Amphibious photovoltaic power station cleaning manipulator device and cleaning system

Abstract

The invention discloses an amphibious photovoltaic power station cleaning manipulator device and a cleaning system, and relates to the technical field of photovoltaic power station cleaning, the amphibious photovoltaic power station cleaning manipulator device comprises a main body mechanism, the main body mechanism comprises a floating plate, a fixing frame is fixedly mounted on the upper surface of the floating plate, a stepping motor is fixedly mounted on the inner top wall of the fixing frame, and a cleaning mechanism is arranged above the fixing frame; the cleaning mechanism comprises an adjusting unit, the adjusting unit is located above the fixing frame, and the adjusting unit is used for adjusting the angle and the length of the manipulator; the cleaning mechanism further comprises a cleaning unit, the cleaning unit is located above the fixing frame, and according to the amphibious photovoltaic power station cleaning manipulator device, by arranging the adjusting unit of the cleaning mechanism, the inclination angle of an amphibious photovoltaic power station cleaning manipulator and the length of the amphibious photovoltaic power station cleaning manipulator can be adjusted; the amphibious photovoltaic power station cleaning manipulator device can conveniently clean photovoltaic panels of photovoltaic power stations with different angles and sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power station cleaning, and in particular to an amphibious photovoltaic power station cleaning robot device and a cleaning system. Background Art

[0002] The amphibious photovoltaic power station is an innovative solar power generation system design that combines the advantages of land and water photovoltaic power stations and can operate efficiently in both land and water environments. This design is particularly suitable for areas where land and water are intertwined, such as lakes, reservoirs, river edges and low-lying areas. It not only maximizes the use of space, but also effectively reduces evaporation and maintains a low panel temperature, thereby improving the power generation efficiency of photovoltaic panels.

[0003] The efficient operation of photovoltaic power stations depends on the cleanliness of photovoltaic panels. Pollutants such as dust and bird droppings will significantly reduce the power generation efficiency of photovoltaic panels. The existing amphibious photovoltaic power station cleaning robot device is not convenient to adjust the angle and length of the cleaning robot when cleaning photovoltaic panels, making it inconvenient to clean photovoltaic panels of different angles and sizes. The cleaning method cannot be adjusted according to the pollutants on the surface of the photovoltaic panels during cleaning. In addition, water waves can easily push the cleaning robot during cleaning, causing the robot to shake violently on the water surface, thereby affecting the cleaning effect of the robot.

[0004] Combining the above problems, we will find that it is difficult to avoid the above problems at the same time when using the existing amphibious photovoltaic power station cleaning robot devices on the market, and even if they can be solved, they need to be solved through external tools, which makes it impossible to achieve the desired effect. Therefore, we propose an amphibious photovoltaic power station cleaning robot device and a cleaning system. Summary of the invention

[0005] The object of the present invention is to provide an amphibious photovoltaic power station cleaning robot device and a cleaning system to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: an amphibious photovoltaic power station cleaning robot device and cleaning system, comprising a main body mechanism, the main body mechanism comprising a floating plate, a fixing frame is fixedly mounted on the upper surface of the floating plate, a stepping motor is fixedly mounted on the inner top wall of the fixing frame, and a cleaning mechanism is arranged above the fixing frame;

[0007] The cleaning mechanism includes an adjustment unit, which is located above the fixing frame and is used to adjust the angle and length of the manipulator;

[0008] The cleaning mechanism further comprises a cleaning unit, which is located above the fixing frame and is used in conjunction with the adjusting unit to clean different pollutants on the surface of the photovoltaic panel;

[0009] A movable stabilizing mechanism is arranged inside the fixing frame, and the movable stabilizing mechanism is used in conjunction with the cleaning mechanism, and is used to stabilize the device when cleaning in water.

[0010] Preferably, the adjusting unit comprises a U-shaped frame, the bottom surface of the U-shaped frame is fixedly connected to the upper surface of the fixed frame, the inner wall of the U-shaped frame is rotatably connected to the first mechanical arm, the inner bottom wall of the U-shaped frame is fixedly installed with a bidirectional motor, the outer surface of the power output end of the bidirectional motor is fixedly connected to the inner wall of the first mechanical arm, the output end of the bidirectional motor power is rotatably connected to the inner wall of the U-shaped frame, the outer surface of the power output end of the bidirectional motor is fixedly installed with a first limiting wheel, the inner wall of the first mechanical arm is rotatably connected to a rotating rod, the outer surface of the rotating rod is fixedly installed with a second limiting wheel, the first limiting wheel and the second limiting wheel The outer surfaces are connected with a belt for common rotation, a worm is fixedly mounted on one end of the rotating rod, a worm wheel is meshed on the outer surface of the worm, the bottom end of the worm wheel is rotatably connected to the inner bottom wall of the first mechanical arm, a rotating conveying shaft is fixedly mounted on the upper surface of the worm wheel, the inner wall of the first mechanical arm is slidably connected to the second mechanical arm, the inner wall of the rotating conveying shaft is slidably connected to an arc frame, a connecting plate is fixedly mounted on the outer surface of the arc frame, the front side of the connecting plate is fixedly connected to the back side of the second mechanical arm, a T-block is fixedly mounted on the front side of the second mechanical arm, and the outer surface of the T-block is slidably connected to the inner wall of the first mechanical arm.

[0011] Preferably, the cleaning unit comprises a circular frame, the left side surface of the circular frame is fixedly connected to the right side surface of the second mechanical arm, the inner side wall of the circular frame is rotatably connected to a rotating shaft, the outer surface of the rotating shaft is fixedly installed with fan blades arranged at equal distances, and the right end of the rotating shaft is fixedly installed with a cleaning plate, the upper surface of the fixed frame is fixedly installed with a water tank and a liquid storage tank, the upper surface of the fixed frame is fixedly installed with a liquid pump, the input end of the liquid pump is fixedly connected with a three-way pipe, the end of the three-way pipe away from the liquid pump respectively passes through the water tank and the liquid storage tank and extends to the interior of the water tank and the liquid storage tank, the outer surface of the three-way pipe is fixedly connected with a first solenoid valve and a second solenoid valve, the output end of the liquid pump is fixedly connected with a liquid outlet hose, the end of the liquid outlet hose away from the liquid pump passes through the second mechanical arm and extends to the interior of the second mechanical arm, the outer surface of the liquid outlet hose is fixedly connected to the inner side wall of the second mechanical arm, and the outer surface of the liquid outlet hose is fixedly connected to two spray head, a third solenoid valve is fixedly connected to the outer surface of the liquid outlet hose, a water pipe is fixedly connected to the outer surface of the water pipe, a fourth solenoid valve is fixedly connected to the outer surface of the water pipe, one end of the water pipe away from the liquid outlet hose is fixedly connected to the outer surface of the circular frame, the outer surface of the circular frame is fixedly connected to a return pipe, one end of the return pipe away from the circular frame passes through the water tank and extends to the inside of the water tank, a camera is fixedly installed on the right side of the second mechanical arm, a rectangular plate is fixedly installed on the right side of the second mechanical arm, a scraper is fixedly installed on the right side of the rectangular plate, a limit bearing is fixedly installed on the outer surface of the rotating shaft, the outer surface of the limit bearing is fixedly connected to the inner wall of the circular frame, a limit frame is fixedly installed on the outer surface of the first mechanical arm, the inner wall of the limit frame is in contact with the outer surface of the liquid outlet hose, the upper surfaces of the water tank and the liquid storage tank are fixedly connected with a liquid inlet pipe, and the top of each of the liquid inlet pipes is sleeved with a sealing cover.

