Amphibious photovoltaic power station cleaning manipulator device and cleaning system

Abstract

The application discloses a amphibious photovoltaic power station cleaning manipulator device and a cleaning system, and relates to the technical field of photovoltaic power station cleaning, which comprises a main body mechanism, the main body mechanism comprises a floating plate, a fixed frame is fixedly installed on the upper surface of the floating plate, a stepping motor is fixedly installed on the inner top wall of the fixed frame, and a cleaning mechanism is arranged above the fixed frame; the cleaning mechanism comprises an adjusting unit, the adjusting unit is arranged above the fixed frame, and the adjusting unit is used for adjusting the angle and length of the manipulator; the cleaning mechanism further comprises a cleaning unit, and the cleaning unit is arranged above the fixed frame; the amphibious photovoltaic power station cleaning manipulator device can adjust the angle of the amphibious photovoltaic power station cleaning manipulator and the length of the amphibious photovoltaic power station cleaning manipulator through the adjusting unit of the cleaning mechanism, so that 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] This invention relates to the field of photovoltaic power plant cleaning technology, specifically to an amphibious photovoltaic power plant cleaning robot and cleaning system. Background Technology

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

[0003] The efficient operation of photovoltaic power plants depends on the cleanliness of the photovoltaic panels. Pollutants such as dust and bird droppings can significantly reduce the power generation efficiency of photovoltaic panels. Existing amphibious photovoltaic power plant cleaning robot devices are not convenient for adjusting the angle and length of the cleaning robot when cleaning photovoltaic panels, making it inconvenient to clean photovoltaic panels of different angles and sizes. They also cannot adjust the cleaning method according to the pollutants on the surface of the photovoltaic panels. Furthermore, water waves can easily push the cleaning robot during cleaning, causing it to shake violently on the water surface, thus affecting the cleaning effect.

[0004] Combining the above issues, we find that existing amphibious photovoltaic power station cleaning robotic arms on the market cannot simultaneously avoid the problems mentioned above when in use. Even if they can be solved, they require the assistance of external tools, thus failing to achieve the desired effect. Therefore, we propose an amphibious photovoltaic power station cleaning robotic arm device and cleaning system. Summary of the Invention

[0005] The purpose of this invention is to provide an amphibious photovoltaic power station cleaning robot and cleaning system to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an amphibious photovoltaic power station cleaning robot and cleaning system, comprising a main body, the main body comprising a float, a fixed frame fixedly mounted on the upper surface of the float, a stepper motor fixedly mounted on the inner top wall of the fixed frame, and a cleaning mechanism disposed above the fixed frame;

[0007] The cleaning mechanism includes an adjustment unit located above the fixed frame, which is used to adjust the angle and length of the robotic arm.

[0008] The cleaning mechanism also includes a cleaning unit located above the fixed frame. The cleaning unit works in conjunction with the adjustment unit and is used to clean different contaminants on the surface of the photovoltaic panel.

[0009] The fixed frame is equipped with a movable stabilizing mechanism, which works in conjunction with the cleaning mechanism to stabilize the device during water cleaning.

[0010] Preferably, the adjustment unit includes a U-shaped frame, the bottom surface of which is fixedly connected to the upper surface of a fixed frame. A first robotic arm is rotatably connected to the inner wall of the U-shaped frame. A bidirectional motor is fixedly installed on the inner bottom wall of the U-shaped frame. The outer surface of the power output end of the bidirectional motor is fixedly connected to the inner wall of the first robotic arm. The power output end of the bidirectional motor is rotatably connected to the inner wall of the U-shaped frame. A first limiting wheel is fixedly installed on the outer surface of the power output end of the bidirectional motor. A rotating rod is rotatably connected to the inner wall of the first robotic arm. A second limiting wheel is fixedly installed on the outer surface of the rotating rod. The first limiting wheel and the second limiting wheel... A belt is rotatably connected to the outer surface of the rotating rod. A worm gear is fixedly installed at one end of the rotating rod. A worm wheel meshes with the outer surface of the worm gear. The bottom end of the worm wheel is rotatably connected to the inner bottom wall of the first robotic arm. A rotating conveyor shaft is fixedly installed on the upper surface of the worm wheel. A second robotic arm is slidably connected to the inner wall of the first robotic arm. An arc-shaped frame is slidably connected to the inner wall of the rotating conveyor shaft. A connecting plate is fixedly installed on the outer surface of the arc-shaped frame. The front of the connecting plate is fixedly connected to the back of the second robotic arm. A T-shaped block is fixedly installed on the front of the second robotic arm. The outer surface of the T-shaped block is slidably connected to the inner wall of the first robotic arm.

[0011] Preferably, the cleaning unit includes a circular frame. The left side of the circular frame is fixedly connected to the right side of the second robotic arm. A rotating shaft is rotatably connected to the inner wall of the circular frame. Equally spaced fan blades are fixedly installed on the outer surface of the rotating shaft. A cleaning plate is fixedly installed at the right end of the rotating shaft. A water tank and a liquid tank are fixedly installed on the upper surface of the fixed frame. A pump is fixedly installed on the upper surface of the fixed frame. A three-way pipe is fixedly connected to the input end of the pump. The end of the three-way pipe away from the pump passes through the water tank and the liquid tank and extends into their respective interiors. A first solenoid valve and a second solenoid valve are fixedly connected to the outer surface of the three-way pipe. A discharge hose is fixedly connected to the output end of the pump. The end of the discharge hose away from the pump passes through the second robotic arm and extends into its interior. The outer surface of the discharge hose is fixedly connected to the inner wall of the second robotic arm. Two spray nozzles are fixedly connected to the outer surface of the discharge hose. The first robotic arm has a third solenoid valve fixedly connected to the outer surface of the outlet hose, a water supply pipe fixedly connected to the outer surface of the outlet hose, a fourth solenoid valve fixedly connected to the outer surface of the water supply pipe, a water supply pipe whose end is away from the outlet hose fixedly connected to the outer surface of the circular frame, a return pipe fixedly connected to the outer surface of the circular frame, and a return pipe whose end is away from the circular frame passes through the water storage tank and extends into the interior of the water storage tank. A camera is fixedly installed on the right side of the second robotic arm, a rectangular plate is fixedly installed on the right side of the second robotic 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 robotic arm, the inner wall of the limit frame is in contact with the outer surface of the outlet hose, and inlet pipes are fixedly connected to the upper surfaces of both the water storage tank and the liquid storage tank. A sealing cap is fitted at the top of each inlet pipe.

