Marine photovoltaic panel laser cleaning robot and cleaning method thereof

Abstract

The invention discloses an offshore photovoltaic panel laser cleaning robot and a cleaning method thereof. A supporting frame, a sliding module, a laser cleaning module and a collecting frame are additionally arranged on the basis of an existing offshore photovoltaic system. The sliding module is installed in a sliding groove formed in the supporting frame, the laser cleaning module is arranged on the supporting frame, and the lower end of the laser cleaning module is connected with the sliding module. The collecting frame is of a hollow structure with one open end. When cleaning is not carried out, the laser cleaning module is stored in the collecting frame; when cleaning operation is carried out, the laser cleaning module is driven by the sliding module to slide out of the collecting frame, traverse the surface of the photovoltaic panel and carry out dirt detection, mark the position of the dirt when the dirt is detected, carry out laser cleaning on the surface of the photovoltaic panel according to the marked position, and carry out large-area dirt cleaning after cleaning is completed. Dirt on the surface of the offshore photovoltaic panel can be removed without changing the structure of an existing photovoltaic system, fresh water resources do not need to be introduced, the cleaning difficulty of the offshore photovoltaic panel is lowered, and the method is suitable for application and popularization.

Description

Technical Field

[0001] The present invention belongs to the field of marine engineering technology, and in particular, relates to an offshore photovoltaic panel laser cleaning robot and a cleaning method thereof. Background Art

[0002] Solar energy is a widely used clean energy source. The vast ocean provides a huge space for obtaining solar energy. Humans can use solar energy to generate electricity by setting up offshore photovoltaic systems. However, affected by the complex marine environment, offshore photovoltaic systems often face problems such as marine biological attachment, bird droppings and salt precipitation. The types of dirt are very different from those of onshore photovoltaic systems.

[0003] The problem of dirt adhesion will cause hot spot effect on the surface of photovoltaic panels, affecting the power generation efficiency. If the dirt attached to the surface of photovoltaic panels is not cleaned regularly, it will not only affect the power generation efficiency of the photovoltaic system, but also shorten the service life of photovoltaic panels, and even cause fires, resulting in failure of the photovoltaic system. Therefore, ensuring regular and effective cleaning of the surface of offshore photovoltaic panels and cleaning of attached dirt is crucial to maintaining the efficient operation and extending the service life of offshore photovoltaic systems.

[0004] In the existing photovoltaic panel cleaning device, a motor is usually used to drive a rotating brush to rotate 360 ​​degrees, and the sprayer and the rotating brush are controlled to work simultaneously to clean the photovoltaic panel. At the same time, the transmission mechanism is used to make the cleaner move forward on the photovoltaic panel. When the cleaner reaches the end and touches the limit switch, it runs in the opposite direction, thereby realizing the reciprocating motion of the cleaning system and ensuring the cleanliness of the photovoltaic panel.

[0005] When the above-mentioned prior art is used to clean the surface of offshore photovoltaic panels, the following problems exist: on the one hand, the above-mentioned prior art requires a sprayer to spray water on the surface of the photovoltaic panel when cleaning the surface of the photovoltaic panel, but it is not easy to install a sprayer in the marine environment, and it is impossible to use water from the land environment for cleaning, and the high-salinity seawater itself is the source of salt precipitation, which increases the difficulty of cleaning the surface of offshore photovoltaic panels; on the other hand, the dirt attached to the surface of offshore photovoltaic panels is mainly marine organisms, bird droppings and salt precipitation, and the dirt type and cleaning difficulty are very different from those of land photovoltaic panels. Therefore, the above-mentioned existing cleaning method of photovoltaic panels using only water and brushes is not suitable for cleaning the surface of offshore photovoltaic panels. Summary of the invention

[0006] In order to realize the cleaning of offshore photovoltaic systems, the present invention provides an offshore photovoltaic panel laser cleaning robot and a cleaning method thereof, which transform the existing photovoltaic panel cleaning system and can perform laser cleaning and large-area cleaning of attached dirt such as marine organisms, bird droppings and salt precipitation on the surface of offshore photovoltaic panels. No fresh water resources are required, which reduces the difficulty of cleaning offshore photovoltaic panels.

[0007] The present invention is implemented by the following technical solutions: A laser cleaning robot for offshore photovoltaic panels is proposed, comprising: A photovoltaic panel bracket, on which photovoltaic panels are evenly arranged, and the lower end of which is fixed to the seabed by a bracket; The support frame is a splicable frame structure, symmetrically fixed on the outside of the photovoltaic panel support, and has a slide groove on it; The sliding module is installed in the sliding groove provided in the support frame; The laser cleaning module is arranged on the upper side of the support frame, and its lower end is connected to the sliding module, and is used to clean the surface of the photovoltaic panel; The collection rack is a rectangular hollow structure with one end open, installed at the end of the upper side of the support frame, and is used to seal and store the laser cleaning module; When cleaning the surface of the photovoltaic panel, the sliding module drives the laser cleaning module to slide out from the collection rack, and the laser cleaning module cleans the surface of the photovoltaic panel. When the laser cleaning module moves to the end of the support rack, the dirt attached to the surface of the photovoltaic panel falls off from the end of the support rack; after cleaning, the sliding module drives the laser cleaning module to return and retract into the collection rack.

[0008] In some embodiments of the present invention, the laser cleaning module is composed of a sliding frame, a laser cleaning unit and a cleaning unit; The sliding frame is a horizontally open U-shaped structure, and the lower ends of its two side structures are arranged in the slide grooves opened by the support frame; the laser cleaning unit is fixed to the bottom of the inner side of the U-shaped structure of the sliding frame; and the cleaning unit is installed at the inner open end of the U-shaped structure of the sliding frame.

