A laser cleaning robot for offshore photovoltaic panels and a cleaning method thereof

Abstract

The application discloses a kind of offshore photovoltaic panel laser cleaning robot and its cleaning method, and is additionally equipped with support frame, sliding module, laser cleaning module and collection frame on the basis of existing offshore photovoltaic system;Sliding module is installed in the sliding slot opened in support frame, and laser cleaning module is arranged on support frame, and the lower end is connected with sliding module;Collection frame is a hollow structure with one end open;During not implementing cleaning, laser cleaning module is stored in collection frame;When cleaning operation is implemented, laser cleaning module is driven by sliding module and slides out of collection frame, traverses photovoltaic panel surface and implements dirt detection, marks the position when dirt is detected, and implements laser cleaning on the surface of photovoltaic panel according to the marked position, and implements large-area dirt cleaning after cleaning is completed;The application can remove dirt on the surface of offshore photovoltaic panel without changing the structure of existing photovoltaic system, without external freshwater resources, reduces the cleaning difficulty of offshore photovoltaic panel and is suitable for popularization and application.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ocean engineering, and in particular relates to a laser cleaning robot for offshore photovoltaic panels and a cleaning method thereof. BACKGROUND

[0002] Solar energy is a widely used clean energy, and the vast ocean provides a huge space for obtaining solar energy. Humans can utilize solar energy for power generation by setting up offshore photovoltaic systems. However, due to the influence of complex marine environments, offshore photovoltaic systems often face problems such as marine organism attachment, bird droppings, and salt precipitation and other dirt attachment. The types of dirt are very different from those of land-based photovoltaic systems.

[0003] The problem of dirt attachment can cause hot spot effects on the surface of photovoltaic panels, affecting power generation efficiency. If the attached dirt on the surface of photovoltaic panels is not cleaned regularly, it not only affects the power generation efficiency of photovoltaic systems, but also can shorten the service life of photovoltaic panels, even cause fires, and lead to the failure of photovoltaic systems. Therefore, ensuring regular and effective cleaning of the surface of offshore photovoltaic panels to clean attached dirt is crucial for maintaining the efficient operation and extending the service life of offshore photovoltaic systems.

[0004] In existing photovoltaic panel cleaning devices, a rotating brush is usually driven by a motor to form a 360-degree rotation, and a sprayer and the rotating brush are controlled to work simultaneously to clean the photovoltaic panel. At the same time, a 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 back-and-forth movement of the cleaning system and ensuring the cleanliness of the photovoltaic panel.

[0005] When the above-mentioned existing technology is used for cleaning the surface of offshore photovoltaic panels, the following problems exist: On the one hand, the above-mentioned existing technology requires a sprayer to spray water on the surface of the photovoltaic panel when cleaning the surface of the photovoltaic panel. However, it is not easy to install a sprayer in a marine environment, and it is also not possible to use water from land for cleaning. Moreover, high-salinity seawater itself is a source of salt precipitation, which increases the difficulty of cleaning the surface of offshore photovoltaic panels. On the other hand, marine organisms, bird droppings, and salt precipitation are the main types of dirt attached to the surface of offshore photovoltaic panels, and the types of dirt and the difficulty of cleaning are very different from those of land-based photovoltaic panels. Therefore, the above-mentioned existing cleaning method using only water and a brush is not suitable for cleaning the surface of offshore photovoltaic panels. SUMMARY

[0006] In order to clean offshore photovoltaic systems, the present application provides a laser cleaning robot for offshore photovoltaic panels and a cleaning method thereof. The existing photovoltaic panel cleaning system is modified to enable laser cleaning and large-area sweeping of marine organism attachment, bird droppings, and salt precipitation and other attached dirt on the surface of offshore photovoltaic panels. No fresh water resources are required, and the difficulty of cleaning offshore photovoltaic panels is reduced.

[0007] The application is implemented by adopting the following technical solutions:

[0008] The application provides a marine photovoltaic panel laser cleaning robot, which comprises:

[0009] A photovoltaic panel support is provided with photovoltaic panels uniformly arranged thereon, and the lower end of the photovoltaic panel support is fixed to the seabed through a support;

[0010] A support frame is symmetrically fixed to the outer side of the photovoltaic panel support and is provided with a sliding groove on the support frame;

[0011] A sliding module is installed in the sliding groove of the support frame;

[0012] A laser cleaning module is arranged on the upper side of the support frame, and the lower end of the laser cleaning module is connected to the sliding module, so that the laser cleaning module is used for cleaning the surface of the photovoltaic panel;

[0013] A collection frame is a rectangular hollow structure with one end being open, and the collection frame is installed at the end of the upper side of the support frame and is used for sealing and storing the laser cleaning module;

[0014] When the surface of the photovoltaic panel is cleaned, the sliding module drives the laser cleaning module to slide out of the collection frame, the laser cleaning module cleans the surface of the photovoltaic panel, when the laser cleaning module moves to the end of the support frame, the dirt adhered to the surface of the photovoltaic panel falls from the end of the support frame, and after the cleaning is completed, the sliding module drives the laser cleaning module to return and retract into the collection frame.

[0015] In some embodiments of the application, the laser cleaning module is composed of a sliding frame, a laser cleaning unit and a cleaning unit.