[0012] Preferably, the movable stabilizing mechanism includes a connecting rod, the right end of which is fixedly connected to the output end of the stepper motor. Two transmission rods are rotatably connected to the inner wall of the fixing frame. Two first one-way bearings are fixedly mounted on the outer surface of the connecting rod, and a first rotating gear is fixedly mounted on the outer surface of each first one-way bearing. A second one-way bearing is fixedly mounted on the outer surface of each transmission rod, and a second rotating gear is fixedly mounted on the outer surface of each second one-way bearing. Two first gear belts are shared on the outer sides of the connecting rod and the two transmission rods. The inner wall of each first gear belt meshes with the outer surfaces of the first and second rotating gears. The fixing frame... The inner wall of the connecting rod is rotatably connected to two bidirectional threaded rods. Two third one-way bearings are fixedly installed on the outer surface of each connecting rod. A third rotating gear is fixedly installed on the outer surface of each third one-way bearing. A fourth one-way bearing is fixedly installed on the outer surface of each fourth one-way bearing. A fourth rotating gear is fixedly installed on the outer surface of each fourth one-way bearing. A second gear belt is provided on the outer sides of the connecting rod and the two bidirectional threaded rods. The outer surface of each second gear belt meshes with the outer surfaces of the third and fourth rotating gears. Two movable blocks are threadedly connected to the outer surface of each bidirectional threaded rod. A movable plate is fixedly installed on the bottom surface of each set of movable blocks. The outer surfaces of the movable plates are slidably connected to the inner walls of the fixed frames, and the bottom surfaces of the movable plates are slidably connected to the upper surfaces of the floats. A first drive gear is fixedly mounted on the outer surfaces of both transmission rods. A second drive gear meshes with the outer surface of each first drive gear. The left side of each second drive gear is rotatably connected to the inner sidewall of the float. A first bevel gear is fixedly mounted on the right side of each second drive gear. A second bevel gear meshes with the outer surface of each first bevel gear. A rotating rod is fixedly mounted on the bottom surface of each second bevel gear. The bottom end of each rotating rod penetrates the float and is fixedly mounted with a third bevel gear. The outer surface of each third bevel gear... The device is equipped with a fourth bevel gear. A movable rod is fixedly installed on the inner wall of each fourth bevel gear. A drive blade is fixedly installed on the outer surface of each movable rod. Moving wheels are fixedly installed at both ends of each movable rod. A Bluetooth remote control module is fixedly installed on the inner wall of the protective box. The Bluetooth remote control module is electrically connected to the stepper motor via a wire. Two connecting frames are rotatably connected to the outer surface of each movable rod. The top of each connecting frame is fixedly connected to the bottom surface of the float plate. A support frame is fixedly installed on the outer surface of each moving wheel. Support plates arranged at equal intervals are fixedly installed on the outer surface of each support frame. One side of each support plate is fixedly connected to the outer surface of the moving wheel.

[0013] Preferably, a protective box is fixedly installed on the upper surface of the mounting bracket, and an image capture module is fixedly installed on the inner bottom wall of the protective box. 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 protective box, and the image acquisition and digitization module is electrically connected to the image capture module through wires.

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

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

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

[0018] A cleaning system comprising the following steps:

[0019] The camera can capture images of the photovoltaic panel surface, and the control module can control the light source module to turn on the camera's light source, enabling the camera to capture clear images of the target. The camera transmits the captured target signal to the image capture module, which converts the signal into an image signal. This image signal is then transmitted to the image acquisition and digitization module. The signal converted by the image acquisition and digitization module is directly sent to a dedicated processing module, which converts it into a digital signal based on pixel distribution, brightness, and color information. The image system performs various calculations on these signals to extract the target's features and outputs the results to the control module based on preset tolerances and other conditions.

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

[0021] S1: The power provided by the bidirectional motor drives 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 driven and controlled independently as needed, allowing one shaft to adjust the tilt angle of the first robotic arm. The power provided by the other shaft of the bidirectional motor drives the first limit wheel to rotate, which in turn drives the belt to rotate. The belt rotation drives the second limit wheel and the rotating rod to rotate, which in turn drives the worm gear to rotate. The worm gear rotation drives the rotating conveyor shaft to rotate, allowing the arc-shaped frame to slide up and down inside the rotating conveyor shaft. This allows the connecting plate to extend the second robotic arm outward, thus allowing adjustment of the extension length of the second robotic arm. This facilitates adjustment of the angle and length of the cleaning robot, enabling the amphibious photovoltaic power station cleaning robot device to easily clean photovoltaic panels of different angles and sizes.