[0009] In some embodiments of the present invention, the laser cleaning unit includes a rectangular frame, a detection mechanism, a connection mechanism, and a laser cleaning mechanism; The rectangular frame is installed at the inner bottom of the U-shaped sliding frame, and a number of through holes are evenly opened on it along the vertical direction. A detachable installation and detection mechanism is installed in the through holes; the connecting mechanism is installed on the rectangular frame, arranged opposite to the detection mechanism, and electrically connected to the detection mechanism; the laser cleaning mechanism is installed between the rectangular frame and the cleaning unit.

[0010] In some embodiments of the present invention, the detection mechanism is composed of a detection frame, a spring, a moving rod and a detection probe; The interior of the detection frame is hollow, and the vertical section of the hollow structure is T-shaped. The upper part of the T-shaped structure is configured as a sliding groove, and a moving rod is slidably arranged in the sliding groove parallel to the photovoltaic panel. In the vertical direction, a spring is installed between the top of the moving rod and the inner wall of the sliding groove, and a detection probe is installed at the lower end through a connecting rod, and the detection probe passes through the bottom of the rectangular frame and abuts against the photovoltaic panel. A power connection piece is installed on the moving rod, a touch switch matched with the power connection piece is installed on the inner wall of the sliding groove, and the touch switch is electrically connected to the connecting mechanism. When the power connection piece is disconnected from the touch switch, the connecting mechanism marks the dirt attached to the photovoltaic panel.

[0011] In some embodiments of the present invention, the connecting mechanism is composed of a fixed frame, a second spring, a movable frame, a clamping block, a third spring, a T-bar and a telescopic frame; A rectangular groove is provided at a position of the rectangular frame relative to the detection mechanism, and the fixed frame is installed in the rectangular groove; a groove is provided on the fixed frame, and the movable frame can be slidably arranged in the groove of the fixed frame; a spring 2 is installed between the inner end of the movable frame and the bottom of the groove of the fixed frame, and at least two telescopic grooves are provided on the inner wall of the groove, and each telescopic groove is equipped with a set of spring 3, a T-shaped rod and a telescopic frame, wherein the T-shaped rod is provided at the bottom of the telescopic groove, the spring 3 is sleeved on the T-shaped rod, and the telescopic frame is sleeved on the end of the T-shaped rod and abuts on the spring 3; a block protrudes from the outer side of the movable frame at the position of the corresponding telescopic groove; An electromagnet is installed at the end of the T-shaped rod, and the telescopic frame is made of iron material or the inner wall is made of iron material.

[0012] In some embodiments of the present invention, the laser cleaning mechanism includes a slide rail frame, a ladder frame, a connecting frame and a laser cleaning end head; The slide rail frame is installed on the rectangular frame through the end bracket, and the ladder frame is slidably arranged on the slide rail frame; the connecting frame is installed on the rectangular frame and is configured on the upper side of the slide rail frame opposite to it; an electric slider 2 is installed at the lower end of the connecting frame, and the upper end of the ladder frame is assembled with the electric slider 2, so that the electric slider 2 can drive the ladder frame to move horizontally along the length direction of the slide rail frame; a detachable laser cleaning terminal is installed on the inclined surface of the ladder frame, and the inner side surface of the ladder frame that cooperates with the movable frame is an arc structure.

[0013] In some embodiments of the present invention, the cleaning unit includes a rack plate, a first gear shaft, a second gear shaft and a cleaning roller; The rack plate is installed on the inner wall of the slide groove of the support frame; gear shaft one is installed in the two side walls of the sliding frame and meshes with the rack plate; gear shaft two is installed on the sliding frame, and its wheel axle is perpendicular to the wheel axle of gear shaft one, and meshes with gear shaft one; gear shaft two is connected to the cleaning roller, and cleaning brushes are evenly installed on the cleaning roller.

[0014] In some embodiments of the present invention, a sealing gasket is installed at the outer end of the laser cleaning module.

[0015] In some embodiments of the present invention, a plurality of groups of bristles are arranged on both sides of the inner side of the slide groove of the support frame, and the bristles arranged opposite to each other are arranged at intervals.

[0016] A cleaning method of an offshore photovoltaic panel laser cleaning robot is proposed, which is applied to the offshore photovoltaic panel laser cleaning robot as described above, comprising: S1, after receiving the cleaning instruction, start the sliding module to drive the laser cleaning module to slide out from the collection rack and traverse the surface of the photovoltaic panel; S2, during the traversal, the laser cleaning module determines whether there is dirt attached to the surface of the photovoltaic panel, and marks the location of the dirt when dirt appears; S3, the laser cleaning module cleans the dirt at the marked location; S4, after the cleaning is completed, the laser cleaning module cleans the accumulated dirt; S5, after the cleaning operation is completed, the sliding module drives the laser cleaning module to return and retract into the collection rack.

[0017] Compared with the prior art, the advantages and positive effects of the present invention are: 1. The present invention is provided with a detection mechanism. When the sliding module drives the laser cleaning module to move on the surface of the photovoltaic panel, the detection probe is always in close contact with the surface of the photovoltaic panel. When the detection probe contacts the dirt attached to the photovoltaic panel, the detection probe is squeezed and moves upward, so that the power connection sheet on the moving rod is disconnected from the touch switch. The disconnection signal is used as a trigger signal of the connecting mechanism, so that the connecting mechanism cooperates to mark the attached dirt, thereby guiding the laser cleaning mechanism to clean the attached dirt at the marked position. The present invention can accurately detect the dirt on the photovoltaic panel through a simple mechanical structure.

