Unmanned photovoltaic operation and maintenance device

Abstract

The invention discloses an unmanned photovoltaic operation and maintenance device, and relates to the technical field of photovoltaic operation and maintenance device.The unmanned photovoltaic operation and maintenance device comprises an intelligent cleaning trolley, a protective cover is installed in the middle of the upper surface of the intelligent cleaning trolley, a cleaning device is installed in front of the intelligent cleaning trolley, and cleaning isolation covers are arranged on the two sides of the intelligent cleaning trolley; according to the scheme, by arranging the unmanned cleaning vehicle, dust cleaning can be conducted on the solar panel only through remote control of an operator when the device is used, and due to the fact that the advanced automatic control system and the intelligent sensing device are arranged, the system can automatically sense the position, the shape and the pollution degree of the solar panel; in addition, through connection with a monitoring system of the solar power station, the cleaning vehicle can feed back the cleaning effect and the power generation efficiency in real time, data support is provided for operation and maintenance management of the power station, and the intelligent operation and maintenance mode not only improves the cleaning efficiency, but also reduces the cost and risk of manual intervention.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic operation and maintenance devices, and in particular to an unmanned photovoltaic operation and maintenance device. Background Art

[0002] Photovoltaic panels, also known as solar panels, are a type of technical equipment that can convert sunlight into electrical energy. It has a wide range of applications in many fields. Photovoltaic panels are the core components of solar power generation systems, which can directly convert sunlight into electrical energy. This technology has been widely used in power stations, household electricity, remote power supply and other occasions, becoming an important part of the new energy field.

[0003] When existing photovoltaic panels are in use, the surface of the photovoltaic panels will be covered with dirt due to the erosion of dust in the air and rainwater, which will affect the energy conversion efficiency of the photovoltaic panels. When cleaning impurities from existing photovoltaic panels, the common method of cleaning photovoltaic panels mainly relies on manual use of high-pressure water guns and cleaning equipment for semi-automatic cleaning. However, this method has obvious disadvantages. Since photovoltaic panels are usually installed at higher positions, this not only increases the difficulty of cleaning for operators, but more importantly, high-altitude operations will significantly increase the risk of operators falling, posing a serious threat to their safety.

[0004] In addition, when the existing cleaning device is working, the internal driving mechanism (such as motor, transmission shaft, etc.) will generate mechanical movement. When these moving parts are running at high speed, they will generate certain vibrations due to inertia, friction and other factors. This vibration will cause the movement of the cleaning rod on the surface of the photovoltaic panel to become unstable, thereby affecting the uniformity of cleaning. Some areas may be over-cleaned due to vibration, while other areas may be insufficiently cleaned. Long-term vibration and unstable contact will cause scratches, wear and other damages on the surface of the photovoltaic panel. These damages will not only affect the appearance of the photovoltaic panel, but also may reduce its energy conversion efficiency.

[0005] Therefore, an unmanned photovoltaic operation and maintenance device is proposed to solve the above problems. Summary of the invention

[0006] In view of this, the technical problem to be solved by the present invention is to propose an unmanned photovoltaic operation and maintenance device to solve the problems in the prior art that manual cleaning of dust on the surface of photovoltaic panels is difficult and the vibration of the cleaning equipment easily causes uneven cleaning of dust on the surface of photovoltaic panels.

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: an unmanned photovoltaic operation and maintenance device, comprising an intelligent cleaning vehicle, a protective cover is installed in the middle of the upper surface of the intelligent cleaning vehicle, a cleaning device is installed in front of the intelligent cleaning vehicle, cleaning isolation covers are arranged on both sides of the intelligent cleaning vehicle, and an angle adjustment storage mechanism and an anti-vibration buffer mechanism are also included;

[0008] Angle adjustment storage mechanism;

[0009] The angle adjustment storage mechanism is arranged in the protective cover, and the angle adjustment storage mechanism is used for adjusting and storing the cleaning isolation cover at an angle;

[0010] Anti-vibration buffer mechanism;

[0011] The anti-vibration buffer mechanism is arranged in the cleaning isolation cover, and the anti-vibration buffer mechanism is used for cleaning dust on the surface of the photovoltaic panel.