[0022] S2: First, the camera captures images of the photovoltaic panel surface. The camera converts the captured target into image signals, which are then transmitted to a dedicated processing module. Based on pixel distribution, brightness, color, and other information, the signals are converted into digital signals. The image system performs various calculations on these signals to extract the target's features and outputs results based on preset tolerances and other conditions. Signals are also transmitted via wires to the camera, the liquid pump, and the first, second, third, and fourth solenoid valves. When dust is detected adhering to the photovoltaic panel surface, the liquid pump activates, and the first and third solenoid valves open. The pumping force draws water from the storage tank, which is then guided through the outlet hose and directly delivered to the nozzles, causing the nozzles to spray water in a mist onto the photovoltaic panel surface. This allows the dust on the surface of the photovoltaic panel to be washed away. The movement of the second robotic arm drives the scraper to remove water stains from the surface. When bird droppings or other difficult-to-remove contaminants are detected on the surface of the photovoltaic panel, the liquid pump works, and the second and third solenoid valves open, allowing the liquid pump to draw out the cleaning liquid from the storage tank. The cleaning liquid is sprayed onto the surface of the photovoltaic panel through the nozzle. After the cleaning liquid is sprayed, the second and third solenoid valves close, and the first and fourth solenoid valves open, allowing water to enter the circular frame directly through the liquid outlet hose and water supply pipe, so that the water can be sprayed out. The sprayed water can drive the fan blades to rotate, so that the rotating shaft can drive the cleaning plate to clean the surface of the photovoltaic panel. After cleaning, it is rinsed with clean water to make the photovoltaic panel cleaning effect stronger.

[0023] S3: The stepper motor can be easily controlled via Bluetooth remote control module. The forward rotation of the stepper motor drives the connecting rod, which in turn rotates the first one-way bearing. The rotation of the first one-way bearing drives the first rotating gear, which in turn drives the transmission rod. The transmission rod then drives the first drive gear, which in turn drives the second drive gear. The second drive gear drives the first bevel gear, which in turn drives the second bevel gear. The second bevel gear drives the rotating rod, which in turn drives the third bevel gear, which in turn drives the fourth bevel gear. The fourth bevel gear drives the movable rod, which in turn drives the moving wheel and drive blade. The moving wheel moves the device on land, while the drive blade provides power in water. When the stepper motor rotates forward, the third one-way bearing and the first drive rod drive the connecting rod. The four one-way bearings do not drive the first and second rotating gears, preventing the connecting rod from driving the third and fourth rotating gears to rotate. When the device moves to the photovoltaic panel in the water, the stepper motor is controlled to rotate in the reverse direction, allowing the connecting rod to drive the third one-way bearing to rotate. The rotation of the third one-way bearing drives the third rotating gear to rotate, which in turn drives the second gear belt to rotate. This, in turn, drives the bidirectional threaded rod to rotate, allowing the bidirectional threaded rod to extend the movable plate from the fixed frame. This increases the contact area between the floating plate and the water surface. When the stepper motor rotates in the reverse direction, the first and second one-way bearings do not drive the first and second rotating gears, thus stabilizing the amphibious photovoltaic power station cleaning robot during cleaning. This prevents the robot from violently shaking on the water surface during cleaning, which would affect the cleaning effect of the photovoltaic panels.

[0024] Compared with the prior art, the beneficial effects of the present invention are:

[0025] 1. By setting an adjustment unit for the cleaning mechanism, this invention can adjust the tilt angle and length of the amphibious photovoltaic power station cleaning robot, enabling the amphibious photovoltaic power station cleaning robot to easily clean photovoltaic panels of different angles and sizes, thereby reducing the labor intensity of workers.

[0026] 2. This invention, by setting up a cleaning unit, can identify contaminants on the surface of photovoltaic panels in a photovoltaic power station. It can work with the adjustment unit to clean the photovoltaic panels, enabling different methods to be used to clean different contaminants. This reduces the labor intensity of workers while improving the cleaning effect of photovoltaic panels in the photovoltaic power station.

[0027] 3. By setting up a moving and stabilizing mechanism, the present invention can move the amphibious photovoltaic power station cleaning robot on land and in water, and can also stabilize the amphibious photovoltaic power station cleaning robot during water cleaning, thereby preventing the amphibious photovoltaic power station cleaning robot from shaking violently on the water surface during cleaning and affecting the cleaning effect of the photovoltaic power station photovoltaic panels. Attached Figure Description

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

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

[0030] Figure 3 This is a schematic diagram of the structure of the float plate of the present invention, viewed from the right side in cross-section;

[0031] Figure 4 This is a cross-sectional structural schematic diagram of the protective box of the present invention;

[0032] Figure 5 This is a schematic diagram of the pump structure of the present invention;

[0033] Figure 6 This is a cross-sectional structural schematic diagram of the first robotic arm of the present invention;

[0034] Figure 7 For the present invention Figure 6 A magnified view of a section at point A in the middle;

[0035] Figure 8 This is a schematic diagram of the rotating conveyor shaft of the present invention;

[0036] Figure 9 This is a schematic diagram of the cleaning frame of the present invention viewed from the right.

[0037] Figure 10 This is a schematic diagram of the circular frame of the present invention, viewed from the right side in cross-section.

[0038] Figure 11 This is a flowchart of the cleaning control process of the present invention.

[0039] In the diagram: 1. Main body; 11. Floating plate; 12. Fixing frame; 13. Stepper motor; 2. Cleaning mechanism; 21. Adjustment unit; 2101. U-shaped frame; 2102. First robotic arm; 2103. Bidirectional motor; 2104. First limit wheel; 2105. Rotating rod; 2106. Second limit wheel; 2107. Belt; 2108. Worm gear; 2109. Worm wheel; 2110. Rotating conveyor shaft; 2111. Second robotic arm; 2112. Arc frame; 2113. Connecting plate; 2114. T-block; 22. Cleaning unit; 2 201. Circular frame; 2202. Rotating shaft; 2203. Fan blade; 2204. Cleaning plate; 2205. Water tank; 2206. Liquid storage tank; 2207. Liquid pump; 2208. T-connector; 2209. First solenoid valve; 2210. Second solenoid valve; 2211. Liquid outlet hose; 2212. Third solenoid valve; 2213. Nozzle; 2214. Water supply pipe; 2215. Fourth solenoid valve; 2216. Camera; 2217. Protective box; 2218. Processing module; 2219. Limit bearing; 2220. Limiting frame; 22 21. Inlet pipe; 2222. Sealing cap; 2223. Return pipe; 2224. Rectangular plate; 2225. Scraper; 2226. Control module; 2227. Image capture module; 2228. Image acquisition and digitization module; 2229. Light source module; 3. Moving and stabilizing 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 310. Wheel; 311. Fourth one-way bearing; 312. Fourth rotating gear; 313. Second gear belt; 314. First drive gear; 315. Second drive gear; 316. Bluetooth remote control module; 317. First bevel gear; 318. Rotating rod; 319. Third bevel gear; 320. Second bevel gear; 321. Movable rod; 322. Drive blade; 323. Moving wheel; 324. Movable block; 325. Movable plate; 326. Bidirectional threaded rod; 327. Connecting frame; 328. Support frame; 329. Support plate. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1: Please refer to Figures 1-10The present invention provides a technical solution: an amphibious photovoltaic power station cleaning robot and cleaning system, including a main body 1, the main body 1 including a float 11, a fixed frame 12 fixedly installed on the upper surface of the float 11, a stepper motor 13 fixedly installed on the inner top wall of the fixed frame 12, and a cleaning mechanism 2 arranged above the fixed frame 12.