[0018] 2. The connection mechanism designed in the present invention is that when the power strip is disconnected from the touch switch, the electromagnet on the T-bar is instantly powered off and loses its magnetism. The mobile frame squeezes the telescopic frame outward under the action of spring three, so that the telescopic frame shrinks into the telescopic groove. The mobile frame quickly moves out of the rectangular groove to mark the attached dirt. When the laser cleaning mechanism moves to the marked position, the laser cleaning mechanism squeezes the mobile frame into the rectangular groove. At this time, the squeezing force of the laser cleaning mechanism on the mobile frame is greater than the elastic force of spring three and the adsorption force of the electromagnet on the telescopic frame, so that the mobile frame is successfully contracted into the rectangular groove, so that the connection mechanism can restore the initial state based on the structural design, so that it can be repeatedly used for marking dirt.

[0019] 3. The present invention is provided with a laser cleaning mechanism. When the mobile frame pops out of the rectangular slot, the electric slider on the connecting frame drives the ladder frame and the laser cleaning end head to move to the marked position, and the laser cleaning end head cleans the dirt attached to the marked position. The laser cleaning method does not require a fresh water source and is more suitable for the cleaning environment of offshore photovoltaic panels.

[0020] Other features and advantages of the present invention will become more apparent after reading the detailed description of the embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of the offshore photovoltaic panel laser cleaning robot proposed by the present invention; Figure 2 It is a schematic diagram of the cross-sectional structure of the sliding frame and the cleaning unit of the present invention in the sliding direction; Figure 3 It is a schematic diagram of the cross-sectional structure of the sliding frame and the cleaning unit of the present invention when viewed from above; Figure 4 It is a schematic diagram of the cross-sectional structure of the laser cleaning unit of the present invention; Figure 5 It is a schematic cross-sectional structure diagram of the connection mechanism of the present invention; Figure 6 For the present invention Figure 5 An enlarged schematic diagram of the structure at position A in the structure shown; Figure 7 It is a schematic diagram of the cross-sectional structure of the detection mechanism of the present invention; Figure 8 It is a structural schematic diagram of the laser cleaning unit of the present invention; Fig. 9 The laser cleaning unit of the present invention Figure 8 A schematic diagram of the cross-sectional structure of the rear view shown; Fig.10 It is a schematic diagram of the top view of the structure of the laser cleaning unit of the present invention; Fig.11 This is a schematic diagram of the cleaning steps of the offshore photovoltaic panel laser cleaning robot proposed by the present invention; Description of reference numerals: 1. Photovoltaic panel bracket; 11. Photovoltaic panel; 2. Support frame; 21. Connecting bracket; 3. Sliding module; 31. U-shaped frame; 32. Sliding block 1; 4. Laser cleaning module; 41. Sliding frame; 42. Laser cleaning unit; 421. Rectangular frame; 422. Detection mechanism; 4221. Detection frame; 4222. Spring 1; 4223. Moving rod; 4224. Detection probe; 4225. Connecting rod; 4226. Electrical connection sheet; 4227. Touch switch; 423. Connecting mechanism Structure; 4231, fixed frame; 4232, spring two; 4233, mobile frame; 4234, block; 4235, spring three; 4236, T-bar; 42361, electromagnet; 4237, telescopic frame; 424, laser cleaning mechanism; 4241, slide rail frame; 4242, ladder frame; 4243, connecting frame; 4244, laser cleaning end; 43, cleaning unit; 431, rack plate; 432, gear shaft one; 433, gear shaft two; 434, cleaning roller; 5, collecting frame. DETAILED DESCRIPTION

[0023] 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.

[0024] The invention discloses an offshore photovoltaic panel laser cleaning robot, which can realize the function of laser cleaning of marine organisms attached, bird droppings, salt precipitation and other attached dirt on the surface of the offshore photovoltaic panel, and can also clean a large area of ​​the photovoltaic panel surface.

[0025] Reference Figures 1 to 9 The offshore photovoltaic panel laser cleaning robot provided by the present invention comprises: The photovoltaic panel support 1 has photovoltaic panels 11 evenly placed thereon, and the lower end of the photovoltaic panel support 1 is fixed to the seabed through the support.

[0026] The support frame 2 is a splicable frame structure, symmetrically fixed on the outside of the photovoltaic panel support 1, and has a slide groove. Adjacent support frames 2 are connected by a connecting bracket 21, and a through groove corresponding to the slide groove is provided on the connecting bracket 21, and the through groove is used to connect two slide grooves on adjacent support frames 2.

[0027] The sliding module 3 is installed in the sliding groove.

[0028] The laser cleaning module 4 is arranged on the upper side of the support frame 2 , and its lower end is connected to the sliding module 3 , and is used for cleaning the surface of the photovoltaic panel 11 .

[0029] The collecting rack 5 is a rectangular hollow structure with one end open, which is installed at the end of the upper side of the supporting rack 2 and is used for sealing and storing the laser cleaning module 4 .