[0012] Preferably, the angle adjustment storage mechanism includes a transmission shaft, a drive motor is symmetrically installed on the intelligent cleaning vehicle, and the drive shaft of the drive motor is fixedly connected to the transmission shaft, the outer surface of the transmission shaft is rotatably connected to the protective cover, and the transmission shaft is fixedly connected to a first V-shaped plate at one end away from the motor drive shaft, and one end of the first V-shaped plate is rotatably connected to the cleaning isolation cover.

[0013] Preferably, the other end of the first V-shaped plate is rotatably connected to the first auxiliary plate, the end of the first auxiliary plate away from the first V-shaped plate is rotatably connected to the second V-shaped plate, the middle part of the second V-shaped plate close to the first auxiliary plate is rotatably connected to the protective cover, the middle part of the second V-shaped plate is rotatably connected to a tension spring, the end of the tension spring away from the second V-shaped plate is rotatably connected to the protective cover, the end of the second V-shaped plate away from the first auxiliary plate is rotatably connected to the second auxiliary plate, and the end of the second auxiliary plate away from the second V-shaped plate is rotatably connected to the cleaning isolation cover.

[0014] Preferably, the anti-vibration buffer mechanism includes a slide plate, which is symmetrically slidably connected to the inner wall of the bottom of the cleaning isolation cover, and a support plate is symmetrically rotatably connected to the upper surface of the slide plate, and the support plate is rotatably connected to a T-shaped slide cylinder at one end away from the slide plate, and a fixed rod is fixedly connected to the inner wall of the cleaning isolation cover near the top of the slide, the middle part of the T-shaped slide cylinder is symmetrically slidably connected to the fixed rod, and a compression spring is sleeved on the outer surface of the middle part of the fixed rod, and both ends of the compression spring are fixedly connected to the T-shaped slide cylinder.

[0015] Preferably, the anti-vibration buffer mechanism also includes an extrusion rod, the upper end of the extrusion rod is fixedly connected to the T-shaped slide, the cleaning isolation cover is symmetrically provided with shock-absorbing grooves, an L-shaped shock-absorbing block is slidably connected in the shock-absorbing groove of the cleaning isolation cover, a guide groove is provided on the L-shaped shock-absorbing block, the extrusion rod is slidably connected in the guide groove at one end away from the T-shaped slide, a buffer spring is symmetrically fixedly connected to the lower surface of the L-shaped shock-absorbing block, and the buffer spring is fixedly connected to the inner wall of the cleaning isolation cover at one end away from the connection with the L-shaped shock-absorbing block.

[0016] Preferably, a cleaning recovery mechanism is also provided in the cleaning isolation cover, and the cleaning recovery mechanism includes a V-shaped pressurized water outlet trough, one end of the V-shaped pressurized water outlet trough is fixedly connected to the bottom of the cleaning isolation cover, and a water collection tank and a wastewater collection chamber are respectively installed at both ends of the upper surface of the intelligent cleaning vehicle, and the other end of the V-shaped pressurized water outlet trough is fixedly connected to the water collection tank of the intelligent cleaning vehicle.

[0017] Preferably, a water collecting bin is arranged on the side of the cleaning isolation cover away from the V-shaped boost water outlet trough, and an elastic telescopic plate is fixedly connected to the bottom of the water collecting bin, and a scraper cotton is installed on the elastic telescopic plate for cleaning the surface of the photovoltaic panel and collecting waste water.

[0018] Compared with the prior art, the unmanned photovoltaic operation and maintenance device provided by the present invention has the following beneficial effects:

[0019] 1. This solution can be used for quick storage of the cleaning isolation cover, which not only reduces the occupied space when not in use and facilitates storage and transportation, but also can adapt to different working environments and conditions more quickly. At the same time, this solution symmetrically sets two sets of angle adjustment storage mechanisms, which can not only be put into use quickly in different environments and different operating directions, but also users can quickly complete storage and deployment without complicated operations, thereby reducing user operation time and improving work efficiency.

[0020] 2. Compared with traditional cleaning equipment solutions, the present invention can detect and control the pressure on the surface of the photovoltaic panel in real time through the pressure detection control device inside the T-shaped slide. The present invention can detect and control the pressure between the cleaning rod and the surface of the photovoltaic panel in real time. Through this setting, it can accurately sense the change in pressure and automatically adjust according to preset parameters. Even when facing photovoltaic panels of different materials and different degrees of pollution, it can ensure that the cleaning process always remains within an optimal pressure range.