[0042] The cleaning mechanism 2 includes an adjustment unit 21, which is located above the fixed frame 12. The adjustment unit 21 is used to adjust the angle and length of the robot arm.

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

[0044] The specific implementation of this embodiment is as follows: The power provided by the bidirectional motor 2103 enables the first robotic arm 2102 to rotate inside the U-shaped frame 2101. The bidirectional motor 2103 is a specially designed motor with two independent output shafts, each of which can be independently driven and controlled as needed. This allows one shaft to adjust the tilt angle of the first robotic arm 2102, while the power provided by the other shaft of the bidirectional motor 2103 enables the first limit wheel 2104 to rotate. The first limit wheel 2104 then drives the belt 2107 to rotate, and the rotation of the belt 2107 drives the second limit wheel 2106 and the rotating rod 21. Rotating rod 2105 drives worm gear 2108 to rotate, which in turn drives worm wheel 2109 to rotate. The rotation of worm wheel 2109 drives rotating conveyor shaft 2110 to rotate, allowing arc frame 2112 to slide up and down inside rotating conveyor shaft 2110. This allows connecting plate 2113 to extend the second robotic arm 2111 outward, thus adjusting the extension length of the second robotic arm 2111. This facilitates adjustment of the angle and length of the cleaning robot, enabling the amphibious photovoltaic power station cleaning robot to easily clean photovoltaic panels of different angles and sizes.

[0045] Example 2: Please refer to Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 8 , Figure 9 , Figure 10 and Figure 11 The present invention provides a technical solution: an amphibious photovoltaic power station cleaning robot and cleaning system. The present invention makes corresponding improvements to the technical problems mentioned in the background art. The cleaning mechanism 2 also includes a cleaning unit 22, which is located above the fixed frame 12. The cleaning unit 22 is used in conjunction with the adjustment 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 robotic arm 2111. A rotating shaft 2202 is rotatably connected to the inner side wall of the circular frame 2201. Fan blades 2203 arranged at equal intervals are fixedly installed on the outer surface of the rotating shaft 2202. A cleaning plate 2204 is fixedly installed at the right end of the rotating shaft 2202. A water tank 2205 and a liquid tank 2206 are fixedly installed on the upper surface of the fixed frame 12. A liquid pump 2207 is fixedly installed on the upper surface of the fixed frame 12. A three-way pipe 2208 is fixedly connected to the input end of the liquid pump 2207. The 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. 06 extends into 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 to the first solenoid valve 2209 and the second solenoid valve 2210. The output end of the liquid pump 2207 is fixedly connected to the liquid outlet hose 2211. The end of the liquid outlet hose 2211 away from the liquid pump 2207 passes through the second robotic arm 2111 and extends into the interior of the second robotic arm 2111. The outer surface of the liquid outlet hose 2211 is fixedly connected to the inner wall of the second robotic arm 2111. The outer surface of the liquid outlet hose 2211 is fixedly connected to two nozzles 2213. The outer surface of the liquid outlet hose 2211 is fixedly connected to the third solenoid valve 2212. The outer surface of the liquid outlet hose 2211 is fixedly connected to the water supply pipe 2214. The outer surface of the 4 is fixedly connected to the fourth solenoid valve 2215. The end of the water supply 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 the return pipe 2223. The end of the return pipe 2223 away from the circular frame 2201 passes through the water storage tank 2205 and extends into the interior of the water storage tank 2205. The right side of the second robotic arm 2111 is fixedly mounted with a camera 2216. The right side of the second robotic arm 2111 is fixedly mounted with a rectangular plate 2224. The right side of the rectangular plate 2224 is fixedly mounted with a scraper 2225. By setting up the cleaning unit 22, the cleaning unit 22 can 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 using different methods to remove various contaminants. A limit bearing 2219 is fixedly installed on the outer surface of the rotating shaft 2202, and its outer surface 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 robotic arm 2102, and its inner wall contacts the outer surface of the liquid outlet hose 2211. Both the water tank 2205 and the liquid tank 2206 have inlet pipes 2221 fixedly connected to their upper surfaces, and each inlet pipe 2221 has a sealing cap 2222 fitted at its top. By using the limit bearings 2219, the rotating shaft 2202 can be supported and limited, allowing it to rotate smoothly inside the circular frame 2201.The rotating shaft 2202 ensures stable rotation. The limiting bracket 2220 limits the outlet hose 2211, preventing it from becoming disorganized and affecting liquid delivery. The inlet pipe 2221 allows for easy addition of water and cleaning fluid. The sealing cap 2222 seals the inlet pipe 2221, preventing spillage of external water or cleaning fluid and preventing the entry of external impurities. A protective box 2217 is fixedly installed on the upper surface of the mounting bracket 12. A processing module 2218 is fixedly installed on the inner bottom wall of the protective box 2217. The processing module 2218 is electrically connected to the camera 2216 via wires. The protective box 2217 protects the processing module 2218 from water damage. The processing module 2218 can control the camera... The photovoltaic panels photographed by camera 2216 are processed. A control module 2226 is fixedly installed on the inner bottom wall of the protective box 2217. The control module 2226 is electrically connected to the processing module 2218 via wires. The control module 2226 is also 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 via wires. By setting up the control module 2226, it can receive the signals processed by the processing module 2218 and control 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 to ensure their operation.