[0016] The sliding frame is in a horizontally open U-shaped structure, and the lower end of the structure on the two sides of the sliding frame is arranged in the sliding groove of the support frame; the laser cleaning unit is fixed to the inner bottom of the U-shaped structure of the sliding frame; and the cleaning unit is installed at the open end of the inner side of the U-shaped structure of the sliding frame.

[0017] In some embodiments of the application, the laser cleaning unit comprises a rectangular frame, a detection mechanism, a connecting mechanism and a laser cleaning mechanism.

[0018] The rectangular frame is installed at the inner bottom of the U-shaped sliding frame, a plurality of vertical through holes are uniformly arranged on the rectangular frame, and a detachable installation detection mechanism is installed in the through hole; the connecting mechanism is installed on the rectangular frame and is arranged opposite to the detection mechanism and is electrically connected to the detection mechanism; and the laser cleaning mechanism is installed between the rectangular frame and the cleaning unit.

[0019] In some embodiments of the application, the detection mechanism is composed of a detection frame, a spring one, a moving rod and a detection probe.

[0020] The inside 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 and parallel to the photovoltaic panel; in the vertical direction, a spring one 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 of the moving rod through a connecting rod, and the detection probe is arranged to protrude from the bottom of the rectangular frame and abut against the photovoltaic panel;

[0021] The moving rod is provided with an electricity connecting piece, and a touch switch matched with the electricity connecting piece is installed on the inner wall of the sliding groove, and the touch switch is electrically connected with the connecting mechanism, so that when the electricity connecting piece is disconnected with the touch switch, the connecting mechanism marks the dirt attached to the photovoltaic panel.

[0022] In some embodiments of the present application, the connecting mechanism is composed of a fixed frame, a spring two, a moving frame, a clamping block, a spring three, a T-shaped rod and an extension frame;

[0023] A rectangular groove is formed in the position of the rectangular frame relative to the detection mechanism, and the fixed frame is installed in the rectangular groove; the fixed frame is provided with a groove, and the moving frame is slidably arranged in the groove of the fixed frame; a spring two is installed between the inner end of the moving frame and the bottom of the groove of the fixed frame, at least two extension grooves are formed in the inner wall of the groove, and each extension groove is provided with a set of spring three, T-shaped rod and extension frame, wherein the T-shaped rod is arranged at the bottom of the extension groove, the spring three is sleeved on the T-shaped rod, and the extension frame is sleeved on the end of the T-shaped rod and abuts against the spring three; the clamping block protrudes on the outer side of the moving frame at the position of the corresponding extension groove;

[0024] An electromagnet is installed at the end of the T-shaped rod, and the extension frame is made of iron material or the inner wall thereof is made of iron material.

[0025] In some embodiments of the present application, the laser cleaning mechanism comprises a sliding rail frame, a trapezoidal frame, a connecting frame and a laser cleaning end head;

[0026] The sliding rail frame is installed on the rectangular frame through an end support, the trapezoidal frame is slidably arranged on the sliding rail frame; the connecting frame is installed on the rectangular frame and is arranged on the upper side of the sliding rail frame opposite thereto; an electric sliding block two is installed at the lower end of the connecting frame, and the upper end of the trapezoidal frame is assembled in cooperation with the electric sliding block two, so that the electric sliding block two can drive the trapezoidal frame to move horizontally along the length direction of the sliding rail frame; a detachable laser cleaning end head is installed on the inclined surface of the trapezoidal frame, and the inner side surface of the trapezoidal frame matched with the moving frame is in arc structure.

[0027] In some embodiments of the present application, the cleaning unit comprises a rack plate, a gear shaft one, a gear shaft two and a cleaning roller;

[0028] The rack plate is installed on the inner wall of the sliding groove of the support frame; the gear shaft one is installed in the two side walls of the sliding frame and is engaged with the rack plate; the gear shaft two is installed on the sliding frame, and the wheel shaft thereof is perpendicular to the wheel shaft of the gear shaft one and is engaged with the gear shaft one; the gear shaft two is connected with the cleaning roller, and the cleaning roller is uniformly provided with cleaning brushes.

[0029] In some embodiments of the present application, a sealing gasket is mounted on the outer end of the laser cleaning module.

[0030] In some embodiments of the present application, a plurality of groups of brush hairs are arranged on the inner sides of the sliding grooves of the support frame, and the brush hairs arranged oppositely are arranged at intervals.

[0031] A cleaning method of a laser cleaning robot for offshore photovoltaic panels is proposed, which is applied to the offshore photovoltaic panel laser cleaning robot as described above, and comprises the following steps:

[0032] S1, after receiving a cleaning instruction, starting the sliding module to drive the laser cleaning module to slide out from the collection rack to traverse the surface of the photovoltaic panel;

[0033] S2, during the traversal, the laser cleaning module judges whether there is dirt attached to the surface of the photovoltaic panel, and marks the position of the dirt when the dirt appears;

[0034] S3, the laser cleaning module cleans the dirt at the marked position;

[0035] S4, after the cleaning is completed, the laser cleaning module sweeps the accumulated dirt;

[0036] S5, after the cleaning operation is completed, the sliding module drives the laser cleaning module to return and retract into the collection rack.