[0021] 3. In this scheme, a T-shaped slide barrel buffer component is added for linkage. When the cleaning rod on the slide plate rotates and cleans, the vibration generated by the photovoltaic panel will drive the slide plate to displace on the inner wall of the cleaning isolation cover through the transmission of vibration. The sliding of the slide plate can drive the T-shaped slide barrel to slide in the fixed rod. Through linkage, the T-shaped slide barrel can drive the L-shaped shock-absorbing block to perform a damping effect on the surface of the cleaning isolation cover, so that the vibration generated by the cleaning rod on the slide plate during cleaning can reduce the uneven cleaning caused by the vibration of the equipment under the damping effect of the L-shaped shock-absorbing block.

[0022] 4. In this solution, an unmanned cleaning vehicle is set up. When the equipment is in use, the operator only needs to remotely control it to clean the dust on the solar panels. Equipped with advanced automatic control systems and intelligent sensing devices, these systems can automatically sense the position, shape and degree of contamination of the solar panels, thereby achieving precise cleaning. In addition, by connecting to the monitoring system of the solar power station, the cleaning vehicle can provide real-time feedback on the cleaning effect and power generation efficiency, providing data support for the operation and maintenance management of the power station. This intelligent operation and maintenance method not only improves the cleaning efficiency, but also reduces the cost and risk of manual intervention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0024] Figure 2 It is an auxiliary schematic diagram of the three-dimensional structure of the present invention;

[0025] Figure 3 This is a schematic diagram of the structural connection relationship of the angle adjustment storage mechanism of the present invention;

[0026] Figure 4 This is a schematic diagram of the structural connection relationship of the cleaning recovery mechanism of the present invention;

[0027] Figure 5 A schematic diagram of the structural connection relationship of the anti-vibration buffer mechanism of the present invention;

[0028] Figure 6 For the present invention Figure 5 Enlarged view of point A in the middle;

[0029] Figure 7 This is a schematic diagram of the structural connection relationship of the cleaning recovery mechanism of the present invention;

[0030] Figure 8 For the present invention Figure 7 Enlarged view of point B in the middle.

[0031] In the figure:

[0032] 1. Intelligent cleaning vehicle; 11. Protective cover; 12. Cleaning isolation cover; 14. Cleaning device;

[0033] 2. Angle adjustment storage mechanism; 21. Transmission shaft; 22. First V-shaped plate; 23. First auxiliary plate; 24. Second V-shaped plate; 25. Tension spring; 26. Second auxiliary plate;

[0034] 3. Anti-vibration buffer mechanism; 31. Slide plate; 32. Support plate; 33. T-shaped slide cylinder; 34. Fixing rod; 35. Compression spring; 36. Extrusion rod; 37. L-shaped shock absorbing block; 38. Guide groove; 39. Buffer spring;

[0035] 4. Cleaning recovery mechanism; 41. V-shaped pressurized water outlet trough; 42. Wiping cotton. DETAILED DESCRIPTION

[0036] 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.

[0037] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0038] Example

[0039] Please refer to Figures 1 to 8 As shown:

[0040] In order to solve the problems mentioned in the technical solution, the embodiment of the present application provides an unmanned photovoltaic operation and maintenance device. To achieve the above purpose, the present invention provides the following technical solutions: an unmanned photovoltaic operation and maintenance device, including an intelligent cleaning vehicle 1, a protective cover 11 is installed in the middle of the upper surface of the intelligent cleaning vehicle 1, a cleaning device 14 is installed in front of the intelligent cleaning vehicle 1, cleaning isolation covers 12 are arranged on both sides of the intelligent cleaning vehicle 1, and also includes an angle adjustment storage mechanism 2 and an anti-vibration buffer mechanism 3;

[0041] Angle adjustment storage mechanism 2;

[0042] The angle adjustment storage mechanism 2 is arranged in the protective cover 11, and the angle adjustment storage mechanism 2 is used for the angle adjustment storage of the cleaning isolation cover 12;

[0043] Anti-vibration buffer mechanism 3;

[0044] The anti-vibration buffer mechanism 3 is arranged in the cleaning isolation cover 12, and the anti-vibration buffer mechanism 3 is used for cleaning dust on the surface of the photovoltaic panel;

[0045] In this solution, an unmanned cleaning vehicle is set up. When the equipment is in use, the operator only needs to remotely control it to clean the dust from the solar panels. Equipped with advanced automatic control systems and intelligent sensing devices, these systems can automatically sense the position, shape and degree of contamination of the solar panels, thereby achieving precise cleaning. In addition, by connecting to the monitoring system of the solar power station, the cleaning vehicle can provide real-time feedback on the cleaning effect and power generation efficiency, providing data support for the operation and maintenance management of the power station. This intelligent operation and maintenance method not only improves the cleaning efficiency, but also reduces the cost and risk of manual intervention.