[0047] The specific implementation of this embodiment is as follows: When dust is detected adhering to the surface of the photovoltaic panel, the liquid pump 2207 operates, and the first solenoid valve 2209 and the third solenoid valve 2212 open. The pumping force provided by the liquid pump 2207 draws water out of the water storage tank 2205, allowing the water to be directly delivered to the nozzle 2213 through the guide of the outlet hose 2211. The nozzle 2213 sprays water in a mist onto the surface of the photovoltaic panel, thereby washing away the dust. The movement of the second robotic arm 2111 drives the scraper 2225 to scrape off the water stains on the surface. When bird droppings or other difficult-to-remove contaminants are detected adhering to the surface of the photovoltaic panel, the liquid pump 2207 operates, and the second solenoid valve 2210 and the third solenoid valve 2212 open. The third solenoid valve 2212 opens, allowing the pump 2207 to draw the cleaning fluid from the storage tank 2206. The cleaning fluid is then sprayed onto the surface of the photovoltaic panel through the nozzle 2213. After the cleaning fluid is sprayed, the second solenoid valve 2210 and the third solenoid valve 2212 close, while the first solenoid valve 2209 and the fourth solenoid valve 2215 open. This allows water to flow directly into the circular frame 2201 through the guide hose 2211 and the water pipe 2214, enabling the water to be sprayed out. The sprayed water drives the fan blades 2203 to rotate, which in turn drives the cleaning plate 2204 to clean the surface of the photovoltaic panel. After cleaning, the panel is rinsed with clean water, resulting in a more effective cleaning of the photovoltaic panel.

[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 cleaning system. The present invention makes corresponding improvements to the technical problems mentioned in the background art. The fixed frame 12 is provided with a movable stabilizing mechanism 3. 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.

[0049] As a further definition of the movable stabilizing mechanism 3 of the present invention, the movable stabilizing mechanism 3 includes a connecting rod 301, the right end of which is fixedly connected to the output end of the stepper motor 13. Two transmission rods 302 are rotatably connected to the inner wall of the fixing frame 12. Two first one-way bearings 303 are fixedly mounted on the outer surface of the connecting rod 301. A first rotating gear 304 is fixedly mounted on the outer surface of each first one-way bearing 303. A second one-way bearing 305 is fixedly mounted on the outer surface of each transmission rod 302. A second rotating gear 306 is fixedly mounted on the outer surface of each second one-way bearing 305. Two first gear belts 307 are jointly provided on the outer sides of the connecting rod 301 and the two transmission rods 302. The inner wall of each first gear belt 307 is... The outer surfaces of the first rotating gear 304 and the second rotating gear 306 mesh with each other. Two bidirectional threaded rods 326 are rotatably connected to the inner wall of the fixing frame 12. Two third one-way bearings 308 are fixedly mounted on the outer surface of the connecting rod 301. A third rotating gear 309 is fixedly mounted on the outer surface of each third one-way bearing 308. A fourth one-way bearing 310 is fixedly mounted on the outer surface of each bidirectional threaded rod 326. A fourth rotating gear 311 is fixedly mounted on the outer surface of each fourth one-way bearing 310. A second gear belt 312 is provided on the outer sides of the connecting rod 301 and the two bidirectional threaded rods 326. The outer surface of each second gear belt 312 meshes with the outer surfaces of the third rotating gear 309 and the fourth rotating gear 311. Each bidirectional threaded rod 326 has two movable blocks 324 threadedly connected to its outer surface. A movable plate 325 is fixedly mounted on the bottom surface of each movable block 324. The outer surface of each movable plate 325 is slidably connected to the inner wall of the fixed frame 12, and the bottom surface of the movable plate 325 is slidably connected to the upper surface of the float 11. A first drive gear 313 is fixedly mounted on the outer surface of each of the two transmission rods 302. A second drive gear 314 meshes with the outer surface of each first drive gear 313. The left side of each second drive gear 314 is rotatably connected to the inner wall of the float 11. A first bevel gear 316 is fixedly mounted on the right side of each second drive gear 314. A second bevel gear 317 meshes with the outer surface of each first bevel gear 316. A rotating rod 318 is fixedly installed on the bottom surface of each bevel gear 317. The bottom end of each rotating rod 318 passes through the float plate 11 and is fixedly installed with a third bevel gear 319. A fourth bevel gear 320 meshes with the outer surface of each third bevel gear 319. A movable rod 321 is fixedly installed on the inner wall of each fourth bevel gear 320. A drive blade 322 is fixedly installed on the outer surface of each movable rod 321. Moving wheels 323 are fixedly installed at both ends of each movable rod 321. A Bluetooth remote control module 315 is fixedly installed on the inner wall of the protective box 2217. The Bluetooth remote control module 315 is electrically connected to the stepper motor 13 via a wire. By setting up the moving stabilizing mechanism 3, the amphibious photovoltaic power station cleaning robot can move on land and in water.It can also stabilize the amphibious photovoltaic power station cleaning robot during water cleaning, thereby preventing the robot from shaking violently on the water surface during cleaning and affecting the cleaning effect of the photovoltaic panels. Each movable rod 321 has two connecting frames 327 rotatably connected to its outer surface. The top of each connecting frame 327 is fixedly connected to the bottom surface of the float 11. Each movable wheel 323 has a support frame 328 fixedly installed on its outer surface, and each support frame 328 has a fixed support frame 328 on its outer surface. The device is equipped with equally spaced support plates 329, one side of which is fixedly connected to the outer surface of the movable wheel 323. A connecting frame 327 is provided to limit and fix the movable rod 321, preventing it from falling or shifting during rotation and ensuring its stability. The support frame 328 and support plates 329 facilitate the movement of the movable wheel 323 at the junction of land and water, and provide some power for movement in water, ensuring the smoothness of the device's movement on land and water.