[0012] Preferably, the mobile stabilizing mechanism includes a connecting rod, the right end of the connecting rod is fixedly connected to the output end of the stepper motor power, the inner side wall of the fixed frame is rotatably connected to two transmission rods, the outer surface of the connecting rod is fixedly installed with two first one-way bearings, the outer surface of each of the first one-way bearings is fixedly installed with a first rotating gear, the outer surface of each of the transmission rods is fixedly installed with a second one-way bearing, the outer surface of each of the second one-way bearings is fixedly installed with a second rotating gear, the outer side of the connecting rod and the two transmission rods are jointly provided with two first gear belts, the inner wall of each of the first gear belts is meshed with the outer surfaces of the first rotating gear and the second rotating gear, and the fixed frame The inner side wall of the two bidirectional threaded rods is rotatably connected to two bidirectional threaded rods, and two third one-way bearings are fixedly installed on the outer surface of the connecting rod, and a third rotating gear is fixedly installed on the outer surface of each of the third one-way bearings, and a fourth rotating gear is fixedly installed on the outer surface of each of the bidirectional threaded rods. A second gear belt is commonly arranged on the outer sides of the connecting rod and the two bidirectional threaded rods, and the outer surface of each of the second gear belts is meshed with the outer surfaces of the third rotating gear and the fourth rotating gear. The outer surface of each of the bidirectional threaded rods is threadedly connected to two movable blocks, and a movable plate is fixedly installed on the bottom surface of each group of the movable blocks, and each The outer surface of the movable plate is slidably connected to the inner wall of the fixed frame, and the bottom surface of the movable plate is slidably connected to the upper surface of the floating plate. The outer surfaces of the two transmission rods are fixedly installed with a first driving gear, the outer surface of each of the first driving gears is meshed with a second driving gear, the left side of each of the second driving gears is rotatably connected to the inner side wall of the floating plate, the right side of each of the second driving gears is fixedly installed with a first bevel gear, the outer surface of each of the first bevel gears is meshed with a second bevel gear, the bottom surface of each of the second bevel gears is fixedly installed with a rotating rod, the bottom end of each rotating rod penetrates the floating plate and is fixedly installed with a third bevel gear, and the outer surface of each of the third bevel gears is A fourth bevel gear is meshed with the gears, and a movable rod is fixedly mounted on the inner wall of each of the fourth bevel gears, a driving blade is fixedly mounted on the outer surface of each of the movable rods, and moving wheels are fixedly mounted on both ends of each of the movable rods. A Bluetooth remote control module is fixedly mounted on the inner wall of the protective box, and the Bluetooth remote control module is electrically connected to the stepping motor through a wire. The outer surface of each of the movable rods is rotatably connected to two connecting frames, and the top of each connecting frame is fixedly connected to the bottom surface of the floating plate, and the outer surface of each of the moving wheels is fixedly mounted with a supporting frame, and the outer surface of each of the supporting frames is fixedly mounted with support plates arranged at equal distances, and one side surface of each of the support plates is fixedly connected to the outer surface of the moving wheel.

[0013] Preferably, a protection box is fixedly mounted on the upper surface of the fixing frame, an image capture module is fixedly mounted on the inner bottom wall of the protection box, and the image capture module is electrically connected to the camera via a wire.

[0014] Preferably, an image acquisition and digitization module is fixedly installed on the inner bottom wall of the protection box, and the image acquisition and digitization module is electrically connected to the image capture module through a wire.

[0015] Preferably, a processing module is fixedly mounted on the inner bottom wall of the protection box, and the processing module is electrically connected to the image acquisition and digitization module via a wire.

[0016] Preferably, a control module is fixedly mounted on the inner bottom wall of the protection box, and the control module is electrically connected to the processing module.

[0017] Preferably, a light source module is fixedly mounted on the inner bottom wall of the protection box, and the light source module is electrically connected to the control module.

[0018] A cleaning system comprises the following steps:

[0019] The surface of the photovoltaic panel can be photographed by the camera, and the control module can control the light source module so that the light source on the camera can be turned on, so that the camera can capture a clear target. The camera transmits the captured target signal to the image capture module, which converts the signal into an image signal, and transmits the image signal to the image acquisition and digitization module. The signal converted by the image acquisition and digitization module is directly transmitted to a dedicated processing module, and is converted into a digital signal according to pixel distribution, brightness, color and other information. The image system performs various operations on these signals to extract the characteristics of the target, and outputs the result to the control module according to the preset tolerance and other conditions.

[0020] A method for using an amphibious photovoltaic power station cleaning robot device comprises the following steps:

[0021] S1: The power provided by the bidirectional motor can drive the first robotic arm to rotate inside the U-shaped frame. The bidirectional motor is a specially designed motor with two independent output shafts. Each shaft can be independently driven and controlled as needed, so that one of the shafts can adjust the inclination angle of the first robotic arm. The power provided by the other shaft of the bidirectional motor can drive the first limiting wheel to rotate, so that the first limiting wheel can drive the belt to rotate, and the belt rotation can drive the second limiting wheel and the rotating rod to rotate. The rotation of the rotating rod can drive the worm to rotate, so that the worm can drive the worm wheel to rotate, and the rotation of the worm wheel can drive the rotating conveying shaft to rotate, so that the arc frame can slide up and down inside the rotating conveying shaft, so that the connecting plate can drive the second robotic arm to extend outward, so that the extended length of the second robotic arm can be adjusted, so as to facilitate the adjustment of the angle and length of the cleaning robot, so that the amphibious photovoltaic power station cleaning robot device can conveniently clean photovoltaic panels of photovoltaic power stations of different angles and sizes.

[0022] S2: First, the surface of the photovoltaic panel can be photographed by the camera. The camera converts the captured target into an image signal and transmits it to a dedicated processing module. According to the pixel distribution, brightness, color and other information, it is converted into a digital signal. The image system performs various operations on these signals to extract the characteristics of the target, outputs the results according to the preset tolerance and other conditions, and transmits signals to the camera, the liquid pump, the first solenoid valve, the second solenoid valve, the third solenoid valve and the fourth solenoid valve through the wire. When it is recognized that there is dust adhering to the surface of the photovoltaic panel, the liquid pump starts working, and the first solenoid valve and the third solenoid valve are opened. The suction force provided by the liquid pump can pump the water in the water tank outward, so that the water is guided by the liquid outlet hose and directly transported to the nozzle, so that the nozzle sprays the water on the surface of the photovoltaic panel in the form of mist. , so that the dust on the surface of the photovoltaic panel can be washed away, and the movement of the second mechanical arm can drive the scraper to scrape off the water stains on the surface. When it is identified that bird droppings or other difficult-to-remove pollutants are adhered to the surface of the photovoltaic panel, the liquid pump works, and the second solenoid valve and the third solenoid valve are opened, so that the liquid pump can pump out the cleaning liquid in the storage tank, and the cleaning liquid is sprayed on the surface of the photovoltaic panel through the nozzle. After the cleaning liquid is sprayed, the second solenoid valve and the third solenoid valve are closed, and the first solenoid valve and the fourth solenoid valve are opened, so that the water directly enters the circular frame through the liquid outlet hose and the water pipe, so that the water can be sprayed out, and the sprayed water can drive the fan blades to rotate, so that the shaft can drive the cleaning plate to clean the surface of the photovoltaic panel. After the cleaning is completed, it is rinsed with clean water, so that the cleaning effect of the photovoltaic panel is stronger.