[0037] Compared with the prior art, the present application has the following advantages and positive effects:

[0038] 1, the present application sets up 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 extruded to move upward, so that the power connection piece on the moving rod is disconnected with the touch switch, and the disconnection signal is used as the trigger signal of the connecting mechanism, so that the connecting mechanism cooperates to mark the position of the attached dirt, thereby guiding the laser cleaning mechanism to clean the attached dirt at the marked position, so that the present application can accurately detect the dirt on the photovoltaic panel through simple mechanical structure.

[0039] 2, the connecting mechanism designed by the application, when the electric contact piece is disconnected with the touch switch, the electromagnet on the T-shaped rod loses magnetism instantaneously due to power-off, the moving frame is extruded outward by spring three, the telescopic frame is retracted into the telescopic groove, the moving frame moves outward to the rectangular groove, and the place with attached dirt is marked; when the laser cleaning mechanism moves to the marked place, the laser cleaning mechanism extrudes the moving frame into the rectangular groove, at this time, the extrusion force of the laser cleaning mechanism on the moving frame is greater than the elastic force of spring three and the adsorption force of the electromagnet on the telescopic frame, the moving frame is successfully retracted into the rectangular groove, the connecting mechanism can recover to the initial state based on the structural design, and thus can be repeatedly applied to the marking of dirt.

[0040] 3. The application sets the laser cleaning mechanism, when the moving frame is extruded outward to the rectangular groove, the electric sliding block on the connecting frame drives the trapezoidal frame and the laser cleaning end head to move to the marked place, and the laser cleaning end head cleans the attached dirt at the marked place. The laser cleaning method does not need fresh water source, and is more suitable for the cleaning environment of offshore photovoltaic panels.

[0041] Other features and advantages of the present application will become more apparent after reading the detailed description of the embodiments of the present application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0043] Figure 1 The three-dimensional structure schematic diagram of the offshore photovoltaic panel laser cleaning robot proposed by the application;

[0044] Figure 2 The cross-sectional structure schematic diagram of the sliding frame and the cleaning unit in the sliding direction of the application;

[0045] Figure 3 The cross-sectional structure schematic diagram of the sliding frame and the cleaning unit in the sliding direction of the application;

[0046] Figure 4 The cross-sectional structure schematic diagram of the laser cleaning unit of the application;

[0047] Figure 5 The cross-sectional structure schematic diagram of the connecting mechanism of the application;

[0048] Figure 6 The cross-sectional structure schematic diagram of the connecting mechanism of the application; Figure 5 The enlarged schematic diagram of the structure at A in the structure shown;

[0049] Figure 7It is a profile structure schematic diagram of the detection mechanism of the application;

[0050] Figure 8 It is a structure schematic diagram of the laser cleaning unit of the application;

[0051] Figure 9 It is a profile structure schematic diagram of the laser cleaning unit of the application Figure 8

[0052] Figure 10 It is a top view structure schematic diagram of the laser cleaning unit of the application;

[0053] Figure 11 It is a cleaning step schematic of the offshore photovoltaic panel laser cleaning robot proposed by the application;

[0054] The figure mark explanation: 1, photovoltaic panel support; 11, photovoltaic panel; 2, support frame; 21, connecting support; 3, sliding module; 31, U-shaped frame; 32, sliding block one; 4, laser cleaning module; 41, sliding frame; 42, laser cleaning unit; 421, rectangular frame; 422, detection mechanism; 4221, detection frame; 4222, spring one; 4223, moving rod; 4224, detection probe; 4225, connecting rod; 4226, power connection piece; 4227, touch switch; 423, connecting mechanism; 4231, fixed frame; 4232, spring two; 4233, moving frame; 4234, clamping block; 4235, spring three; 4236, T-shaped rod; 42361, electromagnet; 4237, telescopic frame; 424, laser cleaning mechanism; 4241, sliding rail frame; 4242, trapezoidal 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, collection frame. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0056] The application discloses an offshore photovoltaic panel laser cleaning robot, which can realize the function of laser cleaning of marine biological adhesion, bird droppings and salt precipitation and other adhered dirt on the surface of an offshore photovoltaic panel, and can clean a large area on the surface of the photovoltaic panel.

[0057] With reference to Figures 1 to 9 The offshore photovoltaic panel laser cleaning robot provided by the application comprises: ​

[0058] The photovoltaic panel support 1 has the photovoltaic panel 11 placed uniformly thereon, and the lower end is fixed to the seabed through the support.

[0059] The support frame 2 is a splicing type frame structure, and is symmetrically fixed to the outer side of the photovoltaic panel support 1, and the upper side is provided with a sliding groove. The adjacent support frames 2 are connected through the connecting support 21, and the connecting support 21 is provided with a through groove corresponding to the sliding groove, and the through groove is used for connecting the two sliding grooves on the adjacent support frames 2.

[0060] The sliding module 3 is installed in the sliding groove.

[0061] The laser cleaning module 4 is arranged on the upper side of the support frame 2, and the lower end is connected with the sliding module 3, and is used for cleaning the surface of the photovoltaic panel 11.

[0062] The collecting frame 5 is a rectangular hollow structure with one end open, and is installed at the end of the upper side of the support frame 2, and is used for sealing and storing the laser cleaning module 4.

