaning vehicle; The frame is arranged across the cleaning area, and the universal walking mechanisms are respectively arranged at both ends of the frame; The watering component is arranged on the frame, and the watering component can spray water on the photovoltaic panel in the traveling direction of the universal walking mechanism; The at least one cleaning vehicle is disposed on the frame and located below the water spraying assembly, and the cleaning vehicle is used to clean the photovoltaic panel.

6. The modular intelligent cleaning machine according to claim 5, characterized in that, The cleaning vehicle includes a mounting base, a cleaning assembly, and a floating assembly. The mounting base is connected to the frame. Both ends of the cleaning assembly are connected to the mounting base through a floating assembly. The floating assembly enables the cleaning assembly to maintain contact with the photovoltaic panel. The cleaning assembly is used to clean the photovoltaic panel.

7. The modular intelligent cleaning machine according to claim 6, characterized in that, The cleaning vehicle also includes a displacement sensor, which is disposed on the mounting base and connected to the cleaning assembly. The displacement sensor can detect the floating stroke of the floating assembly to control the movement of the cleaning assembly.

8. The modular intelligent cleaning machine according to claim 6, characterized in that, The cleaning vehicle also includes lifting components. Two lifting components are provided at both ends of the mounting base. The two lifting components are symmetrically arranged about the floating component. The output end of the lifting component is connected to the cleaning component. The lifting component can drive the cleaning component to move towards or away from the mounting base.

9. The modular intelligent cleaning machine according to claim 1, characterized in that, The cleaning machine is also equipped with an infrared camera detector, which is wirelessly connected to an external cloud server. The infrared camera detector can acquire the temperature information of the photovoltaic panel surface and feed it back to the cloud server.

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