[0030] During actual use, the support frame 2 is connected to the photovoltaic panel support 1 as a whole by bolts, and the laser cleaning module 4 and the collecting frame 5 are fixed on the upper side of the support frame 2. When the surface of the photovoltaic panel 11 needs to be cleaned, taking the collecting frame 5 located on the left side of the photovoltaic panel support 1 as an example, the sliding module 3 drives the laser cleaning module 4 to slide out from the collecting frame 5 and move from left to right. The laser cleaning module 4 cleans and sweeps the surface of the photovoltaic panel 11 in turn; when the laser cleaning module 4 moves to the right end of the support frame 2, the cleaning is completed, and the attached dirt falls from the right end of the support frame 2, and then the sliding module 3 drives the laser cleaning module 4 to move to the left until the laser cleaning module 4 shrinks into the collecting frame 5.

[0031] In some embodiments of the present invention, a sealing gasket is installed at the outer end of the laser cleaning module 4. When the surface of the photovoltaic panel 11 is cleaned, the laser cleaning module 4 is completely retracted into the collecting rack 5. The sealing gasket can form a closed cavity between the collecting rack 5 and the laser cleaning module 4 to prevent seawater and rainwater from entering the collecting rack 5.

[0032] In some embodiments of the present invention, a plurality of groups of bristles are evenly installed on both sides of the inner groove of the support frame 2, and intervals are kept between the relatively arranged bristles. In actual use, the support frame 2 is exposed to the air for a long time, and dust and other dirt may fall into the groove. The bristles evenly installed in the groove can prevent the dirt from falling into the groove, thereby avoiding affecting the normal operation of the laser cleaning module 4.

[0033] In order to realize the left and right reciprocating sliding function of the laser cleaning module 4, a sliding module 3 is set in the slide groove opened in the support frame 2. Figure 2 As shown, the sliding module 3 includes a U-shaped frame 31 and a slider 32. The U-shaped frame 31 is installed on the inner wall of the slide groove, and an electric slider 1 (not shown in the figure) is installed therein. The slider 32 is assembled with the electric slider 1.

[0034] In actual use, when the surface of the photovoltaic panel needs to be cleaned, the electric slider 1 drives the slider 1 32, and the slider 1 32 drives the laser cleaning module 4 to slide back and forth on the support frame 2, and the U-shaped frame 31 is used to prevent the laser cleaning module 4 from shaking in the slide groove.

[0035] Reference Figure 3 and Fig. 9The laser cleaning module 4 consists of a sliding frame 41, a laser cleaning unit 42 and a cleaning unit 43; the sliding frame 41 is a horizontally open U-shaped structure, and the lower ends of its two side structures are arranged in the slide groove opened by the support frame 2 and connected to the slider 32; the laser cleaning unit 42 is fixed to the bottom of the inner side of the U-shaped structure of the sliding frame 41; and the cleaning unit 43 is installed at the inner open end of the U-shaped structure of the sliding frame 41.

[0036] During actual use, the sliding module 3 drives the sliding frame 41 to slide back and forth on the supporting frame 2. At the same time, the laser cleaning unit 42 cleans the surface of the photovoltaic panel 11, and then the cleaning unit 43 cleans the surface of the photovoltaic panel 11 to avoid the hot spot effect caused by the adhesion of dirt, thereby improving the conversion efficiency of the photovoltaic panel.

[0037] Reference Figure 3 and Figure 4 The laser cleaning unit 42 includes a rectangular frame 421, a detection mechanism 422, a connecting mechanism 423 and a laser cleaning mechanism 424, and is equipped with a machine vision system or a perception system; the rectangular frame 421 is installed at the inner bottom of the U-shaped sliding frame 41, and a number of through holes are evenly opened on it along the vertical direction; a detachable installation detection mechanism 422 is installed in the through hole; the connecting mechanism 423 is installed on the rectangular frame 421, and is arranged corresponding to the detection mechanism 422, and is electrically connected to the detection mechanism 422; the laser cleaning mechanism 424 is installed between the rectangular frame 421 and the cleaning unit 43, and cooperates with the connecting mechanism 423.

[0038] During actual use, when it is necessary to clean the surface of the photovoltaic panel 11, the detection mechanism 422 is first installed in the through hole; when the sliding module 3 drives the sliding frame 41 out of the collecting frame 5 to work, the end of the detection mechanism 422 is always in close contact with the surface of the photovoltaic panel 11. When the detection mechanism 422 detects that there is dirt attached to the surface of the photovoltaic panel, the connecting mechanism 423 corresponding to the detection mechanism 422 marks the attached dirt, and the laser cleaning mechanism 424 quickly moves to the marked position to clean the attached dirt.

[0039] It should be noted that the lower end of the laser cleaning mechanism 424 is also equipped with a machine vision system or other perception system, which has a built-in algorithm for identifying dirt attached to offshore photovoltaic panels. The machine vision system or perception system is used to perform machine vision analysis or perception analysis on the detected attached dirt, so that the parameter requirements of the laser cleaning mechanism 424 can be adjusted according to the type of attached dirt to achieve the function of targeted cleaning of different types of attached dirt. The specific algorithm for identifying dirt attached to offshore photovoltaic panels can be implemented according to the existing recognition algorithm and is not limited by the present invention.

[0040] Reference Figure 4 and Figure 7In order to realize the function of marking the dirt attached to the surface of the photovoltaic panel 11, the detection mechanism 422 provided in the present embodiment is composed of a detection frame 4221, a spring 4222, a moving rod 4223 and a detection probe 4224; the detection frame 4221 is hollow inside; the vertical section of the hollow structure is T-shaped, and the upper part of the T-shaped structure is configured as a sliding groove, and a moving rod 4223 is slidably provided in the sliding groove in a direction parallel to the photovoltaic panel 11; in a direction perpendicular to the photovoltaic panel 11, the top of the moving rod 4223 A spring 4222 is installed between the inner wall of the sliding groove, and a detection probe 4224 is installed on the lower end through a connecting rod 4225, and the detection probe 4224 passes through the bottom of the rectangular frame 421 (so that it can abut against the surface of the photovoltaic panel 11); a power connection piece 4226 is installed on the moving rod 4223, and a touch switch 4227 matching the power connection piece 4226 is installed on the inner wall of the sliding groove, and the touch switch 4227 is electrically connected to the connecting mechanism 423; the end of the detection probe 4224 is an arc structure and is made of plastic material.