[0063] In actual use, the support frame 2 is connected with the photovoltaic panel support 1 through bolts to form a whole, and the laser cleaning module 4 and the collecting frame 5 are fixed on the upper side of the support frame 2. When it is necessary to clean the surface of the photovoltaic panel 11, taking the case that the collecting frame 5 is 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 of the collecting frame 5, and moves from left to right, and the laser cleaning module 4 sequentially cleans and sweeps the surface of the photovoltaic panel 11. When the laser cleaning module 4 moves to the right end of the support frame 2, the sweeping 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 is retracted into the collecting frame 5.

[0064] In some embodiments of the present application, the outer end of the laser cleaning module 4 is provided with a sealing pad. When the surface of the photovoltaic panel 11 is cleaned, the laser cleaning module 4 is completely retracted into the collecting frame 5, and the sealing pad can form a closed cavity between the collecting frame 5 and the laser cleaning module 4, so as to prevent seawater and rainwater from entering the collecting frame 5.

[0065] In some embodiments of the present application, a plurality of groups of bristles are uniformly arranged in the sliding groove of the support frame 2, and the bristles arranged oppositely are kept apart. 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 sliding groove. The dirt can be prevented from falling into the sliding groove based on the bristles uniformly arranged in the sliding groove, so as to avoid affecting the normal work of the laser cleaning module 4.

[0066] In order to realize the left-right reciprocating sliding function of the laser cleaning module 4, the sliding module 3 is arranged in the sliding groove of the support frame 2, and the sliding module 3 is arranged in the sliding groove of the support frame 2. Figure 2As shown, the sliding module 3 comprises a U-shaped frame 31 and a sliding block 32, the U-shaped frame 31 is installed on the inner wall of the sliding groove, and an electric sliding block 1 (not shown in the figure) is installed inside, and the sliding block 32 is assembled with the electric sliding block 1.

[0067] In actual use, when the surface of the photovoltaic panel needs to be cleaned, the electric sliding block 1 drives the sliding block 32, and the sliding block 32 drives the laser cleaning module 4 to reciprocate on the support frame 2, and the U-shaped frame 31 is used to prevent the laser cleaning module 4 from shaking in the sliding groove.

[0068] Referring to Figure 3 and Figure 9 , 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 in a horizontally open U-shaped structure, and the lower ends of the structures on both sides are arranged in the sliding groove of the support frame 2 and connected with the sliding block 32; the laser cleaning unit 42 is fixed to the inside bottom of the U-shaped structure of the sliding frame 41; and the cleaning unit 43 is installed at the opening end of the inside of the U-shaped structure of the sliding frame 41.

[0069] In actual use, the sliding module 3 drives the sliding frame 41 to reciprocate on the support frame 2, and 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, so as to avoid the hot spot effect caused by the attached dirt and improve the conversion efficiency of the photovoltaic panel.

[0070] Referring to Figure 3 and Figure 4 , the laser cleaning unit 42 comprises 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 sensing system; the rectangular frame 421 is installed at the inside bottom of the U-shaped sliding frame 41, and a plurality of vertical through holes are uniformly arranged on it; the detection mechanism 422 is detachably installed in the through hole; the connecting mechanism 423 is installed on the rectangular frame 421 and corresponds to the detection mechanism 422, and is electrically connected between the detection mechanism 422; and the laser cleaning mechanism 424 is installed between the rectangular frame 421 and the cleaning unit 43 and cooperates with the connecting mechanism 423.

[0071] In actual use, when the surface of the photovoltaic panel 11 needs to be cleaned, the detection mechanism 422 is first installed in the through hole; during the working period when the sliding module 3 drives the sliding frame 41 to come out of the collecting frame 5, the end of the detection mechanism 422 is always in close contact with the surface of the photovoltaic panel 11, and when the detection mechanism 422 detects that there is attached dirt on the surface of the photovoltaic panel, the connecting mechanism 423 corresponding to the detection mechanism 422 marks the position of the attached dirt, and the laser cleaning mechanism 424 quickly moves to the marked position to clean the attached dirt.

[0072] It should be noted that the lower end of the laser cleaning mechanism 424 is also equipped with a machine vision system or other sensing system, which is built-in with a marine photovoltaic panel attached dirt recognition algorithm. The machine vision system or sensing system is used for machine vision analysis or sensing analysis of 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, so as to achieve the function of targeted cleaning of different types of attached dirt. The specific marine photovoltaic panel attached dirt recognition algorithm can be realized according to the existing recognition algorithm, which is not limited by the present application.

[0073] Referring to Figure 4 and Figure 7 , in order to realize the function of marking the attached dirt on 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; the moving rod 4223 is slidably arranged in the sliding groove in parallel with the photovoltaic panel 11; in the direction perpendicular to the photovoltaic panel 11, the spring 4222 is installed between the top of the moving rod 4223 and the inner wall of the sliding groove, and the lower end of the moving rod 4223 is installed with the detection probe 4224 through the connecting rod 4225, and the detection probe 4224 penetrates out from the bottom of the rectangular frame 421 (so as to abut against the surface of the photovoltaic panel 11); the moving rod 4223 is installed with an electrical contact piece 4226, and the inner wall of the sliding groove is installed with a touch switch 4227 matched with the electrical contact piece 4226, and the touch switch 4227 is electrically connected with the connecting mechanism 423; the end of the detection probe 4224 is arc-shaped structure, which is made of plastic material.