[0023] S3: The Bluetooth remote control module can be used to conveniently control the stepper motor. The forward rotation of the stepper motor can drive the connecting rod to rotate, so that the connecting rod can drive the first one-way bearing to rotate. The rotation of the first one-way bearing can drive the first rotating gear to rotate, so that the first rotating gear can drive the transmission rod to rotate. The rotation of the transmission rod can drive the first driving gear to rotate. The first driving gear drives the second driving gear to rotate. The second driving gear drives the first bevel gear to rotate. The first bevel gear drives the second bevel gear to rotate. The second bevel gear can drive the rotating rod to rotate. The rotating rod drives the third bevel gear to rotate. The third bevel gear drives the fourth bevel gear to rotate. The fourth bevel gear drives the movable rod to rotate. The rotation of the movable rod can drive the moving wheel and the driving blade to rotate, so that the moving wheel can drive the device to move on land. The driving blade provides power for the device in water. When the stepper motor rotates forward, the third one-way bearing and the first bevel gear are connected to the first bevel gear. The four one-way bearings will not drive the first rotating gear and the second rotating gear, so that the connecting rod will not drive the third rotating gear and the fourth rotating gear to rotate. When the device moves to the photovoltaic panel in the water, the stepper motor is controlled to rotate in the opposite direction, so that the connecting rod can drive the third one-way bearing to rotate. The rotation of the third one-way bearing can drive the third rotating gear to rotate, so that the third rotating gear can drive the second gear belt to rotate, thereby driving the two-way threaded rod to rotate, so that the two-way threaded rod can drive the movable plate to extend from the fixed frame, so that the movable plate can increase the contact area between the floating plate and the water surface. When the stepper motor rotates in the opposite direction, the first one-way bearing and the second one-way bearing will not drive the first rotating gear and the second rotating gear, so that the amphibious photovoltaic power station cleaning robot device can be stabilized during cleaning, thereby preventing the amphibious photovoltaic power station cleaning robot device from shaking violently on the water surface due to waves during cleaning, affecting the cleaning effect of the photovoltaic panels of the photovoltaic power station.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention can adjust the inclination angle and length of the amphibious photovoltaic power station cleaning manipulator by setting an adjustment unit of the cleaning mechanism, so that the amphibious photovoltaic power station cleaning manipulator device can conveniently clean photovoltaic panels of photovoltaic power stations of different angles and sizes, thereby reducing the labor intensity of the staff.

[0026] 2. The present invention sets up a cleaning unit, which can identify pollutants on the surface of photovoltaic panels of a photovoltaic power station, and can cooperate with the adjustment unit to clean the photovoltaic panels of the photovoltaic power station, so that different pollutants can be cleaned in different ways, thereby reducing the labor intensity of the staff and improving the cleaning effect of the photovoltaic panels of the photovoltaic power station.

[0027] 3. The present invention can drive the amphibious photovoltaic power station cleaning robot device to move on land and water by setting a mobile stabilizing mechanism, and can also stabilize the amphibious photovoltaic power station cleaning robot device when cleaning in water, thereby preventing the amphibious photovoltaic power station cleaning robot device from shaking violently on the water surface due to waves during cleaning, affecting the cleaning effect of the photovoltaic panels of the photovoltaic power station. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 It is a schematic structural diagram of a cross-section of the fixing frame of the present invention;

[0030] Figure 3 It is a schematic structural diagram of a right side cross-section of a floating plate of the present invention;

[0031] Figure 4 It is a schematic structural diagram of a cross-section of the protection box of the present invention;

[0032] Figure 5 It is a schematic structural diagram of the liquid pump of the present invention;

[0033] Figure 6 It is a schematic structural diagram of a cross-section of the first mechanical arm of the present invention;

[0034] Figure 7 For the present invention Figure 6 A partial enlarged view of the middle A;

[0035] Figure 8 It is a schematic diagram of the structure of the rotating conveying shaft of the present invention;

[0036] Fig. 9 It is a structural schematic diagram of the cleaning frame of the present invention from the right side;

[0037] Fig.10 It is a schematic structural diagram of a right side cross-section view of a circular frame of the present invention;

[0038] Fig.11 This is a cleaning control flow chart of the present invention.

[0039] In the figure: 1, main body; 11, floating plate; 12, fixed frame; 13, stepping motor; 2, cleaning mechanism; 21, adjustment unit; 2101, U-shaped frame; 2102, first mechanical arm; 2103, bidirectional motor; 2104, first limiting wheel; 2105, rotating rod; 2106, second limiting wheel; 2107, belt; 2108, worm; 2109, worm wheel; 2110, rotating conveying shaft; 2111, second mechanical arm; 2112, arc frame; 2113, connecting plate; 2114, T-shaped block; 22, cleaning unit; 2 201, circular frame; 2202, rotating shaft; 2203, fan blade; 2204, cleaning plate; 2205, water storage tank; 2206, liquid storage tank; 2207, liquid pump; 2208, three-way pipe; 2209, first solenoid valve; 2210, second solenoid valve; 2211, liquid outlet hose; 2212, third solenoid valve; 2213, nozzle; 2214, water pipe; 2215, fourth solenoid valve; 2216, camera; 2217, protection box; 2218, processing module; 2219, limit bearing; 2220, limit frame; 22 21. Liquid inlet pipe; 2222. Sealing cover; 2223. Reflux pipe; 2224. Rectangular plate; 2225. Scraper; 2226. Control module; 2227. Image capture module; 2228. Image acquisition and digitization module; 2229. Light source module; 3. Mobile and stable mechanism; 301. Connecting rod; 302. Transmission rod; 303. First one-way bearing; 304. First rotating gear; 305. Second one-way bearing; 306. Second rotating gear; 307. First gear belt; 308. Third one-way bearing; 309. Third rotating gear Wheel; 310, fourth one-way bearing; 311, fourth rotating gear; 312, second gear belt; 313, first driving gear; 314, second driving gear; 315, Bluetooth remote control module; 316, first bevel gear; 317, second bevel gear; 318, rotating rod; 319, third bevel gear; 320, second bevel gear; 321, movable rod; 322, driving blade; 323, moving wheel; 324, movable block; 325, movable plate; 326, two-way threaded rod; 327, connecting frame; 328, supporting frame; 329, supporting plate. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Example 1: Please refer to Figure 1-Figure 10The present invention provides a technical solution: an amphibious photovoltaic power station cleaning robot device and a cleaning system, comprising a main body mechanism 1, the main body mechanism 1 comprises a floating plate 11, a fixing frame 12 is fixedly mounted on the upper surface of the floating plate 11, a stepping motor 13 is fixedly mounted on the inner top wall of the fixing frame 12, and a cleaning mechanism 2 is arranged above the fixing frame 12;

[0042] The cleaning mechanism 2 includes an adjusting unit 21 , which is located above the fixing frame 12 . The adjusting unit 21 is used to adjust the angle and length of the manipulator.