[0041] During actual use, when the detection probe 4224 detects that there is dirt attached to the surface of the photovoltaic panel 11, it is squeezed by the dirt and moves upward, thereby forcing the moving rod 4223 to move upward. The moving rod 4223 moving upward compresses the spring 4222, causing the moving rod 4223 to separate from the sliding groove, thereby disconnecting the power connection piece 4226 on the moving rod 4223 from the touch switch 4227 on the sliding groove, so that the connecting mechanism 423 receives a disconnection signal, and can generate an action according to the disconnection signal (for example, a low level) to mark the attached dirt, and the laser cleaning mechanism 424 is guided to run to the marked position to clean the attached dirt at the marked position; the end of the detection probe 4224 leaves the dirt and descends, and the spring 4222 quickly resets, so that the power connection piece 4226 and the touch switch 4227 are reconnected. It should be noted that although there are gaps between the detection probes 4224 in the figure, the figure is for illustration only. In fact, in application, the minimum area of ​​dirt can be obtained through statistics, and the gaps between the detection probes 4224 can be designed to be within the average area, thereby effectively monitoring the dirt. In addition, by combining the laser cleaning end 4244 to implement interference cleaning on both sides during cleaning, a cleaning effect without dead angles for dirt can be achieved.

[0042] It should be noted that the detection probe 4224 is always in close contact with the surface of the photovoltaic panel 11 . The detection probe 4224 made of plastic can prevent damage to the surface of the photovoltaic panel 11 and prevent inaccurate detection results caused by deformation of the detection probe 4224 .

[0043] Reference Figure 4 , Figure 5 and Figure 6As shown, in order to realize the function of marking the dirt attached to the surface of the photovoltaic panel, the connecting mechanism 423 provided in this embodiment is composed of a fixed frame 4231, a spring second 4232, a movable frame 4233, a block 4234, a spring third 4235, a T-bar 4236 and a telescopic frame 4237, an electromagnet 42361 is installed at the end of the T-bar 4236, and the telescopic frame 4237 is made of iron material or the inner side is made of iron material. A rectangular groove is provided at the position of the rectangular frame 421 relative to the detection mechanism 422, and the fixed frame 4231 is installed in the rectangular groove; the fixed frame 4231 is provided with a groove so that its cross-section is a U-shaped structure; the movable frame 4233 can be slidably arranged in the groove of the fixed frame 4231, and its outer end is a smooth arc structure, and a spring two 4232 is installed between its inner end and the bottom of the groove of the fixed frame 4231; at least two telescopic grooves are provided on the inner wall of the groove, and the two telescopic grooves are symmetrically distributed; a set of spring three 4235, T-bar 4236 and telescopic frame 4237 are arranged in each telescopic groove, wherein the T-bar 4236 is arranged at the bottom of the telescopic groove, the spring three 4235 is sleeved on the T-bar 4236, and the telescopic frame 4237 is sleeved on the bottom rod end of the T-bar 4236 and abuts on the spring three 4235; at the position of the corresponding telescopic groove, a block 4234 protrudes from the outside of the movable frame 4233, and the end of the block 4234 is an arc structure.

[0044] During actual use, when there is no dirt marked on the surface of the photovoltaic panel 11, the power connection plate of the detection mechanism 422 contacts the touch switch, and the electromagnet of the T-bar 4236 is energized to adsorb the telescopic frame 4237, so that the T-bar 4236 and the telescopic frame 4237 are relatively fixed. In this state, the telescopic frame 4237 blocks the outside of the block 4234, thereby blocking the block 4234 and preventing the block 4234 from extending out of the rectangular groove, that is, the movable frame 4233 is resisted in the telescopic groove. When the detection mechanism 422 detects that the dirt has caused the power strip to separate from the contact switch, the electromagnet in the T-bar 4236 is powered off and loses its magnetism, and the telescopic frame 4237 can slide inward along the T-bar 4236. At this time, the movable frame 4233 has a force to move outward under the action of the spring 4232. This force squeezes the telescopic frame 4237 through the block 4234, so that the telescopic frame 4237 shrinks into the telescopic groove, and the movable frame 4233 quickly moves out of the rectangular groove, and the pop-up movable frame 4233 serves to mark the place where the dirt is attached. Use; when the laser cleaning mechanism 424 moves to the mark, the laser cleaning mechanism 424 squeezes the movable frame 4233 into the rectangular groove. At this time, the squeezing force of the laser cleaning mechanism 424 on the movable frame 4233 is greater than the elastic force of the spring 2 4232, and, as the dirt is cleaned, the end of the detection probe 4224 descends to connect the power strip 4226 with the touch switch 4227, so that the electromagnet 42361 at the end of the T-bar 4236 is powered on again to adsorb the telescopic frame 4237, so that the movable frame 4233 is successfully retracted into the rectangular groove.

[0045] It should be noted that when the movable frame 4233 is successfully retracted into the rectangular groove, the initial state of the spring 2 4232 is a compressed state, and when the telescopic frame 4237 is retracted into the telescopic groove, the movable frame 4233 can be quickly ejected out of the rectangular groove.