[0074] In actual use, when the detection probe 4224 detects that there is dirt attached to the surface of the photovoltaic panel 11, the dirt extrusion moves upward, thereby forcing the moving rod 4223 to move upward, the moving rod 4223 compresses the spring 4222, causing the moving rod 4223 to separate from the sliding groove, thereby causing the electrical contact piece 4226 on the moving rod 4223 to disconnect from the touch switch 4227 on the sliding groove, so that the connecting mechanism 423 receives a disconnection signal, thereby generating an action according to the disconnection signal (for example, low level) to mark the place where the dirt is attached, and the laser cleaning mechanism 424 is guided to run to the marked position to clean the dirt attached to the marked position; the end of the detection probe 4224 leaves the dirt and descends, the spring 4222 quickly resets, and the electrical contact piece 4226 and the touch switch 4227 are restored to connection. It should be noted that although there is a gap between the detection probes 4224 in the figure, the figure is only a schematic, in fact, the minimum area of the dirt can be obtained by statistics, and the gap between the detection probes 4224 is designed within the average area, which can realize effective monitoring of the dirt, and in combination with the two-side interference cleaning mode of the laser cleaning end 4244 during cleaning, the dead angle cleaning effect of the dirt can be realized.

[0075] It should be noted that the detection probe 4224 is always in close contact with the surface of the photovoltaic panel 11, and the detection probe 4224 made of plastic material can prevent damage to the surface of the photovoltaic panel 11 and prevent the problem of inaccurate detection results caused by deformation of the detection probe 4224.

[0076] Referring to 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 the embodiment is composed of a fixed frame 4231, a spring 2 4232, a moving frame 4233, a clamping block 4234, a spring 3 4235, a T-shaped rod 4236 and an extension frame 4237. The end of the T-shaped rod 4236 is provided with an electromagnet 42361, and the extension frame 4237 is made of iron or has an iron inner side. The rectangular frame 421 is provided with a rectangular slot opposite the position of the detection mechanism 422, and the fixed frame 4231 is installed in the rectangular slot. The fixed frame 4231 is provided with a slot, so that its cross section is a U-shaped structure. The moving frame 4233 is slidably arranged in the slot of the fixed frame 4231, and the outer end thereof is a smooth arc-shaped structure. The inner end of the moving frame 4233 and the bottom of the slot of the fixed frame 4231 are provided with the spring 2 4232. At least two extension slots are formed in the inner wall of the slot, and the extension slots are symmetrically distributed. Each extension slot is provided with a set of spring 3 4235, T-shaped rod 4236 and extension frame 4237. The T-shaped rod 4236 is arranged at the bottom of the extension slot, the spring 3 4235 is sleeved on the T-shaped rod 4236, and the extension frame 4237 is sleeved on the bottom rod of the T-shaped rod 4236 and abuts against the spring 3 4235. The clamping block 4234 protrudes outward from the outer side of the moving frame 4233 at the position of the corresponding extension slot, and the end of the clamping block 4234 is arc-shaped.

[0077] In actual use, when there is no dirt marked on the surface of the photovoltaic panel 11, the contact piece of the detection mechanism 422 is in contact with the touch switch, the electromagnet of the T-shaped rod 4236 is powered to attract the extension frame 4237, so that the T-shaped rod 4236 and the extension frame 4237 are relatively fixed. In this state, the extension frame 4237 blocks the outside of the clamping block 4234, thereby preventing the clamping block 4234 from extending outward from the rectangular slot, that is, the moving frame 4233 is resisted in the extension slot. When the detection mechanism 422 detects dirt and the contact piece is separated from the touch switch, the electromagnet in the T-shaped rod 4236 is de-energized and loses magnetism, and the extension frame 4237 can slide inward along the T-shaped rod 4236 at this time. At this time, the moving frame 4233 has a force to move outward under the action of the spring 2 4232. The force presses the extension frame 4237 through the clamping block 4234, so that the extension frame 4237 is retracted into the extension slot. The moving frame 4233 moves rapidly outward from the rectangular slot, and the ejected moving frame 4233 marks the position of the attached dirt. When the laser cleaning mechanism 424 moves to the marked position, the laser cleaning mechanism 424 presses the moving frame 4233 into the rectangular slot. At this time, the pressing force of the laser cleaning mechanism 424 on the moving frame 4233 is greater than the elastic force of the spring 2 4232. In addition, with the cleaning of the dirt, the end of the detection probe 4224 is lowered to make the contact piece 4226 contact the touch switch 4227, so that the electromagnet 42361 at the end of the T-shaped rod 4236 is powered again to attract the extension frame 4237, so that the moving frame 4233 is successfully retracted into the rectangular slot.

[0078] It should be noted that when the moving frame 4233 is successfully retracted into the rectangular slot, the initial state of the spring 4232 is in a compressed state, and when the telescopic frame 4237 is retracted into the telescopic slot, the moving frame 4233 can be quickly ejected out of the rectangular slot.

[0079] Referring to 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 the embodiment includes a sliding rail frame 4241, a trapezoidal frame 4242, a connecting frame 4243, and a laser cleaning end head 4244. The sliding rail frame 4241 is installed on the rectangular frame 421 through an end support, and the trapezoidal frame 4242 is slidably arranged on the sliding rail frame 4241. The connecting frame 4243 is installed on the rectangular frame 421 and is arranged opposite to the upper side of the sliding rail frame 4241. An electric sliding block 2 is installed at the lower end of the connecting frame 4243, and the upper end of the trapezoidal frame 4242 is assembled with the electric sliding block 2 in cooperation, so that the electric sliding block 2 can drive the trapezoidal frame 4242 to move horizontally along the length direction of the sliding rail frame 4241. The inclined surface of the trapezoidal frame 4242 is provided with a detachable installation laser cleaning end head 4244, and the inner side surface of the trapezoidal frame 4242 matched with the moving frame 4233 is in an arc structure.