[0050] Please see Figure 4 and Figure 11 A protective box 2217 is fixedly installed on the upper surface of the mounting bracket 12. An image capture module 2227 is fixedly installed on the inner bottom wall of the protective box 2217. The image capture module 2227 is electrically connected to the camera 2216 through a wire.

[0051] Please see Figure 4 and Figure 11 The image acquisition and digitization module 2228 is fixedly installed on the inner bottom wall of the protective box 2217. The image acquisition and digitization module 2228 is electrically connected to the image capture module 2227 through wires.

[0052] Please see Figure 4 and Figure 11 The processing module 2218 is fixedly installed on the inner bottom wall of the protective box 2217. The processing module 2218 is electrically connected to the image acquisition and digitization module 2228 through wires.

[0053] Please see Figure 4 and Figure 11 The 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] Please see Figure 4 and Figure 11 A light source module 2229 is fixedly installed on the inner bottom wall of the protective 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 allows for convenient control of the stepper motor 13. The forward rotation of the stepper motor 13 drives the connecting rod 301 to rotate, which in turn drives the first one-way bearing 303 to rotate. The rotation of the first one-way bearing 303 drives the first rotating gear 304 to rotate, which in turn drives the transmission rod 302 to rotate. The rotation of the transmission rod 302 drives the first drive gear 313 to rotate, which in turn drives the second drive gear 314 to rotate. The drive gear 314 drives the first bevel gear 316 to rotate, which in turn drives the second bevel gear 317 to rotate. The second bevel gear 317 drives the rotating rod 318 to rotate, which in turn drives the third bevel gear 319 to rotate. The third bevel gear 319 drives the fourth bevel gear 320 to rotate, which in turn drives the movable rod 321 to rotate. The rotation of the movable rod 321 drives the moving wheel 323 and the drive blade 322 to rotate, enabling the moving wheel 323 to move the device on land and the drive blade 322 to provide power to the device in water. Stepper motor 13... During forward rotation, 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, thus preventing the connecting rod 301 from driving 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, allowing the connecting rod 301 to drive the third one-way bearing 308 to rotate. The rotation of the third one-way bearing 308 can drive the third rotating gear 309 to rotate, which in turn drives the second gear belt 312 to rotate, thereby enabling the second gear belt 312 to rotate. The bidirectional threaded rod 326 rotates, causing the movable plate 325 to extend from the fixed frame 12. This increases the contact area between the float 11 and the water surface. When the stepper motor 13 rotates in the reverse 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. This stabilizes the amphibious photovoltaic power station cleaning robot during cleaning, preventing the robot from shaking violently on the water surface and affecting the cleaning effect of the photovoltaic panels.

[0056] A cleaning system comprising the following steps:

[0057] The camera 2216 can capture images of the photovoltaic panel surface, and the control module 2226 can control the light source module 2229 to turn on the light source on the camera 2216, enabling the camera 2216 to 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, which converts it into a digital signal based on pixel distribution, brightness, color, and other information. The image system performs various calculations on these signals to extract the target features and outputs the results to the control module 2226 according to preset tolerances and other conditions.

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

[0059] S1: The power provided by the bidirectional motor 2103 enables the first robotic arm 2102 to rotate inside the U-shaped frame 2101. The bidirectional motor 2103 is a specially designed motor with two independent output shafts, each of which can be independently driven and controlled as needed. One shaft can adjust the tilt angle of the first robotic arm 2102, while the power provided by the other shaft of the bidirectional motor 2103 drives the first limit wheel 2104 to rotate. The first limit wheel 2104 then drives the belt 2107 to rotate, and the rotation of the belt 2107 drives the second limit wheel 2106 and the rotating rod 2105 to rotate. The rotation of the rotating rod 2105 drives the worm gear 2108 to rotate, which in turn drives the worm wheel 2109 to rotate. The rotation of the worm wheel 2109 drives the rotating conveyor shaft 2110 to rotate, allowing the arc frame 2112 to slide up and down inside the rotating conveyor shaft 2110. This allows the connecting plate 2113 to extend the second robotic arm 2111 outward, thereby adjusting the extension length of the second robotic arm 2111. This facilitates the adjustment of the angle and length of the cleaning robot, enabling the amphibious photovoltaic power station cleaning robot device to easily clean photovoltaic panels of different angles and sizes.

[0060] S2: First, the camera 2216 captures images of the photovoltaic panel surface. The camera 2216 converts the captured target into an image signal, which is then transmitted to a dedicated processing module 2218. Based on pixel distribution, brightness, and color information, this signal is converted into a digital signal. The image system performs various calculations on these signals to extract the target's features. Based on preset tolerances and other conditions, the system outputs the results 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 via wires. When dust is detected adhering to the photovoltaic panel surface, the liquid pump 2207 activates, and the first and third solenoid valves 2209 and 2212 open. The pumping force from the liquid pump 2207 draws water from the storage tank 2205, which is then guided through the outlet hose 2211 and directly delivered to the nozzle 2213. The nozzle 2213 then sprays the water in a mist onto the photovoltaic panel surface. The second robotic arm 2111 moves to wash away dust from the surface of the photovoltaic panel, and the scraper 2225 removes water stains from the surface. When bird droppings or other difficult-to-remove contaminants are detected on the surface of the photovoltaic panel, the pump 2207 operates, and the second solenoid valve 2210 and the third solenoid valve 2212 open, allowing the pump 2207 to draw cleaning fluid from the storage tank 2206. The cleaning fluid is then sprayed onto the surface of the photovoltaic panel through the nozzle 2213. After the cleaning fluid spraying is completed, the second robotic arm 2111 moves to wash away dust from the surface of the photovoltaic panel, and the scraper 2225 removes water stains from the surface. The solenoid valve 2210 and the third solenoid valve 2212 are closed, while the first solenoid valve 2209 and the fourth solenoid valve 2215 are opened. This allows water to enter the circular frame 2201 directly through the guide hose 2211 and the water supply pipe 2214, enabling the water to be sprayed out. The sprayed water drives the fan blade 2203 to rotate, which in turn drives the cleaning plate 2204 to clean the surface of the photovoltaic panel. After cleaning, the panel is rinsed with clean water, resulting in a more effective cleaning of the photovoltaic panel.