[0043] As a further limitation of the cleaning mechanism 2 of the present invention, the adjustment unit 21 includes a U-shaped frame 2101, the bottom surface of the U-shaped frame 2101 is fixedly connected to the upper surface of the fixed frame 12, the inner wall of the U-shaped frame 2101 is rotatably connected to the first mechanical arm 2102, the inner bottom wall of the U-shaped frame 2101 is fixedly installed with a bidirectional motor 2103, the outer surface of the power output end of the bidirectional motor 2103 is fixedly connected to the inner wall of the first mechanical arm 2102, the output end of the power of the bidirectional motor 2103 is rotatably connected to the inner wall of the U-shaped frame 2101, and the bidirectional motor 2103 is fixedly connected to the inner wall of the U-shaped frame 2101. The outer surface of the power output end is fixedly mounted with a first limiting wheel 2104, the inner wall of the first mechanical arm 2102 is rotatably connected with a rotating rod 2105, the outer surface of the rotating rod 2105 is fixedly mounted with a second limiting wheel 2106, the outer surfaces of the first limiting wheel 2104 and the second limiting wheel 2106 are rotatably connected with a belt 2107, one end of the rotating rod 2105 is fixedly mounted with a worm 2108, the outer surface of the worm 2108 is meshed with a worm wheel 2109, the bottom end of the worm wheel 2109 is rotatably connected with the inner bottom wall of the first mechanical arm 2102, and the worm 2108 is fixedly mounted with a worm wheel 2109. A rotating conveying shaft 2110 is fixedly installed on the upper surface of the wheel 2109, a second mechanical arm 2111 is slidably connected to the inner wall of the first mechanical arm 2102, an arc frame 2112 is slidably connected to the inner wall of the rotating conveying shaft 2110, a connecting plate 2113 is fixedly installed on the outer surface of the arc frame 2112, and the front of the connecting plate 2113 is fixedly connected to the back of the second mechanical arm 2111. By setting the adjustment unit 21 of the cleaning mechanism 2, the tilt angle of the amphibious photovoltaic power station cleaning manipulator and the amphibious photovoltaic power station cleaning machine can be adjusted. The length of the manipulator can be adjusted so that the amphibious photovoltaic power station cleaning manipulator device can conveniently clean the photovoltaic panels of photovoltaic power stations of different angles and sizes. A T-shaped block 2114 is fixedly installed on the front of the second manipulator 2111. The outer surface of the T-shaped block 2114 is slidably connected to the inner wall of the first manipulator 2102. By setting the T-shaped block 2114, the second manipulator 2111 can be limited, making the second manipulator 2111 more stable when moving up and down, thereby ensuring the stability of the second manipulator 2111 when moving up and down.

[0044] The specific implementation of this embodiment is as follows: the power provided by the bidirectional motor 2103 can drive the first mechanical arm 2102 to rotate inside the U-shaped frame 2101. The bidirectional motor 2103 is a specially designed motor, which has two independent output shafts, each of which can be independently driven and controlled as needed, so that one of the shafts can adjust the inclination angle of the first mechanical arm 2102, and the power provided by the other shaft of the bidirectional motor 2103 can drive the first limiting wheel 2104 to rotate, so that the first limiting wheel 2104 can drive the belt 2107 to rotate, and the rotation of the belt 2107 can drive the second limiting wheel 2106 and the rotating rod 21 05 is rotated, the rotation of the rotating rod 2105 can drive the worm 2108 to rotate, so that the worm 2108 can drive the worm wheel 2109 to rotate, and the rotation of the worm wheel 2109 can drive the rotating conveying shaft 2110 to rotate, so that the arc frame 2112 can slide up and down inside the rotating conveying shaft 2110, so that the connecting plate 2113 can drive the second mechanical arm 2111 to extend outward, so that the extended length of the second mechanical arm 2111 can be adjusted, so as to facilitate the adjustment of the angle and length of the cleaning manipulator, so that the amphibious photovoltaic power station cleaning manipulator device can facilitate the cleaning of photovoltaic panels of photovoltaic power stations of different angles and sizes.

[0045] Example 2: Please refer to Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Fig. 9 , Fig.10 and Fig.11 The present invention provides a technical solution: an amphibious photovoltaic power station cleaning robot device and a cleaning system. The present invention makes corresponding improvements to the technical problems mentioned in the background technology. The cleaning mechanism 2 also includes a cleaning unit 22, which is located above the fixing frame 12. The cleaning unit 22 is used in conjunction with the adjusting unit 21. The cleaning unit 22 is used to clean different pollutants on the surface of the photovoltaic panel.

[0046] As a further definition of the cleaning unit 22 of the present invention, the cleaning unit 22 includes a circular frame 2201, the left side of the circular frame 2201 is fixedly connected to the right side of the second mechanical arm 2111, the inner side wall of the circular frame 2201 is rotatably connected to a rotating shaft 2202, the outer surface of the rotating shaft 2202 is fixedly installed with fan blades 2203 arranged at equal distances, the right end of the rotating shaft 2202 is fixedly installed with a cleaning plate 2204, the upper surface of the fixed frame 12 is fixedly installed with a water tank 2205 and a liquid storage tank 2206, the upper surface of the fixed frame 12 is fixedly installed with a liquid pump 2207, the input end of the liquid pump 2207 is fixedly connected with a three-way pipe 2208, and the end of the three-way pipe 2208 away from the liquid pump 2207 passes through the water tank 2205 and the liquid storage tank 2206 respectively. 06 and extends to the interior of the water storage tank 2205 and the liquid storage tank 2206, the outer surface of the three-way pipe 2208 is fixedly connected with the first solenoid valve 2209 and the second solenoid valve 2210, the output end of the liquid pump 2207 is fixedly connected with a liquid outlet hose 2211, the end of the liquid outlet hose 2211 away from the liquid pump 2207 passes through the second mechanical arm 2111 and extends to the interior of the second mechanical arm 2111, the outer surface of the liquid outlet hose 2211 is fixedly connected to the inner wall of the second mechanical arm 2111, the outer surface of the liquid outlet hose 2211 is fixedly connected with two nozzles 2213, the outer surface of the liquid outlet hose 2211 is fixedly connected with the third solenoid valve 2212, the outer surface of the liquid outlet hose 2211 is fixedly connected with a water delivery pipe 2214, and the water delivery pipe 221 4 is fixedly connected with a fourth solenoid valve 2215, one end of the water delivery pipe 2214 away from the liquid outlet hose 2211 is fixedly connected with the outer surface of the circular frame 2201, and the outer surface of the circular frame 2201 is fixedly connected with a return pipe 2223, and one end of the return pipe 2223 away from the circular frame 2201 passes through the water storage tank 2205 and extends to the inside of the water storage tank 2205. A camera 2216 is fixedly installed on the right side of the second mechanical arm 2111, and a rectangular plate 2224 is fixedly installed on the right side of the second mechanical arm 2111. A scraper 2225 is fixedly installed on the right side of the rectangular plate 2224. By setting the cleaning unit 22, the cleaning unit 22 can be used to identify pollutants on the surface of the photovoltaic panels of the photovoltaic power station, and can cooperate with the adjustment unit 21 The photovoltaic panels of the photovoltaic power station are cleaned so that different pollutants can be cleaned in different ways. A limit bearing 2219 is fixedly installed on the outer surface of the rotating shaft 2202. The outer surface of the limit bearing 2219 is fixedly connected to the inner wall of the circular frame 2201. A limit frame 2220 is fixedly installed on the outer surface of the first mechanical arm 2102. The inner wall of the limit frame 2220 contacts the outer surface of the liquid outlet hose 2211. The upper surfaces of the water storage tank 2205 and the liquid storage tank 2206 are fixedly connected with a liquid inlet pipe 2221. The top of each liquid inlet pipe 2221 is sleeved with a sealing cover 2222. By setting the limit bearing 2219, the rotating shaft 2202 can be supported and limited, so that the rotating shaft 2202 can rotate smoothly inside the circular frame 2201.The rotation of the rotating shaft 2202 is ensured to be stable. The limiting frame 2220 can limit the liquid outlet hose 2211, so as to prevent the liquid outlet hose 2211 from being arranged in a disorderly manner during use and affecting the liquid transportation. The liquid inlet pipe 2221 can facilitate personnel to put in water and cleaning liquid. The sealing cover 2222 can seal the liquid inlet pipe 2221, so as to prevent external water or cleaning liquid from spilling out, and also prevent external impurities from entering. A protection box 2217 is fixedly installed on the upper surface of the fixing frame 12, and a processing module 2218 is fixedly installed on the inner bottom wall of the protection box 2217. The processing module 2218 is electrically connected to the camera 2216 through a wire. By setting the protection box 2217, the processing module 2218 can be protected to prevent the processing module 2218 from being affected by water. The processing module 2218 can The photovoltaic panels photographed by the machine 2216 are processed. The inner bottom wall of the protection box 2217 is fixedly installed with a control module 2226. The control module 2226 is electrically connected to the processing module 2218 through a wire. The control module 2226 is electrically connected to the liquid pump 2207, the first solenoid valve 2209, the second solenoid valve 2210, the third solenoid valve 2212 and the fourth solenoid valve 2215 through wires. By setting the control module 2226, the signal processed by the processing module 2218 can be received, and the liquid pump 2207, the first solenoid valve 2209, the second solenoid valve 2210, the third solenoid valve 2212 and the fourth solenoid valve 2215 can be controlled to ensure the operation of the liquid pump 2207, the first solenoid valve 2209, the second solenoid valve 2210, the third solenoid valve 2212 and the fourth solenoid valve 2215.