[0080] In actual use, when the moving frame 4233 ejects the detected attached dirt to mark, the connecting frame 4243 drives the trapezoidal frame 4242 to move to the marked position, and then the laser cleaning end head 4244 cleans the attached dirt at the marked position.

[0081] It should be noted that when the detection mechanism 422 marks multiple attached dirt, the sliding frame 41 moves at a slower speed, the connecting frame 4243 drives the trapezoidal frame 4242 and the laser cleaning end head 4244 to move to a marked position, and the arc structure of the inner side of the trapezoidal frame 4242 first extrudes and resets the ejected moving frame 4233. After the laser cleaning end head 4244 cleans the attached dirt at the marked position, the connecting frame 4243 drives the trapezoidal frame 4242 and the laser cleaning end head 4244 to continue to slide to clean the attached dirt at the next marked position.

[0082] It should be further noted that when the detection mechanism 422 detects the attached dirt, the inclined laser cleaning end head 4244 can immediately clean the attached dirt. The laser cleaning end head 4244 is detachably arranged and can be replaced regularly.

[0083] Referring to Figure 2 and Figure 3In order to realize the function of cleaning the surface of the photovoltaic panel 11, a cleaning unit 43 is arranged in the embodiment, which comprises a rack plate 431, a gear shaft one 432, a gear shaft two 433 and a cleaning roller 434; the rack plate 431 is installed on the inner wall of the sliding groove of the support frame 2; the gear shaft one 432 is installed on the inner wall of the side wall of the sliding frame 41 and is engaged with the rack plate 431; the gear shaft two 433 is installed on the sliding frame 41 and its wheel shaft is perpendicular to the wheel shaft of the gear shaft one 432 and is engaged with the gear shaft one 432; the gear shaft two 433 is connected with the cleaning roller 434, and the cleaning roller 434 is uniformly provided with cleaning brushes made of flexible material.

[0084] In actual use, when the laser cleaning unit 42 finishes cleaning the surface of the photovoltaic panel 11, the rack plate 431 is engaged with the gear shaft one 432, the gear shaft one 432 is engaged with the gear shaft two 433, and the cleaning roller 434 is driven to rotate, thereby realizing the function of cleaning the surface of the photovoltaic panel 11.

[0085] In combination with the above structure, the offshore photovoltaic panel laser cleaning robot of the present application is implemented in the following steps when cleaning, as shown in the figure, according to the following steps: Figure 11

[0086] S1: Start the sliding module to drive the laser cleaning module to slide out from the collection frame to traverse the photovoltaic panel.

[0087] The length of the traversal path is set according to the actual environment.

[0088] S2: During the traversal, the laser cleaning module judges whether there is dirt on the surface of the photovoltaic panel, and marks the position of the dirt when the dirt appears.

[0089] The position of the dirt can be determined by image recognition or sensor sensing, and in the embodiment of the present application, the position of the dirt can be determined by the structure given above. Specifically, the detection probe 4224 of the detection mechanism 422 of the laser cleaning module 4 is extruded by the dirt to make the moving rod 4223 move upward to compress the spring one 4222, so that the power connection piece on the moving rod 4223 is disconnected with the touch switch, the disconnection signal is received by the connecting mechanism 423 to make the electromagnet 42361 at the end of the T-shaped rod 4236 be powered off, the telescopic frame 4237 is not attracted to the T-shaped rod 4236, so that the telescopic frame 4237 can slide inward along the T-shaped rod 4236, at this time the moving frame 4233 is extruded outward under the action of the spring two 4232, and the telescopic frame 4237 is extruded to shrink into the telescopic groove by the clamping block 4234, so that the moving frame 4233 is extruded outward to mark the position of the dirt.

[0090] S3: The laser cleaning module cleans the dirt at the marked position.

[0091] ​After the connection mechanism 423 marks the dirt position, the sliding frame 41 decelerates (the reason for deceleration instead of stopping is to prolong the cleaning time of the laser cleaning mechanism 424 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 sufficient time to move vertically over the dirt, so deceleration of the sliding frame instead of stopping does not 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 of the dirt. When the detection probe 4224 passes over the dirt, it still feeds back the detected dirt position to the laser cleaning mechanism 424. The detection probe 4224 does not need to stay above the dirt to feed back the position signal to the laser cleaning mechanism 424 when it detects the dirt), the laser cleaning mechanism 424 controls its connecting frame 4243 to move the trapezoidal frame 4242 and the laser cleaning end 4244 to the marked position for cleaning, and at the same time the trapezoidal frame 4242 presses the moving frame 4233 to retract and reset.

[0092] When cleaning the dirt, the sliding frame 41 is temporarily stopped. When there are multiple dirt in the same latitude, after cleaning the current dirt, the laser cleaning mechanism cleans the other dirt until the dirt in the same latitude is cleaned.