[0061] S3: The Bluetooth remote control module 315 allows for convenient control of the stepper motor 13. The forward rotation of the stepper motor 13 drives the connecting rod 301 to rotate, which in turn drives the first one-way bearing 303 to rotate. The rotation of the first one-way bearing 303 drives the first rotating gear 304 to rotate, which in turn drives the transmission rod 302 to rotate. The rotation of the transmission rod 302 drives the first drive gear 313 to rotate, which in turn drives the second drive gear 314 to rotate. The first bevel gear 316 rotates, which in turn drives the second bevel gear 317 to rotate. The second bevel gear 317 drives the rotating rod 318 to rotate, which in turn drives the third bevel gear 319 to rotate. The third bevel gear 319 drives the fourth bevel gear 320 to rotate, which in turn drives the movable rod 321 to rotate. The rotation of the movable rod 321 drives the moving wheel 323 and the drive blade 322 to rotate, enabling the moving wheel 323 to move the device on land and the drive blade 322 to provide power to the device in water. When the stepper motor 13 rotates in the forward direction... Because the third one-way bearing 308 and the fourth one-way bearing 310 do not drive the first rotating gear 304 and the second rotating gear 306, 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 opposite direction, so that the connecting rod 301 can drive the third one-way bearing 308 to rotate. 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... Rotating the threaded rod 326 allows the bidirectional threaded rod 326 to drive the movable plate 325 to extend from the fixed frame 12, thereby increasing the contact area between the float 11 and the water surface. When the stepper motor 13 rotates in the reverse 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. This stabilizes the amphibious photovoltaic power station cleaning robot during cleaning, preventing the amphibious photovoltaic power station cleaning robot from violently shaking on the water surface during cleaning and affecting the cleaning effect of the photovoltaic panels.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

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

Claims

1. An amphibious photovoltaic plant cleaning robot device comprising a main body mechanism (1), characterized in that: The main body mechanism (1) includes a floating plate (11), the upper surface of the floating plate (11) is fixedly installed with a fixing frame (12), the inner top wall of the fixing frame (12) is fixedly installed with a stepping motor (13), the upper side of the fixing frame (12) is provided with a cleaning mechanism (2), and the upper surface of the fixing frame (12) is fixedly installed with a protection box (2217); The cleaning mechanism (2) comprises an adjusting unit (21), the adjusting unit (21) is located above the fixing frame (12), and the adjusting unit (21) is used for adjusting the angle and length of a mechanical hand; The cleaning mechanism (2) further comprises a cleaning unit (22), the cleaning unit (22) is located above the fixing frame (12), the cleaning unit (22) is used in cooperation with the adjusting unit (21), and the cleaning unit (22) is used for cleaning different pollutants on the surface of a photovoltaic panel; The fixing frame (12) is internally provided with a moving stabilizing mechanism (3), the moving stabilizing mechanism (3) is used in cooperation with the cleaning mechanism (2), and the moving stabilizing mechanism (3) is used for stabilizing the device when cleaning in water; The mobile stabilizing mechanism (3) comprises a connecting rod (301), the right end of the connecting rod (301) is fixedly connected with the output end of a stepping motor (13), the inner side wall of the fixed frame (12) is rotationally connected with two transmission rods (302), the outer surface of the connecting rod (301) is fixedly installed with two first one-way bearings (303), the outer surface of each first one-way bearing (303) is fixedly installed with a first rotating gear (304), the outer surface of each transmission rod (302) is fixedly installed with a second one-way bearing (305), 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 provided with two first gear belts (307) in common, the inner wall of each first gear belt (307) is in mesh with the outer surfaces of the first rotating gear (304) and the second rotating gear (306), the inner side wall of the fixed frame (12) is rotationally connected with two bidirectional threaded rods (326), the outer surface of the connecting rod (301) is fixedly installed with two third one-way bearings (308), 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), 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 provided with a second gear belt (312) in common, the outer surface of each second gear belt (312) is in mesh with the outer surfaces of the third rotating gear (309) and the fourth rotating gear (311), the outer surface of each bidirectional threaded rod (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 in sliding connection with the inner wall of the fixed frame (12), the bottom surface of the movable plate (325) is in sliding connection with the upper surface of the floating plate (11), the outer surface of each transmission rod (302) is fixedly installed with a first driving gear (313), the outer surface of each first driving gear (313) is in mesh with a second driving gear (314), the left side surface of each second driving gear (314) is rotationally connected with the inner side wall of the floating plate (11), the right side surface of each second driving gear (314) is fixedly installed with a first bevel gear (316), the outer surface of each first bevel gear (316) is in mesh with a second bevel gear (317), the bottom surface of each second bevel gear (317) is fixedly installed with a rotating rod (318), the bottom end of each rotating rod (318) penetrates through the floating plate (11) and is fixedly installed with a third bevel gear (319), the outer surface of each third bevel gear (319) is in mesh with a fourth bevel gear (320),The inner wall of each fourth bevel gear (320) is fixedly installed with a movable rod (321), the outer surface of each movable rod (321) is fixedly installed with a driving blade (322), both ends of each movable rod (321) are fixedly installed with a moving wheel (323), the inner wall of the protection box (2217) is fixedly installed with a Bluetooth remote control module (315), the Bluetooth remote control module (315) is electrically connected with the stepping motor (13) through wires, the outer surface of each movable rod (321) is rotatably connected with two connecting frames (327), the top of each connecting frame (327) is fixedly connected with the bottom surface of the floating plate (11), the outer surface of each moving wheel (323) is fixedly installed with a support frame (328), the outer surface of each support frame (328) is fixedly installed with equidistantly arranged support plates (329), and one side of each support plate (329) is fixedly connected with the outer surface of the moving wheel (323).