[0046] The intelligent cleaning vehicle 1 is composed of an electrical control unit, a charging module, a cleaning device 14, a lifting mechanism, a motion control mechanism, a depth ranging sensor, a Beidou satellite navigation system and other components. The electrical control unit, the charging device, the lifting mechanism, the motion control mechanism, and the depth ranging sensor are fixed on the main frame. The cleaning device 14 is used to clean the photovoltaic panel and is fixed to the front of the robot. The lifting mechanism can be used to control the lifting and lowering of the brush as a whole. The Beidou satellite navigation system can accurately locate the planned path points and realize automatic patrol and accurate navigation according to the calculated longitude and latitude during automatic operation.

[0047] Specifically, Figure 3 As shown, the intelligent cleaning vehicle 1 is symmetrically equipped with a driving motor, and the driving shaft of the driving motor is fixedly connected to the transmission shaft 21, the outer surface of the transmission shaft 21 is rotatably connected to the protective cover 11, and the end of the transmission shaft 21 away from the motor driving shaft is fixedly connected to the first V-shaped plate 22, and one end of the first V-shaped plate 22 is rotatably connected to the cleaning isolation cover 12;

[0048] The first V-shaped plate 22 is used as a power arm to drive the folding operation of the cleaning isolation cover 12, and storage grooves are symmetrically opened on both sides of the protective cover 11, and the cleaning isolation cover 12 can be stored in the storage grooves after being folded.

[0049] The other end of the first V-shaped plate 22 is rotatably connected to the first auxiliary plate 23, the end of the first auxiliary plate 23 away from the first V-shaped plate 22 is rotatably connected to the second V-shaped plate 24, the middle part of the second V-shaped plate 24 close to the first auxiliary plate 23 is rotatably connected to the protective cover 11, the middle part of the second V-shaped plate 24 is rotatably connected to the tension spring 25, the end of the tension spring 25 away from the second V-shaped plate 24 is rotatably connected to the protective cover 11, the end of the second V-shaped plate 24 away from the first auxiliary plate 23 is rotatably connected to the second auxiliary plate 26, and the end of the second auxiliary plate 26 away from the second V-shaped plate 24 is rotatably connected to the cleaning isolation cover 12;

[0050] The second V-shaped plate 24 serves as an auxiliary arm of the cleaning isolation cover 12, and is used to control the angle adjustment of the cleaning isolation cover 12 when folding, wherein the elastic control of the tension spring 25 can make the cleaning isolation cover 12 more stable when being folded;

[0051] The present solution is provided with a quick storage device for cleaning the isolation cover 12, which not only reduces the occupied space when not in use and facilitates storage and transportation, but also can adapt to different working environments and conditions more quickly. At the same time, the present solution symmetrically sets two sets of angle adjustment storage mechanisms 2, which can not only be quickly put into use in different environments and different operating directions, but also the user can quickly complete the storage and deployment without complicated operations, thereby reducing the user's operation time and improving work efficiency.

[0052] Specifically, Figure 5 and Figure 6 As shown, the slide plate 31 is symmetrically slidably connected to the inner wall at the bottom of the cleaning isolation cover 12, the upper surface of the slide plate 31 is symmetrically rotatably connected to the support plate 32, the support plate 32 is rotatably connected to the end away from the slide plate 31 with a T-shaped slide cylinder 33, the inner wall of the cleaning isolation cover 12 is fixedly connected to the upper part of the slide plate 31 near the upper part of the slide plate 31, the middle part of the T-shaped slide cylinder 33 is symmetrically slidably connected to the fixed rod 34, the middle part of the fixed rod 34 is sleeved with a compression spring 35 on the outer surface, and the two ends of the compression spring 35 are fixedly connected to the T-shaped slide cylinder 33;