[0047] The specific implementation of this embodiment is as follows: when it is identified that dust adheres to the surface of the photovoltaic panel, the liquid pump 2207 works, the first solenoid valve 2209 and the third solenoid valve 2212 are opened, and the suction force provided by the liquid pump 2207 can be used to pump water out of the water tank 2205, so that the water is guided by the liquid outlet hose 2211 and directly transported to the nozzle 2213, so that the nozzle 2213 sprays the water on the surface of the photovoltaic panel in the form of mist, thereby flushing away the dust on the surface of the photovoltaic panel, and the movement of the second mechanical arm 2111 can drive the scraper 2225 to scrape off the water stains on the surface. When it is identified that bird droppings or other difficult-to-remove pollutants adhere to the surface of the photovoltaic panel, the liquid pump 2207 works, the second solenoid valve 2210 and The third solenoid valve 2212 is opened, so that the liquid pump 2207 can pump out the cleaning liquid in the liquid storage tank 2206, and the cleaning liquid is sprayed on the surface of the photovoltaic panel through the nozzle 2213. After the cleaning liquid is sprayed, the second solenoid valve 2210 and the third solenoid valve 2212 are closed, and the first solenoid valve 2209 and the fourth solenoid valve 2215 are opened, so that water can directly enter the circular frame 2201 through the liquid outlet hose 2211 and the water pipe 2214, so that the water can be sprayed out, and the sprayed water can drive the fan blades 2203 to rotate, so that the rotating shaft 2202 can drive the cleaning plate 2204 to clean the surface of the photovoltaic panel. After the cleaning is completed, it is rinsed with clean water to make the photovoltaic panel cleaning effect stronger.

[0048] Example 3: Please refer to Figure 1 , Figure 2 and Figure 3 The present invention provides a technical solution: an amphibious photovoltaic power station cleaning robot device and a cleaning system. The present invention makes corresponding improvements to the technical problems mentioned in the background technology. A mobile stabilizing mechanism 3 is arranged inside the fixed frame 12. The mobile stabilizing mechanism 3 is used in conjunction with the cleaning mechanism 2. The mobile stabilizing mechanism 3 is used to stabilize the device when cleaning in water.

[0049] As a further limitation of the mobile and stable mechanism 3 of the present invention, the mobile and stable mechanism 3 includes a connecting rod 301, the right end of the connecting rod 301 is fixedly connected to the output end of the power of the stepping motor 13, and the inner side wall of the fixed frame 12 is rotatably connected to two transmission rods 302. The outer surface of the connecting rod 301 is fixedly installed with two first one-way bearings 303, and the outer surface of each first one-way bearing 303 is fixedly installed with a first rotating gear 304, and the outer surface of each transmission rod 302 is fixedly installed with a second one-way bearing 305, and the outer surface of each second one-way bearing 305 is fixedly installed with a second rotating gear 306. The outer sides of the connecting rod 301 and the two transmission rods 302 are jointly provided with two first gear belts 307, and the inner wall of each first gear belt 307 is The inner side wall of the fixed frame 12 is rotatably connected to two bidirectional threaded rods 326 which are meshed with the outer surfaces of the first rotating gear 304 and the second rotating gear 306. The outer surface of the connecting rod 301 is fixedly installed with two third one-way bearings 308, and the outer surface of each third one-way bearing 308 is fixedly installed with a third rotating gear 309. The outer surface of each bidirectional threaded rod 326 is fixedly installed with a fourth one-way bearing 310, and the outer surface of each fourth one-way bearing 310 is fixedly installed with a fourth rotating gear 311. The outer sides of the connecting rod 301 and the two bidirectional threaded rods 326 are jointly provided with a second gear belt 312, and the outer surface of each second gear belt 312 is meshed with the outer surfaces of the third rotating gear 309 and the fourth rotating gear 311. The outer surfaces of the two-way threaded rods 326 are threadedly connected to two movable blocks 324, and the bottom surfaces of each group of movable blocks 324 are fixedly installed with movable plates 325. The outer surfaces of each movable plate 325 are slidably connected to the inner wall of the fixed frame 12, and the bottom surfaces of the movable plates 325 are slidably connected to the upper surface of the floating plate 11. The outer surfaces of the two transmission rods 302 are fixedly installed with first driving gears 313, and the outer surface of each first driving gear 313 is meshed with a second driving gear 314. The left side of each second driving gear 314 is rotatably connected to the inner side wall of the floating plate 11, and the right side of each second driving gear 314 is fixedly installed with a first bevel gear 316, and the outer surface of each first bevel gear 316 is meshed with a second bevel gear 317. A rotating rod 318 is fixedly installed on the bottom surface of the bevel gear 317, and the bottom end of each rotating rod 318 penetrates the floating plate 11 and is fixedly installed with a third bevel gear 319, and the outer surface of each third bevel gear 319 is meshed with a fourth bevel gear 320, and the inner wall of each fourth bevel gear 320 is fixedly installed with a movable rod 321, and the outer surface of each movable rod 321 is fixedly installed with a driving blade 322, and both ends of each movable rod 321 are fixedly installed with a moving wheel 323, and the inner wall of the protective box 2217 is fixedly installed with a Bluetooth remote control module 315, and the Bluetooth remote control module 315 is electrically connected to the stepping motor 13 through a wire. By setting the mobile stabilizing mechanism 3, the amphibious photovoltaic power station cleaning manipulator device can be driven to move on land and in water.The amphibious photovoltaic power station cleaning robot device can also be stabilized when cleaning in water, thereby preventing the amphibious photovoltaic power station cleaning robot device from shaking violently on the water surface due to water waves during cleaning, which affects the cleaning effect of the photovoltaic panels of the photovoltaic power station. The outer surface of each movable rod 321 is rotatably connected to two connecting frames 327, and the top of each connecting frame 327 is fixedly connected to the bottom surface of the floating plate 11. The outer surface of each moving wheel 323 is fixedly installed with a supporting frame 328, and the outer surface of each supporting frame 328 is fixedly installed Equidistantly arranged support plates 329 are provided, and one side of each support plate 329 is fixedly connected to the outer surface of the moving wheel 323. By setting a connecting frame 327, the movable rod 321 can be limited and fixed, thereby preventing the movable rod 321 from falling and deviating during rotation, ensuring the stability of the movable rod 321 during rotation. The support frame 328 and the support plate 329 can facilitate the moving wheel 323 to move at the junction of land and rainwater, and can provide a certain amount of power when moving in water, ensuring the stability of the device moving on land and water.