2. An amphibious photovoltaic plant cleaning robot according to claim 1, characterized in that: The adjusting unit (21) comprises a U-shaped frame (2101), the bottom surface of the U-shaped frame (2101) is fixedly connected with the upper surface of the fixing frame (12), the inner wall of the U-shaped frame (2101) is rotatably connected with a 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 with the inner wall of the first mechanical arm (2102), the power output end of the bidirectional motor (2103) is rotatably connected with the inner wall of the U-shaped frame (2101), the outer surface of the power output end of the bidirectional motor (2103) is fixedly installed 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 installed 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 installed 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), the upper surface of the worm wheel (2109) is fixedly installed with a rotating conveying shaft (2110), the inner wall of the first mechanical arm (2102) is slidably connected with a second mechanical arm (2111), the inner wall of the rotating conveying shaft (2110) is slidably connected with an arc-shaped frame (2112), the outer surface of the arc-shaped frame (2112) is fixedly installed with a connecting plate (2113), the front surface of the connecting plate (2113) is fixedly connected with the back surface of the second mechanical arm (2111), the front surface 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 with the inner wall of the first mechanical arm (2102).

3. An amphibious photovoltaic plant cleaning robot according to claim 2, characterized in that: The cleaning unit (22) comprises a circular frame (2201), the left side of the circular frame (2201) is fixedly connected with the right side of the second mechanical arm (2111), the inner side wall of the circular frame (2201) is rotationally connected with a rotating shaft (2202), the outer surface of the rotating shaft (2202) is fixedly installed with fan leaves (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 storage tank (2205) and a liquid storage tank (2206), the upper surface of the fixed frame (12) is fixedly installed with a liquid pumping pump (2207), the input end of the liquid pumping pump (2207) is fixedly communicated with a three-way pipe (2208), one end of the three-way pipe (2208) away from the liquid pumping pump (2207) penetrates through the water storage tank (2205) and the liquid storage tank (2206) and extends to the interiors of the water storage tank (2205) and the liquid storage tank (2206), the outer surface of the three-way pipe (2208) is fixedly communicated with a first electromagnetic valve (2209) and a second electromagnetic valve (2210), the output end of the liquid pumping pump (2207) is fixedly communicated with a liquid outlet hose (2211), one end of the liquid outlet hose (2211) away from the liquid pumping pump (2207) penetrates 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 with the inner side wall of the second mechanical arm (2111), the outer surface of the liquid outlet hose (2211) is fixedly communicated with two spray heads (2213), the outer surface of the liquid outlet hose (2211) is fixedly communicated with a third electromagnetic valve (2212), the outer surface of the liquid outlet hose (2211) is fixedly communicated with a water conveying pipe (2214), the outer surface of the water conveying pipe (2214) is fixedly communicated with a fourth electromagnetic valve (2215), one end of the water conveying pipe (2214) away from the liquid outlet hose (2211) is fixedly communicated with the outer surface of the circular frame (2201), the outer surface of the circular frame (2201) is fixedly communicated with a backflow pipe (2223), one end of the backflow pipe (2223) away from the circular frame (2201) penetrates through the water storage tank (2205) and extends to the interior of the water storage tank (2205), the right side of the second mechanical arm (2111) is fixedly installed with a camera (2216), the right side of the second mechanical arm (2111) is fixedly installed with a rectangular plate (2224), the right side of the rectangular plate (2224) is fixedly installed with a scraper (2225), the outer surface of the rotating shaft (2202) is fixedly installed with a limiting bearing (2219), the outer surface of the limiting bearing (2219) is fixedly connected with the inner wall of the circular frame (2201), the outer surface of the first mechanical arm (2102) is fixedly installed with a limiting frame (2220), the inner wall of the limiting frame (2220) is in contact with the outer surface of the liquid outlet hose (2211),The upper surface of the water storage tank (2205) and the liquid storage tank (2206) is 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. An amphibious photovoltaic plant cleaning robot according to claim 3, characterized in that: The inner bottom wall of the protection box (2217) is fixedly installed with an image capturing module (2227), and the image capturing module (2227) is electrically connected with the camera (2216) through wires.

5. An amphibious photovoltaic plant cleaning robot according to claim 3, characterized in that: The inner bottom wall of the protection box (2217) is fixedly installed with an image capturing module (2227), and the image capturing module (2227) is electrically connected with the camera (2216) through wires.

6. An amphibious photovoltaic plant cleaning robot according to claim 3, characterized in that: The inner bottom wall of the protection box (2217) is fixedly installed with a processing module (2218), and the processing module (2218) is electrically connected with the image capturing module (2227) through wires.

7. An amphibious photovoltaic plant cleaning robot according to claim 3, characterized in that: The inner bottom wall of the protection box (2217) is fixedly installed with a control module (2226), and the control module (2226) is electrically connected with the processing module (2218).

8. An amphibious photovoltaic plant cleaning robot according to claim 3, characterized in that: The inner bottom wall of the protection box (2217) is fixedly installed with a light source module (2229), and the light source module (2229) is electrically connected with the control module (2226).

9. A cleaning system comprising the cleaning robot device according to any one of claims 1-8, comprising the steps of: The camera (2216) can take a photo of the surface of the photovoltaic panel, 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 take a clear target, the camera (2216) will be taken into the image capture module (2227) target signal, so as to convert the signal into an image signal, and transmit 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 processing module (2218), according to the pixel distribution, brightness and color information, into digital signal, the image system carries out the operation to these signals to extract the characteristics of the target, according to the preset tolerance and other conditions, the results are output to the control module (2226).

Images