[0053] In this solution, a slide plate 31 is added, and a pressure detection control device is built into the T-shaped slide cylinder 33. At the same time, the pressure detection control device is electrically connected to the motor installed on the intelligent cleaning vehicle 1, thereby realizing intelligent pressure control; and when the cleaning isolation cover 12 is unfolded, the cleaning rod in the slide plate 31 is quickly in contact with the surface of the photovoltaic panel and applies a just right pressure. This pressure can ensure that the cleaning rod effectively removes dust on the surface of the photovoltaic panel without causing any damage to the photovoltaic panel. In this solution, multiple groups of cleaning rods are arranged in the slide plate 31 to clean the dust on the surface of the photovoltaic panel. At the same time, the material selection of the cleaning rod not only has good wear resistance and corrosion resistance, but also can reduce friction and damage to the surface of the photovoltaic panel, and even in a long cleaning process, it can ensure that the photovoltaic panel maintains its original glossiness;

[0054] Compared with traditional cleaning equipment solutions, the present invention can detect and control the pressure on the surface of the photovoltaic panel in real time through the pressure detection control device inside the T-shaped slide 33. The present invention can detect and control the pressure between the cleaning rod and the surface of the photovoltaic panel in real time. Through this setting, it can accurately sense the change in pressure and automatically adjust according to the preset parameters. Even when facing photovoltaic panels of different materials and different degrees of pollution, it can ensure that the cleaning process always remains within an optimal pressure range.

[0055] Specifically, Figure 8 As shown, the anti-vibration buffer mechanism 3 also includes an extrusion rod 36, the upper end of the extrusion rod 36 is fixedly connected to the T-shaped slide cylinder 33, and the cleaning isolation cover 12 is symmetrically provided with shock-absorbing grooves, and an L-shaped shock-absorbing block 37 is slidably connected in the shock-absorbing groove of the cleaning isolation cover 12, and a guide groove 38 is provided on the L-shaped shock-absorbing block 37. The end of the extrusion rod 36 away from the T-shaped slide cylinder 33 is slidably connected in the guide groove 38, and the lower surface of the L-shaped shock-absorbing block 37 is symmetrically fixedly connected with a buffer spring 39, and the end of the buffer spring 39 away from the connection with the L-shaped shock-absorbing block 37 is fixedly connected to the inner wall of the cleaning isolation cover 12; thereby, the influence of the vibration generated by the rotation of the cleaning rod on the overall stability of the equipment can be effectively reduced. Under the damping action of the L-shaped shock-absorbing block 37, even if the cleaning rod generates large vibrations when rotating at high speed, these vibrations will be effectively absorbed and dispersed by the L-shaped shock-absorbing block 37, thereby avoiding uneven cleaning caused by equipment vibration.

[0056] Compared with traditional cleaning equipment, this solution adds a mechanism that is linked with the T-shaped slide cylinder 33. It can not only ensure that the cleaning process is always kept within an optimal pressure range for photovoltaic panels of different materials and different degrees of pollution, but also achieve efficient and uniform cleaning of the surface of the photovoltaic panels. At the same time, the damping effect of the L-shaped shock-absorbing block 37 further improves the stability and durability of the cleaning rod during cleaning.

[0057] The L-shaped shock absorbing blocks 37 slide symmetrically on both sides of the cleaning isolation cover 12;

[0058] In the present solution, a buffer assembly is added to be linked with the T-shaped slide 33. When the cleaning rod on the slide plate 31 rotates and cleans, the vibration generated by the photovoltaic panel will drive the slide plate 31 to move on the inner wall of the cleaning isolation cover 12 through the transmission of vibration. The sliding of the slide plate 31 can drive the T-shaped slide plate 33 to slide in the fixed rod 34. Through the linkage, the T-shaped slide plate 33 can drive the L-shaped shock absorbing block 37 to perform a damping effect on the surface of the cleaning isolation cover 12, so that the vibration generated by the cleaning rod on the slide plate 31 during cleaning can reduce the uneven cleaning caused by the vibration of the equipment under the damping effect of the L-shaped shock absorbing block 37.