[0093] S4: After cleaning is completed, the dirt accumulated on the surface of the photovoltaic panel is cleaned.

[0094] The rack plate 431 of the cleaning unit 43 is engaged with the gear shaft one 432, the gear shaft one 432 is engaged with the gear shaft two 433, during the sliding of the sliding frame 41, the gear shaft one 432 is rotated by the engagement of the rack plate 431, and then drives the gear shaft two 433 to rotate, finally drives the cleaning roller 434 to rotate, realizes the function of cleaning the surface of the photovoltaic panel.

[0095] S5: After the cleaning operation is completed, the sliding module drives the laser cleaning module to return and retract into the collecting frame.

[0096] One cleaning operation includes at least two parts of laser cleaning and dirt cleaning. During this period, the sliding module 3 can drive the laser cleaning module 4 to move in one-way or reciprocating form to implement cleaning and cleaning.

[0097] Based on the offshore photovoltaic panel laser cleaning robot and the cleaning method thereof, the support frame 2, the sliding module 3, the laser cleaning module 4 and the collection frame 5 can be added on the basis of the existing offshore photovoltaic system, the laser cleaning and large-area cleaning of the dirt such as the marine organism adhesion, the bird droppings and the salt precipitation on the surface of the offshore photovoltaic panel can be performed without changing the structure of the existing photovoltaic system, the fresh water resource needs not to be introduced from outside, the cleaning difficulty of the offshore photovoltaic panel is reduced, and the offshore photovoltaic panel is suitable for popularization and application.

[0098] It should be noted that, in the specific implementation process, the control part described above can be realized by a processor in the form of hardware to execute computer execution instructions in the form of software stored in the memory, which is not described here, and the programs corresponding to the actions performed by the control circuit can be stored in the computer readable storage medium of the system in the form of software, so that the processor calls and executes the operations corresponding to each module.

[0099] The computer readable storage medium in the foregoing can include a volatile memory, such as a random access memory; can also include a non-volatile memory, such as a read-only memory, a flash memory, a hard disk or a solid state disk; and can also include a combination of the above kinds of memories.

[0100] The processor mentioned above can also be a general term for a plurality of processing elements. For example, the processor can be a central processing unit, and can also be other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc., and can also be a special-purpose processor.

[0101] It should be pointed out that the above description is not a limitation of the present application, and the present application is also not limited to the above examples, and the changes, modifications, additions or replacements made by the ordinary skilled in the art within the essential scope of the present application should also be within the protection scope of the present application.

Claims

1. A marine photovoltaic panel laser cleaning robot, characterized in that, The utility model relates to a photovoltaic panel cleaning device, including: photovoltaic panel support (1) is uniformly arranged with photovoltaic panel (11) on its upper end, and its lower end is fixed on the seabed through the support; support frame (2) is a splicing frame structure, and is fixed symmetrically on the outer side of photovoltaic panel support (1), and a sliding groove is formed in the support frame (2); sliding module (3) is installed in the sliding groove of support frame (2); laser cleaning module (4) is arranged on the upper side of support frame (2), and its lower end is connected with sliding module (3), which is used for cleaning the surface of photovoltaic panel (11); collection frame (5) is a hollow structure with one end open, and is installed on the end of the upper side of support frame (2) and is used for sealing and storing laser cleaning module (4); when the surface of photovoltaic panel (11) is cleaned, sliding module (3) drives laser cleaning module (4) to slide out of collection frame (5), laser cleaning module (4) cleans the surface of photovoltaic panel (11), when laser cleaning module (4) moves to the end of support frame (2), the dirt adhered to the surface of photovoltaic panel (11) falls from the end of support frame (2); after cleaning, sliding module (3) drives laser cleaning module (4) to return and shrink into collection frame (5); laser cleaning module (4) is composed of sliding frame (41), laser cleaning unit (42) and cleaning unit (43); sliding frame (41) is in the form of a horizontally open U-shaped structure, and the lower ends of the two sides of the structure are arranged in the sliding groove of support frame (2); laser cleaning unit (42) is fixed to the inner bottom of the U-shaped structure of sliding frame (41); laser cleaning unit (42) includes rectangular frame (421), detection mechanism (422), connecting mechanism (423) and laser cleaning mechanism (424); rectangular frame (421) is installed on the inner bottom of the U-shaped sliding frame (41), a plurality of vertical through holes are formed in the rectangular frame (421), and a detachable detection mechanism (422) is installed in the through hole; connecting mechanism (423) is installed on rectangular frame (421) and is arranged opposite to detection mechanism (422) and is electrically connected with detection mechanism (422); laser cleaning mechanism (424) is installed between rectangular frame (421) and cleaning unit (43); detection mechanism (422) is composed of detection frame (4221), spring one (4222), moving rod (4223) and detection probe (4224); detection frame (4221) is hollow, the vertical section of the hollow structure is in the form of T, the upper part of the T-shaped structure is configured as a sliding groove, and the moving rod (4223) is slidably arranged in the sliding groove and parallel to the photovoltaic panel (11); in the vertical direction, spring one (4222) is installed between the top of moving rod (4223) and the inner wall of the sliding groove, detection probe (4224) is installed on the lower end through connecting rod (4225), and detection probe (4224) penetrates the bottom of rectangular frame (421) and abuts against the photovoltaic panel (11); The mobile rod (4223) is provided with an electricity contact piece (4226), and the inner wall of the sliding groove is provided with a touch switch (4227) matched with the electricity contact piece (4226), and the touch switch (4227) is electrically connected with the connecting mechanism (423); when the electricity contact piece (4226) is disconnected with the touch switch (4227), the connecting mechanism (423) marks the dirt attached to the photovoltaic panel (11); The connecting mechanism (423) is composed of a fixing frame (4231), a spring two (4232), a moving frame (4233), a clamping block (4234), a spring three (4235), a T-shaped rod (4236) and an extension frame (4237); The rectangular frame (421) is provided with a rectangular groove opposite the position of the detection mechanism (422), and the fixing frame (4231) is arranged in the rectangular groove; the fixing frame (4231) is provided with a groove, and the moving frame (4233) is slidably arranged in the groove of the fixing frame (4231); the spring two (4232) is arranged between the inner end of the moving frame (4233) and the groove bottom of the fixing frame (4231); at least two extension grooves are arranged on the inner wall of the groove, and each extension groove is provided with a set of spring three (4235), T-shaped rod (4236) and extension frame (4237); the T-shaped rod (4236) is arranged at the bottom of the extension groove, the spring three (4235) is sleeved on the T-shaped rod (4236), and the extension frame (4237) is sleeved on the end of the T-shaped rod (4236) and abuts against the spring three (4235); the clamping block (4234) protrudes on the outer side of the moving frame (4233) at the position of the corresponding extension groove; The end of the T-shaped rod (4236) is provided with an electromagnet (42361), and the extension frame (4237) is made of iron material or the inner wall thereof is made of iron material; When the sliding module drives the laser cleaning module to move on the surface of the photovoltaic panel, when the detection probe contacts the dirt attached to the photovoltaic panel, the detection probe is extruded to move upward, so that the electricity contact piece on the mobile rod is disconnected with the touch switch, the electromagnet on the T-shaped rod is powered off to lose magnetism, the moving frame extrudes the extension frame outward under the action of the spring three, so that the extension frame is retracted into the extension groove, and the moving frame moves outward to the rectangular groove to mark the dirt; when the laser cleaning mechanism moves to the marked position, the laser cleaning mechanism extrudes the moving frame into the rectangular groove, at this time, the extrusion force of the laser cleaning mechanism on the moving frame is greater than the elastic force of the spring three and the adsorption force of the electromagnet on the extension frame, so that the moving frame is retracted into the rectangular groove, and the connecting mechanism can restore the initial state based on the structural design, so that it can be repeatedly applied to the marking of dirt.