[0046] Reference Figures 4 to 9 In order to realize the function of cleaning the surface of the photovoltaic panel 11, the laser cleaning mechanism 424 in this embodiment includes a slide rail frame 4241, a ladder frame 4242, a connecting frame 4243 and a laser cleaning end 4244; the slide rail frame 4241 is installed on the rectangular frame 421 through an end bracket, and the ladder frame 4242 is slidably arranged on the slide rail frame 4241; the connecting frame 4243 is installed on the rectangular frame 421 and is arranged on the upper side of the slide rail frame 4241 opposite to it; an electric slider 2 is installed at the lower end of the connecting frame 4243, and the upper end of the ladder frame 4242 is assembled with the electric slider 2, so that the electric slider 2 can drive the ladder frame 4242 to move horizontally along the length direction of the slide rail frame 4241; a detachable laser cleaning end 4244 is installed on the inclined surface of the ladder frame 4242, and the inner side surface of the ladder frame 4242 that cooperates with the moving frame 4233 is an arc structure.

[0047] In actual use, when the end of the movable frame 4233 pops out to mark the detected attached dirt, the connecting frame 4243 drives the ladder frame 4242 to move to the marked position, and then the laser cleaning end 4244 cleans the attached dirt at the marked position.

[0048] It should be noted that when the detection mechanism 422 marks multiple attached dirt locations, the movement speed of the sliding frame 41 slows down, and the connecting frame 4243 drives the ladder frame 4242 and the laser cleaning end 4244 to move to a marked location, and the arc-shaped structure on the inner side of the ladder frame 4242 first squeezes and resets the movable frame 4233 after it pops up, and then the laser cleaning end 4244 cleans the attached dirt at the marked location. After the cleaning is completed, the connecting frame 4243 drives the ladder frame 4242 and the laser cleaning end 4244 to continue sliding to clean the attached dirt at the next marked location.

[0049] It should also be noted that when the detection mechanism 422 detects attached dirt, the tilted laser cleaning head 4244 can immediately clean the attached dirt; the laser cleaning head 4244 is detachable and can be replaced regularly.

[0050] Reference Figure 2 and Figure 3In order to realize the function of cleaning the surface of the photovoltaic panel 11, a cleaning unit 43 is provided in the present embodiment, and the cleaning unit 43 includes a rack plate 431, a gear shaft 1 432, a gear shaft 2 433 and a cleaning roller 434; the rack plate 431 is mounted on the inner wall of the slide groove of the support frame 2; the gear shaft 1 432 is mounted in the side wall of the sliding frame 41 and meshed with the rack plate 431; the gear shaft 2 433 is mounted on the sliding frame 41, and its wheel axle is perpendicular to the wheel axle of the gear shaft 1 432 and meshed with the gear shaft 1 432; the gear shaft 2 433 is connected to the cleaning roller 434, and cleaning brushes are evenly mounted on the cleaning roller 434, and the cleaning brushes are made of flexible material.

[0051] In actual use, when the laser cleaning unit 42 finishes cleaning the surface of the photovoltaic panel 11 , the rack plate 431 meshes with the gear shaft 1 432 , and the gear shaft 1 432 meshes with the gear shaft 2 433 , driving the cleaning roller 434 to rotate, thereby realizing the function of cleaning the surface of the photovoltaic panel 11 .

[0052] In combination with the above structure, the offshore photovoltaic panel laser cleaning robot of the present invention performs cleaning, such as Fig.11 As shown, follow the steps below: S1: Start the sliding module to drive the laser cleaning module to slide out from the collection rack and traverse the photovoltaic panels.

[0053] The length of the traversal path is set according to the actual environment.

[0054] S2: During the traversal, the laser cleaning module determines whether there is dirt attached to the surface of the photovoltaic panel, and marks the location of the dirt when dirt appears.

[0055] The dirt position can be determined by image recognition or by sensor perception. In the embodiment of the present invention, the dirt position can be determined by the structure given in the present invention. Specifically, the detection probe 4224 of the detection mechanism 422 of the laser cleaning module 4 is squeezed by the dirt to make the moving rod 4223 move upward and compress the spring 1 4222, so that the power strip on the moving rod 4223 is disconnected from the touch switch. The disconnection signal is received by the connection mechanism 423, so that the electromagnet 42361 at the end of the T-bar 4236 is powered off, and the telescopic frame 4237 and the T-bar 4236 are not adsorbed, so that the telescopic frame 4237 can slide inward along the T-bar 4236. At this time, the moving frame 4233 is squeezed outward by the action of the spring 2 4232, and the telescopic frame 4237 is squeezed by the block 4234 and shrinks into the telescopic groove, so that the moving frame 4233 pops out and marks the dirt position.

[0056] S3: The laser cleaning module cleans the dirt at the marked area.

[0057] After the connecting mechanism 423 marks the dirt position, the sliding frame 41 decelerates (the reason for decelerating instead of stopping is to extend the cleaning time of the laser cleaning mechanism 424 passing over the dirt position. This is because the detection probe 4224 is located at the front side of the sliding frame 41, and the laser cleaning mechanism 424 is located at the rear side of the sliding frame 41. When the detection probe 4224 detects the dirt position, the laser cleaning mechanism 424 is still a distance away from the dirt. When the sliding frame 41 decelerates, the laser cleaning mechanism 424 has ample time to move to the top of the dirt in a direction perpendicular to the dirt. Therefore, the sliding frame decelerates instead of stopping and does not This will cause the laser cleaning mechanism 424 to pass over the dirt position. At the same time, the detection probe 4224 is only used to detect the position where the dirt exists. When the end of the detection probe 4224 passes over the dirt, it will still feed back the detected dirt position to the laser cleaning mechanism 424. It is not necessary for the detection probe 4224 to stay above the dirt when it detects the dirt in order to feed back the position signal to the laser cleaning mechanism 424). The laser cleaning mechanism 424 controls its connecting frame 4243 to drive the ladder frame 4242 and the laser cleaning end 4244 to move to the marked position for cleaning. At the same time, the ladder frame 4242 squeezes the moving frame 4233 to make it retract and reset.