[0059] Specifically, Figure 4 and Figure 5As shown, the cleaning isolation cover 12 is also provided with a cleaning recovery mechanism 4, and the cleaning recovery mechanism 4 includes a V-shaped pressurized water outlet trough 41, one end of the V-shaped pressurized water outlet trough 41 is fixedly connected to the bottom of the cleaning isolation cover 12, and a water collection tank and a wastewater collection chamber are respectively installed at both ends of the upper surface of the intelligent cleaning vehicle 1, and the other end of the V-shaped pressurized water outlet trough 41 is fixedly connected to the water collection tank of the intelligent cleaning vehicle 1; the cleaning isolation cover 12 is provided with a water collection bin on the side away from the V-shaped pressurized water outlet trough 41, and an elastic telescopic plate is fixedly connected to the bottom of the water collection bin, and a wiper cotton 42 is installed on the elastic telescopic plate for cleaning the surface of the photovoltaic panel and collecting wastewater;

[0060] A booster pump is installed in the water collection tank of the intelligent cleaning vehicle 1. The booster pump transports water of a certain pressure through a pipeline and discharges it through a V-shaped booster water outlet trough 41. The pressure control of the pressure pump is controlled by a sensor installed on the upper surface of the cleaning isolation cover 12. The water output pressure of the pressure pump can be controlled by detecting dirt on the surface of the photovoltaic panel.

[0061] In this solution, the water spraying trough of the V-shaped booster water outlet trough 41 and the multiple groups of cleaning rods on the slide 31 can increase the cleaning efficiency of impurities and dust on the surface of the photovoltaic panel, and realize efficient cleaning of the surface of the photovoltaic panel, while the multiple groups of cleaning rods can evenly distribute and effectively remove dust and impurities on the surface. This combination not only improves the coverage of cleaning, but also ensures the depth and effect of cleaning. By installing a scraper cotton 42 at the bottom of the angled scraper, the cleaned sewage can be concentrated, and at the same time, a sewage hole is opened at the water collection point below the angled scraper, wherein the sewage hole is connected to the water absorption device, forming a complete sewage collection system for collecting sewage on the surface of the photovoltaic panel. The present invention is more environmentally friendly in that the collected sewage can be used for plant irrigation, which not only realizes the reuse of wastewater, but also provides valuable water resources for plant growth and reduces water resource waste.

[0062] The following is the specific implementation process of the above embodiment:

[0063] Scenario 1: Driving on the surface of photovoltaic panels and simultaneously positioning and cleaning.

[0064] First, the unmanned photovoltaic operation and maintenance robot automatically patrols the set points before reaching them:

[0065] First, during the automatic start-up process, the robot will automatically patrol points according to the planned route and operate normally. However, when satellite communication is affected or the wheels slip, the robot may pass the path point and fail to reach the planned set point in one go. At this time, the robot will perform difference calculations based on the longitude, latitude and angle values ​​obtained in real time and the longitude, latitude and angle values ​​of the retrieved target point. When the longitude difference, latitude difference and angle difference are all close to the set difference range, it means that the robot has reached the set point normally. If any of the three differences are less than the set value, the robot will readjust the angle until the automatic patrol reaches the correct path point, and then the next path process can be retrieved. As long as the set point is not reached during the automatic movement, the robot system will repeat this cycle, and real-time monitoring and correction will be carried out during the entire walking process to ensure the accuracy and stability of the robot's automatic patrol.

[0066] Second, the unmanned photovoltaic operation and maintenance robot automatically patrols the photovoltaic panels:

[0067] The intelligent cleaning vehicle 1 of the present invention utilizes the high-precision positioning of the Beidou navigation system, and plans its working path once, so as to realize the functions of autonomous navigation and autonomous positioning, and the centimeter-level positioning accuracy ensures that the walking route is accurate and precise. When planning the path, the lifting and lowering points of the cleaning isolation cover 12 can be accurately recorded according to the longitude and latitude, thereby ensuring the stable rise and fall of the cleaning rod in the cleaning isolation cover 12 on the photovoltaic panel. When running on the photovoltaic panel, the distance measuring sensors on both sides of the cleaning isolation cover 12 can automatically patrol the edge. When both sides of the cleaning isolation cover 12 deviate from the planned path, the intelligent cleaning vehicle 1 can be controlled to automatically correct the deviation, thereby ensuring that the cleaning isolation cover 12 is safely moved along the correct trajectory on the photovoltaic panel. When the battery level of the smart cleaning vehicle 1 reaches a preset low voltage value, the smart cleaning vehicle 1 will no longer continue cleaning but will raise the cleaning isolation cover 12 and fold it to return autonomously along the nearest main circuit point until it returns to a predetermined charging point and adjusts to the correct charging angle before starting automatic charging. When the charging voltage reaches the set voltage value, that is, the battery is fully charged, it can continue to work at the path point where the power supply voltage was insufficient last time. Before the smart cleaning vehicle 1 reaches the target set point, the smart cleaning vehicle 1 will make real-time corrections based on the difference between the current latitude and longitude, angle and target point, thereby ensuring the stable and accurate operation of the smart cleaning vehicle 1.