[0050] See also Figure 4 and Fig.11 A protection box 2217 is fixedly installed on the upper surface of the fixing frame 12, and an image capture module 2227 is fixedly installed on the inner bottom wall of the protection box 2217. The image capture module 2227 is electrically connected to the camera 2216 through a wire.

[0051] See also Figure 4 and Fig.11 An image acquisition and digitization module 2228 is fixedly installed on the inner bottom wall of the protection box 2217, and the image acquisition and digitization module 2228 is electrically connected to the image capture module 2227 through a wire.

[0052] See also Figure 4 and Fig.11 A processing module 2218 is fixedly installed on the inner bottom wall of the protection box 2217, and the processing module 2218 is electrically connected to the image acquisition and digitization module 2228 through a wire.

[0053] See also Figure 4 and Fig.11 A control module 2226 is fixedly installed on the inner bottom wall of the protection box 2217, and the control module 2226 is electrically connected to the processing module 2218.

[0054] See also Figure 4 and Fig.11 A light source module 2229 is fixedly mounted on the inner bottom wall of the protection box 2217 , and the light source module 2229 is electrically connected to the control module 2226 .

[0055] The specific implementation of this embodiment is as follows: the Bluetooth remote control module 315 can be used to conveniently control the stepper motor 13, and the forward rotation of the stepper motor 13 can drive the connecting rod 301 to rotate, so that the connecting rod 301 can drive the first one-way bearing 303 to rotate, and the rotation of the first one-way bearing 303 can drive the first rotating gear 304 to rotate, so that the first rotating gear 304 can drive the transmission rod 302 to rotate, and the rotation of the transmission rod 302 can drive the first driving gear 313 to rotate, and the first driving gear 313 drives the second driving gear 314 to rotate, and the second The driving gear 314 drives the first bevel gear 316 to rotate, the first bevel gear 316 drives the second bevel gear 317 to rotate, the second bevel gear 317 can drive the rotating rod 318 to rotate, the rotating rod 318 drives the third bevel gear 319 to rotate, the third bevel gear 319 drives the fourth bevel gear 320 to rotate, the fourth bevel gear 320 drives the movable rod 321 to rotate, the rotation of the movable rod 321 can drive the moving wheel 323 and the driving blade 322 to rotate, so that the moving wheel 323 can drive the device to move on land, and the driving blade 322 provides power for the device in water. The stepper motor 13 When rotating in the forward direction, the third one-way bearing 308 and the fourth one-way bearing 310 will not drive the first rotating gear 304 and the second rotating gear 306, so that the connecting rod 301 will not drive the third rotating gear 309 and the fourth rotating gear 311 to rotate. When the device moves to the photovoltaic panel in the water, the stepper motor 13 is controlled to rotate in the reverse direction, so that the connecting rod 301 can drive the third one-way bearing 308 to rotate, and the rotation of the third one-way bearing 308 can drive the third rotating gear 309 to rotate, so that the third rotating gear 309 can drive the second gear belt 312 to rotate, thereby being able to drive The movable bidirectional threaded rod 326 is rotated, so that the bidirectional threaded rod 326 can drive the movable plate 325 to extend from the fixed frame 12, so that the movable plate 325 can increase the contact area between the floating plate 11 and the water surface, and when the stepper motor 13 rotates in the opposite direction, the first one-way bearing 303 and the second one-way bearing 305 will not drive the first rotating gear 304 and the second rotating gear 306, so that the amphibious photovoltaic power station cleaning robot device can be stabilized during cleaning, thereby preventing the amphibious photovoltaic power station cleaning robot device from shaking violently on the water surface due to waves during cleaning, affecting the cleaning effect of the photovoltaic panels of the photovoltaic power station.

[0056] A cleaning system comprises the following steps:

[0057] The surface of the photovoltaic panel can be photographed by the camera 2216, and the control module 2226 can control the light source module 2229 so that the light source on the camera 2216 can be turned on, so that the camera 2216 can capture a clear target. The camera 2216 transmits the captured target signal to the image capture module 2227, which converts the signal into an image signal, and transmits the image signal to the image acquisition and digitization module 2228. The signal converted by the image acquisition and digitization module 2228 is directly transmitted to the dedicated processing module 2218, and is converted into a digital signal based on pixel distribution, brightness, color and other information. The image system performs various operations on these signals to extract the characteristics of the target, and outputs the result to the control module 2226 based on the preset tolerance and other conditions.

[0058] A method for using an amphibious photovoltaic power station cleaning robot device comprises the following steps:

[0059] S1: The power provided by the bidirectional motor 2103 can drive the first mechanical arm 2102 to rotate inside the U-shaped frame 2101. The bidirectional motor 2103 is a specially designed motor, which has two independent output shafts, each of which can be independently driven and controlled as needed, so that one of the shafts can adjust the tilt angle of the first mechanical arm 2102, and the power provided by the other shaft of the bidirectional motor 2103 can drive the first limiting wheel 2104 to rotate, so that the first limiting wheel 2104 can drive the belt 2107 to rotate, and the rotation of the belt 2107 can drive the second limiting wheel 2106 and the rotating rod 2105 to rotate. The rotation of the rotating rod 2105 can drive the worm 2108 to rotate, so that the worm 2108 can drive the worm wheel 2109 to rotate, and the rotation of the worm wheel 2109 can drive the rotating conveying shaft 2110 to rotate, so that the arc frame 2112 can slide up and down inside the rotating conveying shaft 2110, so that the connecting plate 2113 can drive the second mechanical arm 2111 to extend outward, so that the extended length of the second mechanical arm 2111 can be adjusted, so as to facilitate the adjustment of the angle and length of the cleaning manipulator, so that the amphibious photovoltaic power station cleaning manipulator device can facilitate the cleaning of photovoltaic panels of photovoltaic power stations of different angles and sizes.

[0060] S2: First, the surface of the photovoltaic panel can be photographed by the camera 2216. The camera 2216 converts the captured target into an image signal and transmits it to the dedicated processing module 2218. According to the pixel distribution, brightness, color and other information, it is converted into a digital signal. The image system performs various operations on these signals to extract the characteristics of the target, outputs the results according to the preset tolerance and other conditions, and transmits signals to the camera 2216, the liquid pump 2207, the first solenoid valve 2209, the second solenoid valve 2210, the third solenoid valve 2212 and the fourth solenoid valve 2215 through the wire. When it is recognized that there is dust adhering to the surface of the photovoltaic panel, the liquid pump 2207 works, and the first solenoid valve 2209 and the third solenoid valve 2212 are opened. The suction force provided by the liquid pump 2207 can pump the water in the water tank 2205 outward, so that the water is guided by the liquid outlet hose 2211 and directly transported to the nozzle 2213, so that the nozzle 2213 sprays the water on the surface of the photovoltaic panel in the form of mist. The dust on the surface of the photovoltaic panel can be washed away, and the movement of the second mechanical arm 2111 can drive the scraper 2225 to scrape off the water stains on the surface. When it is identified that bird droppings or other difficult-to-remove pollutants are adhered to the surface of the photovoltaic panel, the liquid pump 2207 works, and the second solenoid valve 2210 and the third solenoid valve 2212 are opened, so that the liquid pump 2207 can pump out the cleaning liquid in the liquid storage tank 2206, and the cleaning liquid is sprayed on the surface of the photovoltaic panel through the nozzle 2213. After the cleaning liquid is sprayed, the second solenoid valve 2210 and the third solenoid valve 2212 are opened. The magnetic valve 2210 and the third solenoid valve 2212 are closed, and the first solenoid valve 2209 and the fourth solenoid valve 2215 are opened, so that water can directly enter the circular frame 2201 through the guidance of the liquid outlet hose 2211 and the water pipe 2214, so that the water can be sprayed out. The sprayed water can drive the fan blades 2203 to rotate, so that the rotating shaft 2202 can drive the cleaning plate 2204 to clean the surface of the photovoltaic panel. After cleaning, use clean water to rinse, so that the photovoltaic panel cleaning effect is stronger.