2. The offshore photovoltaic panel laser cleaning robot according to claim 1, characterized in that, The cleaning unit (43) is arranged in the opening end of the inner side of the U-shaped structure of the sliding frame (41).

3. The offshore photovoltaic panel laser cleaning robot according to claim 1, characterized in that, The laser cleaning mechanism (424) comprises a sliding rail frame (4241), a trapezoidal 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 the end support, and the trapezoidal 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) opposite to the slide rail frame (4241); the lower end of the connecting frame (4243) is provided with the electric sliding block two, and the upper end of the trapezoidal frame (4242) is assembled in cooperation with the electric sliding block two, so that the electric sliding block two can drive the trapezoidal frame (4242) to move horizontally along the length direction of the slide rail frame (4241); the detachable laser cleaning end head (4244) is mounted on the inclined surface of the trapezoidal frame (4242), and the inner side surface of the trapezoidal frame (4242) matched with the moving frame (4233) is in an arc structure.

4. The offshore photovoltaic panel laser cleaning robot according to claim 2, characterized in that, The cleaning unit (43) comprises a rack plate (431), a gear shaft one (432), a gear shaft two (433) and a cleaning roller (434). The rack plate (431) is mounted on the inner wall of the sliding groove of the support frame (2); the gear shaft one (432) is mounted on the inner walls of the two side walls of the sliding frame (41) and is engaged with the rack plate (431); the gear shaft two (433) is mounted on the sliding frame (41) and is perpendicular to the gear shaft one (432) and is engaged with the gear shaft one (432); the gear shaft two (433) is connected with the cleaning roller (434), and the cleaning roller (434) is uniformly provided with cleaning brushes.

5. The offshore photovoltaic panel laser cleaning robot according to claim 1, characterized in that, The outer end of the laser cleaning module (4) is provided with a sealing gasket.

6. The offshore photovoltaic panel laser cleaning robot of claim 1, wherein, A plurality of groups of bristles are arranged on the inner sides of the sliding grooves of the support frame (2), and the bristles arranged oppositely are arranged at intervals.

7. A cleaning method of the offshore photovoltaic panel laser cleaning robot, applied to the offshore photovoltaic panel laser cleaning robot of any one of claims 1-6, characterized in that, Comprising: S1, after receiving the cleaning instruction, starting the sliding module (3) to drive the laser cleaning module (4) to slide out of the collecting frame (5) to traverse the surface of the photovoltaic panel (11); S2, during the traversal, the laser cleaning module (4) judges whether dirt is attached to the surface of the photovoltaic panel (11), and marks the position of the dirt when the dirt appears; S3, the laser cleaning module (4) cleans the dirt at the marked position; S4, after the cleaning is completed, the laser cleaning module (4) sweeps 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 collecting frame (5).

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