[0058] The sliding frame 41 is controlled to pause when cleaning dirt. When there are multiple dirts at the same latitude, after the current dirt is cleaned, the laser cleaning mechanism cleans other dirts until the dirt at the same latitude is cleaned.

[0059] S4: After cleaning is completed, the dirt accumulated on the surface of the photovoltaic panel is cleaned.

[0060] The rack plate 431 of the cleaning unit 43 meshes with gear shaft 1 432, and gear shaft 1 432 meshes with gear shaft 2 433. During the sliding of the sliding frame 41, gear shaft 1 432 rotates due to the meshing action of the rack plate 431, thereby driving gear shaft 2 433 to rotate, and finally driving the cleaning roller 434 to rotate, thereby realizing the function of cleaning the surface of the photovoltaic panel.

[0061] S5: After the cleaning operation is completed, the sliding module drives the laser cleaning module to return and retract into the collection rack.

[0062] A cleaning operation at least includes two parts: laser cleaning and dirt cleaning. During the cleaning operation, the sliding module 3 can drive the laser cleaning module 4 to move in a one-way or reciprocating manner to perform cleaning and cleaning.

[0063] Based on the offshore photovoltaic panel laser cleaning robot and its cleaning method provided by the present invention, a support frame 2, a sliding module 3, a laser cleaning module 4 and a collection frame 5 can be added to the existing offshore photovoltaic system. Without changing the existing photovoltaic system structure, laser cleaning and large-scale cleaning of dirt such as marine organism attachment, bird droppings and salt precipitation on the surface of the offshore photovoltaic panels can be performed without changing the existing photovoltaic system structure. No fresh water resources need to be introduced from outside, which reduces the difficulty of cleaning the offshore photovoltaic panels and is suitable for promotion and application.

[0064] It should be noted that, in the specific implementation process, the above-mentioned control part can be implemented by a hardware processor executing computer execution instructions in software form stored in the memory, which will not be elaborated here, and the programs corresponding to the actions performed by the above-mentioned control circuit can be stored in the computer-readable storage medium of the system in software form, so that the processor can call and execute the operations corresponding to the above-mentioned modules.

[0065] The computer-readable storage medium mentioned above may include volatile memory, such as random access memory; may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid-state drive; may also include a combination of the above types of memory.

[0066] The processor mentioned above may also be a general term for multiple processing elements. For example, the processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc., or may be a dedicated processor.

[0067] It should be pointed out that the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A laser cleaning robot for offshore photovoltaic panels, characterized in that: include: A photovoltaic panel support (1), on which photovoltaic panels (11) are evenly arranged, and the lower end of which is fixed to the seabed via a support; The support frame (2) is a splicable frame structure, symmetrically fixed to the outside of the photovoltaic panel support (1), and has a slide groove thereon; The sliding module (3) is installed in a sliding groove provided in the support frame (2); A laser cleaning module (4) is arranged on the upper side of the support frame (2), the lower end of which is connected to the sliding module (3), and is used to clean the surface of the photovoltaic panel (11); The collecting rack (5) is a hollow structure with one end open, mounted on the upper end of the supporting rack (2), and used for sealing and storing the laser cleaning module (4); When cleaning the surface of the photovoltaic panel (11), the sliding module (3) drives the laser cleaning module (4) to slide out from the collection frame (5), and the laser cleaning module (4) cleans the surface of the photovoltaic panel (11). When the laser cleaning module (4) moves to the end of the support frame (2), dirt attached to the surface of the photovoltaic panel (11) falls off from the end of the support frame (2); after cleaning is completed, the sliding module (3) drives the laser cleaning module (4) to return and retract into the collection frame (5).

2. The offshore photovoltaic panel laser cleaning robot according to claim 1, characterized in that: The laser cleaning module (4) is composed of a sliding frame (41), a laser cleaning unit (42) and a cleaning unit (43); The sliding frame (41) is a horizontally open U-shaped structure, and the lower ends of the structures on both sides thereof are arranged in the slide grooves opened in the support frame (2); the laser cleaning unit (42) is fixed to the bottom of the inner side of the U-shaped structure of the sliding frame (41); and the cleaning unit (43) is installed at the inner open end of the U-shaped structure of the sliding frame (41).

3. The offshore photovoltaic panel laser cleaning robot according to claim 2, characterized in that: The laser cleaning unit (42) comprises a rectangular frame (421), a detection mechanism (422), a connection mechanism (423) and a laser cleaning mechanism (424); The rectangular frame (421) is installed at the inner bottom of the U-shaped sliding frame (41), and a plurality of through holes are evenly provided thereon in a vertical direction, wherein a detachable installation detection mechanism (422) is installed in the through hole; the connecting mechanism (423) is installed on the rectangular frame (421), is arranged opposite to the detection mechanism (422), and is electrically connected to the detection mechanism (422); and the laser cleaning mechanism (424) is installed between the rectangular frame (421) and the cleaning unit (43).