[0061] S3: The Bluetooth remote control module 315 can be used to conveniently control the stepper motor 13. The forward rotation of the stepper motor 13 can drive the connecting rod 301 to rotate, so that the connecting rod 301 can drive the first one-way bearing 303 to rotate. The rotation of the first one-way bearing 303 can drive the first rotating gear 304 to rotate, so that the first rotating gear 304 can drive the transmission rod 302 to rotate. The rotation of the transmission rod 302 can drive the first driving gear 313 to rotate. The first driving gear 313 drives the second driving gear 314 to rotate. The second driving gear 314 The first bevel gear 316 is driven to rotate, the first bevel gear 316 drives the second bevel gear 317 to rotate, the second bevel gear 317 can drive the rotating rod 318 to rotate, the rotating rod 318 drives the third bevel gear 319 to rotate, the third bevel gear 319 drives the fourth bevel gear 320 to rotate, the fourth bevel gear 320 drives the movable rod 321 to rotate, the rotation of the movable rod 321 can drive the moving wheel 323 and the driving blade 322 to rotate, so that the moving wheel 323 can drive the device to move on land, and the driving blade 322 provides power for the device in water. When the stepper motor 13 rotates forward , the third one-way bearing 308 and the fourth one-way bearing 310 will not drive the first rotating gear 304 and the second rotating gear 306, so that the connecting rod 301 will not drive the third rotating gear 309 and the fourth rotating gear 311 to rotate. When the device moves to the photovoltaic panel in the water, the stepping motor 13 is controlled to rotate in the opposite direction, so that the connecting rod 301 can drive the third one-way bearing 308 to rotate, and the rotation of the third one-way bearing 308 can drive the third rotating gear 309 to rotate, so that the third rotating gear 309 can drive the second gear belt 312 to rotate, thereby driving the double The threaded rod 326 is rotated so that the bidirectional threaded rod 326 can drive the movable plate 325 to extend from the fixed frame 12, so that the movable plate 325 can increase the contact area between the floating plate 11 and the water surface, and when the stepper motor 13 rotates in the opposite direction, the first one-way bearing 303 and the second one-way bearing 305 will not drive the first rotating gear 304 and the second rotating gear 306, so that the amphibious photovoltaic power station cleaning robot device can be stabilized during cleaning, thereby preventing the amphibious photovoltaic power station cleaning robot device from shaking violently on the water surface due to waves during cleaning, affecting the cleaning effect of the photovoltaic panels of the photovoltaic power station.

[0062] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An amphibious photovoltaic power station cleaning robot device, comprising a main body (1), characterized in that: The main body mechanism (1) comprises a floating plate (11), a fixing frame (12) is fixedly mounted on the upper surface of the floating plate (11), a stepping motor (13) is fixedly mounted on the inner top wall of the fixing frame (12), and a cleaning mechanism (2) is arranged above the fixing frame (12); The cleaning mechanism (2) comprises an adjustment unit (21), the adjustment unit (21) is located above the fixing frame (12), and the adjustment unit (21) is used to adjust the angle and length of the manipulator; The cleaning mechanism (2) further comprises a cleaning unit (22), wherein the cleaning unit (22) is located above the fixing frame (12), and the cleaning unit (22) is used in conjunction with the adjusting unit (21), and the cleaning unit (22) is used to clean different pollutants on the surface of the photovoltaic panel; A movable stabilizing mechanism (3) is arranged inside the fixing frame (12). The movable stabilizing mechanism (3) is used in conjunction with the cleaning mechanism (2). The movable stabilizing mechanism (3) is used to stabilize the device when cleaning in water.

2. The amphibious photovoltaic power station cleaning robot device according to claim 1 is characterized in that: The regulating unit (21) comprises a U-shaped frame (2101), the bottom surface of the U-shaped frame (2101) is fixedly connected to the upper surface of the fixed frame (12), the inner wall of the U-shaped frame (2101) is rotatably connected to a first mechanical arm (2102), a bidirectional motor (2103) is fixedly installed on the inner bottom wall of the U-shaped frame (2101), the outer surface of the power output end of the bidirectional motor (2103) is fixedly connected to the inner wall of the first mechanical arm (2102), and the bidirectional motor The output end of the power (2103) is rotatably connected to the inner wall of the U-shaped frame (2101); the outer surface of the power output end of the bidirectional motor (2103) is fixedly mounted with a first limiting wheel (2104); the inner wall of the first mechanical arm (2102) is rotatably connected with a rotating rod (2105); the outer surface of the rotating rod (2105) is fixedly mounted with a second limiting wheel (2106); the outer surfaces of the first limiting wheel (2104) and the second limiting wheel (2106) rotate together. A belt (2107) is connected, a worm (2108) is fixedly mounted on one end of the rotating rod (2105), a worm wheel (2109) is meshed on the outer surface of the worm (2108), the bottom end of the worm wheel (2109) is rotatably connected to the inner bottom wall of the first mechanical arm (2102), a rotating conveying shaft (2110) is fixedly mounted on the upper surface of the worm wheel (2109), and the inner wall of the first mechanical arm (2102) is slidably connected to the second mechanical arm (2111) The inner wall of the rotating conveying shaft (2110) is slidably connected to an arc frame (2112), the outer surface of the arc frame (2112) is fixedly installed with a connecting plate (2113), the front side of the connecting plate (2113) is fixedly connected to the back side of the second mechanical arm (2111), the front side of the second mechanical arm (2111) is fixedly installed with a T-shaped block (2114), and the outer surface of the T-shaped block (2114) is slidably connected to the inner wall of the first mechanical arm (2102).