4. The offshore photovoltaic panel laser cleaning robot according to claim 3, characterized in that: The detection mechanism (422) is composed of a detection frame (4221), a spring (4222), a moving rod (4223) and a detection probe (4224); The detection frame (4221) is hollow inside, and the vertical section of the hollow structure is T-shaped. The upper part of the T-shaped structure is configured as a sliding groove, and a moving rod (4223) is slidably arranged on the sliding groove parallel to the photovoltaic panel (11); in the vertical direction, a spring (4222) is installed between the top of the moving rod (4223) and the inner wall of the sliding groove, and a detection probe (4224) is installed at the lower end through a connecting rod (4225), and the detection probe (4224) passes through the bottom of the rectangular frame (421) and abuts against the photovoltaic panel (11); A power connection sheet (4226) is installed on the moving rod (4223), and a touch switch (4227) matched with the power connection sheet (4226) is installed on the inner wall of the sliding groove. The touch switch (4227) is electrically connected to the connecting mechanism (423). When the power connection sheet (4226) is disconnected from the touch switch (4227), the connecting mechanism (423) marks the dirt attached to the photovoltaic panel (11).

5. The offshore photovoltaic panel laser cleaning robot according to claim 3, characterized in that: The connecting mechanism (423) is composed of a fixed frame (4231), a second spring (4232), a movable frame (4233), a clamping block (4234), a third spring (4235), a T-shaped rod (4236) and a telescopic frame (4237); A rectangular groove is provided in the rectangular frame (421) at a position relative to the detection mechanism (422), and the fixed frame (4231) is installed in the rectangular groove; a groove is provided in the fixed frame (4231), and the movable frame (4233) is slidably arranged in the groove of the fixed frame (4231); a second spring (4232) is installed between the inner end of the movable frame (4233) and the bottom of the groove of the fixed frame (4231), and at least two telescopic grooves are provided on the inner wall of the groove, and each telescopic groove is equipped with a set of a third spring (4235), a T-shaped rod (4236) and a telescopic frame (4237), wherein the T-shaped rod (4236) is provided at the bottom of the telescopic groove, the third spring (4235) is sleeved on the T-shaped rod (4236), and the telescopic frame (4237) is sleeved on the end of the T-shaped rod (4236) and abuts against the third spring (4235); a block (4234) protrudes from the outer side of the movable frame (4233) at the position of the corresponding telescopic groove; An electromagnet (42361) is installed at the end of the T-shaped rod (4236), and the telescopic frame (4237) is made of iron material or the inner wall is made of iron material.

6. The offshore photovoltaic panel laser cleaning robot according to claim 3, characterized in that: The laser cleaning mechanism (424) comprises a slide rail frame (4241), a ladder frame (4242), a connecting frame (4243) and a laser cleaning end head (4244); The slide rail frame (4241) is mounted on the rectangular frame (421) through an end bracket, and the ladder frame (4242) is slidably arranged on the slide rail frame (4241); the connecting frame (4243) is mounted on the rectangular frame (421) and is arranged on the upper side of the slide rail frame (4241) and opposite to it; the lower end of the connecting frame (4243) is mounted with an electric slider 2, and the upper end of the ladder frame (4242) is assembled with the electric slider 2, so that the electric slider 2 can drive the ladder frame (4242) to move horizontally along the length direction of the slide rail frame (4241); a detachable laser cleaning terminal (4244) is mounted on the inclined surface of the ladder frame (4242), and the inner side surface of the ladder frame (4242) that matches the moving frame (4233) is an arc-shaped structure.

7. The offshore photovoltaic panel laser cleaning robot according to claim 2, characterized in that: The cleaning unit (43) comprises a rack plate (431), a first gear shaft (432), a second gear shaft (433) and a cleaning roller (434); The rack plate (431) is mounted on the inner wall of the slide groove of the support frame (2); the gear shaft 1 (432) is mounted in the two side walls of the sliding frame (41) and meshes with the rack plate (431); the gear shaft 2 (433) is mounted on the sliding frame (41), and its wheel axle is perpendicular to the wheel axle of the gear shaft 1 (432) and meshes with the gear shaft 1 (432); the gear shaft 2 (433) is connected to the cleaning roller (434), and cleaning brushes are evenly mounted on the cleaning roller (434).

8. The offshore photovoltaic panel laser cleaning robot according to claim 1, characterized in that: A sealing gasket is installed on the outer end of the laser cleaning module (4).

9. The offshore photovoltaic panel laser cleaning robot according to claim 1, characterized in that: A plurality of groups of bristles are arranged on both sides of the inner side of the slide groove of the support frame (2), and the bristles arranged opposite to each other are arranged at intervals.

10. A cleaning method of an offshore photovoltaic panel laser cleaning robot, applied to the offshore photovoltaic panel laser cleaning robot as claimed in any one of claims 1 to 9, characterized in that: include: S1, after receiving a cleaning instruction, starting the sliding module (3) to drive the laser cleaning module (4) to slide out from the collecting rack (5) and traverse the surface of the photovoltaic panel (11); S2, during the traversal, the laser cleaning module (4) determines whether dirt is attached to the surface of the photovoltaic panel (11), and marks the location of the dirt when dirt is present; S3, the laser cleaning module (4) cleans the dirt at the marked area; S4, after the cleaning is completed, the laser cleaning module (4) cleans the accumulated dirt; S5, after the cleaning operation is completed, the sliding module (3) drives the laser cleaning module (4) to return and retract into the collection rack (5).

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