3. The amphibious photovoltaic power station cleaning robot device according to claim 2 is characterized in that: The cleaning unit (22) comprises a circular frame (2201), the left side surface of the circular frame (2201) is fixedly connected to the right side surface of the second mechanical arm (2111), the inner side wall of the circular frame (2201) is rotatably connected to a rotating shaft (2202), the outer surface of the rotating shaft (2202) is fixedly mounted with fan blades (2203) arranged at equal distances, the right end of the rotating shaft (2202) is fixedly mounted with a cleaning plate (2204), the upper surface of the fixed frame (12) is fixedly mounted with a water storage tank (2205) and a liquid storage tank (2206), the upper surface of the fixed frame (12) is fixedly mounted with a liquid pump (2207), and the input end of the liquid pump (2207) is fixedly connected with a three-way pipe (220 8), one end of the three-way pipe (2208) away from the liquid pump (2207) passes through the water tank (2205) and the liquid tank (2206) respectively and extends to the inside of the water tank (2205) and the liquid tank (2206), the outer surface of the three-way pipe (2208) is fixedly connected with the first solenoid valve (2209) and the second solenoid valve (2210), the output end of the liquid pump (2207) is fixedly connected with a liquid outlet hose (2211), the end of the liquid outlet hose (2211) away from the liquid pump (2207) passes through the second mechanical arm (2111) and extends to the inside of the second mechanical arm (2111), the outer surface of the liquid outlet hose (2211) is connected to the inner side of the second mechanical arm (2111) The outer surface of the liquid outlet hose (2211) is fixedly connected to the wall, two nozzles (2213) are fixedly connected to the outer surface of the liquid outlet hose (2211), a third solenoid valve (2212) is fixedly connected to the outer surface of the liquid outlet hose (2211), a water delivery pipe (2214) is fixedly connected to the outer surface of the water delivery pipe (2214), a fourth solenoid valve (2215) is fixedly connected to the outer surface of the circular frame (2201), one end of the water delivery pipe (2214) away from the liquid outlet hose (2211) is fixedly connected to the outer surface of the circular frame (2201), the outer surface of the circular frame (2201) is fixedly connected to a return pipe (2223), and one end of the return pipe (2223) away from the circular frame (2201) passes through the water storage tank (22 05) and extends to the interior of the water tank (2205); a camera (2216) is fixedly installed on the right side of the second mechanical arm (2111); a rectangular plate (2224) is fixedly installed on the right side of the second mechanical arm (2111); a scraper (2225) is fixedly installed on the right side of the rectangular plate (2224); a limit bearing (2219) is fixedly installed on the outer surface of the rotating shaft (2202); the outer surface of the limit bearing (2219) is fixedly connected to the inner wall of the circular frame (2201); a limit frame (2220) is fixedly installed on the outer surface of the first mechanical arm (2102); the inner wall of the limit frame (2220) is in contact with the outer surface of the liquid outlet hose (2211);The upper surfaces of the water storage tank (2205) and the liquid storage tank (2206) are both fixedly connected with a liquid inlet pipe (2221), and the top end of each liquid inlet pipe (2221) is sleeved with a sealing cover (2222).

4. The amphibious photovoltaic power station cleaning robot device according to claim 2 is characterized in that: The mobile stabilizing mechanism (3) comprises a connecting rod (301), the right end of which is fixedly connected to the output end of the power of the stepping motor (13); the inner side wall of the fixing frame (12) is rotatably connected to two transmission rods (302); the outer surface of the connecting rod (301) is fixedly mounted with two first one-way bearings (303); the outer surface of each of the first one-way bearings (303) is fixedly mounted with a first rotating gear (304); the outer surface of each of the transmission rods (302) is fixedly mounted with a second one-way bearing (305); the outer surface of each of the second one-way bearings (305) is fixedly mounted with a second rotating gear (306); the connecting rod (301) and the two transmission rods (302) are fixedly mounted with a first one-way bearing (304); Two first gear belts (307) are commonly arranged on the outside, and the inner wall of each of the first gear belts (307) is meshed with the outer surface of the first rotating gear (304) and the second rotating gear (306). The inner wall of the fixing frame (12) is rotatably connected to two bidirectional threaded rods (326). Two third one-way bearings (308) are fixedly installed on the outer surface of the connecting rod (301), and the outer surface of each of the third one-way bearings (308) is fixedly installed with a third rotating gear (309). The outer surface of each of the bidirectional threaded rods (326) is fixedly installed with a fourth one-way bearing (310), and the outer surface of each of the fourth one-way bearings (310) is fixedly installed with a fourth rotating gear (311). The outer sides of the rod (301) and the two bidirectional threaded rods (326) are jointly provided with a second gear belt (312), the outer surface of each of the second gear belts (312) is meshed with the outer surfaces of the third rotating gear (309) and the fourth rotating gear (311), the outer surface of each of the bidirectional threaded rods (326) is threadedly connected with two movable blocks (324), the bottom surface of each group of movable blocks (324) is fixedly installed with a movable plate (325), the outer surface of each movable plate (325) is slidably connected to the inner wall of the fixed frame (12), the bottom surface of the movable plate (325) is slidably connected to the upper surface of the floating plate (11), and the outer surfaces of the two transmission rods (302) are fixedly installed with a first driving gear (313). ), the outer surface of each of the first driving gears (313) is meshed with a second driving gear (314), the left side of each of the second driving gears (314) is rotatably connected to the inner wall of the floating plate (11), the right side of each of the second driving gears (314) is fixedly mounted with a first bevel gear (316), the outer surface of each of the first bevel gears (316) is meshed with a second bevel gear (317), the bottom surface of each of the second bevel gears (317) is fixedly mounted with a rotating rod (318), the bottom end of each of the rotating rods (318) penetrates the floating plate (11) and is fixedly mounted with a third bevel gear (319), the outer surface of each of the third bevel gears (319) is meshed with a fourth bevel gear (320),A movable rod (321) is fixedly mounted on the inner wall of each fourth bevel gear (320), a driving blade (322) is fixedly mounted on the outer surface of each movable rod (321), a moving wheel (323) is fixedly mounted on both ends of each movable rod (321), a Bluetooth remote control module (315) is fixedly mounted on the inner wall of the protection box (2217), the Bluetooth remote control module (315) is electrically connected to the stepping motor (13) through a wire, the outer surface of each movable rod (321) is rotatably connected to two connecting frames (327), the top end of each connecting frame (327) is fixedly connected to the bottom surface of the floating plate (11), the outer surface of each moving wheel (323) is fixedly mounted with a supporting frame (328), the outer surface of each supporting frame (328) is fixedly mounted with supporting plates (329) arranged at equal distances, and one side surface of each supporting plate (329) is fixedly connected to the outer surface of the moving wheel (323).

5. The amphibious photovoltaic power station cleaning robot device according to claim 3 is characterized by: A protective box (2217) is fixedly mounted on the upper surface of the fixing frame (12), an image capture module (2227) is fixedly mounted on the inner bottom wall of the protective box (2217), and the image capture module (2227) is electrically connected to the camera (2216) via a wire.

6. The amphibious photovoltaic power station cleaning robot device according to claim 3 is characterized by: An image acquisition and digitization module (2228) is fixedly installed on the inner bottom wall of the protection box (2217), and the image acquisition and digitization module (2228) is electrically connected to the image capture module (2227) via a wire.

7. The amphibious photovoltaic power station cleaning robot device according to claim 3 is characterized by: A processing module (2218) is fixedly mounted on the inner bottom wall of the protection box (2217), and the processing module (2218) is electrically connected to the image acquisition and digitization module (2228) via a wire.

8. The amphibious photovoltaic power station cleaning robot device according to claim 3 is characterized by: A control module (2226) is fixedly mounted on the inner bottom wall of the protection box (2217), and the control module (2226) is electrically connected to the processing module (2218).

9. The amphibious photovoltaic power station cleaning robot device according to claim 3 is characterized by: A light source module (2229) is fixedly mounted on the inner bottom wall of the protection box (2217), and the light source module (2229) is electrically connected to the control module (2226).

10. A cleaning system according to any one of claims 1 to 9, comprising the following steps: The surface of the photovoltaic panel can be photographed by the camera (2216), and the control module (2226) can control the light source module (2229) so that the light source on the camera (2216) can be turned on, so that the camera (2216) can capture a clear target. The camera (2216) transmits the captured target signal to the image capture module (2227), thereby converting the signal into an image signal, and transmitting the image signal to the image acquisition and digitization module (2228). The signal converted by the image acquisition and digitization module (2228) is directly transmitted to the dedicated processing module (2218), and is converted into a digital signal based on pixel distribution, brightness, color and other information. The image system performs various operations on these signals to extract the characteristics of the target, and outputs the results to the control module (2226) based on the preset tolerance and other conditions.

Images