[0068] Third, automatic recharging of unmanned photovoltaic operation and maintenance robots:

[0069] First of all, it should be noted that during the process of path planning, the robot cleaning device 14 is in the raised state. At this time, the lifting mechanism corresponds to the upper limit sensor being turned on, and the cleaning device 14 will not start. When the cleaning device 14 needs to be dropped during the path planning process, that is, when the robot climbs onto the photovoltaic panel to start cleaning, the robot will start the brush and record a longitude and latitude point as the landing point of the cleaning device 14. The lifting mechanism starts to move away from the upper limit position until it lands at the lower limit and continues to move forward. At this time, the system will define the brush drop point as the origin of the photovoltaic panel on the robot. When the voltage value is lower than the system setting value during the cleaning process on the photovoltaic panel, the cleaning device 14 will automatically rise and record the longitude and latitude values ​​of the recharge start point when the recharge is turned on. At this time, after the cleaning device 14 is raised to the upper limit, the robot will automatically call the brush drop origin of the cleaning device 14 as the first recharge path point. After returning to the brush drop origin, it will get off the photovoltaic panel and start to return to the charging pile along the main route for charging. After charging is completed, the robot returns to the brush drop origin of the cleaning device 14 according to the planned recharging route, directly retrieves the longitude and latitude points recorded during recharging, and after reaching that target path point, the brush automatically lands and continues the unfinished cleaning work.

[0070] Fourth, the unmanned photovoltaic operation and maintenance robot automatically recharges and continues walking:

[0071] First, when the robot is in automatic operation, the output voltage value will drop due to work. When the actual voltage value is less than or equal to the automatic recharge voltage value set by the system, the automatic recharge function will be turned on. The robot will then suspend cleaning and return to the charging point for automatic charging. When the battery is fully charged, the robot will follow the method of walking in the recharge continuation point. The photovoltaic panel route that has been cleaned before will be automatically shielded and does not need to be cleaned again. The robot will quickly retrieve the path according to the main route point determined during planning and return to the recharge point. The recharge point can be a point on the main route, a sub-route, or any path point on the photovoltaic panel. When the robot voltage value is lower than the set recharge voltage value, automatic recharge will start. At this time, the robot will record a longitude and latitude coordinate point, which is the automatic recharge continuation point. After the robot returns to this automatic recharge continuation point, it will retrieve the path points that were not cleaned before in sequence to start execution and complete the next stage of cleaning.

[0072] Fifth, automatic deviation correction of unmanned photovoltaic operation and maintenance robots:

[0073] First, in the automatic control state, the robot will automatically patrol by calling the path points. When the next target location information is obtained, the robot will automatically calculate the distance and direction. When the longitude and latitude of the target point are close to or reach a certain distance set by the system, the robot will calculate the target longitude and latitude and angle values ​​and the current real-time values ​​to obtain a correction angle to correct and adjust the walking route. If the robot deviates from the path point and fails to enter the corresponding longitude and latitude difference, the robot will retreat a certain distance and readjust the angle, and continue to the target position until it reaches the called path point. This automatic deviation correction method plays a role in real-time deviation correction and automatic adjustment during the entire automatic patrol process of the robot, ensuring the stability and accuracy of the robot's running trajectory.

[0074] Sixth, automatic start-up of unmanned photovoltaic operation and maintenance robots:

[0075] After confirming that the path planning is completed, click End Path Planning, and the robot can switch from manual mode to automatic mode. Open the automatic control interface, press Reset after entering, enter the path point you want to call, and press the Auto Start button to complete the automatic start. When the robot completes an automatic start process, just keep it in the automatic start state. No other operations are required. The robot will start regularly according to the set time and date in good weather. This automatic start method does not require manual intervention. Whether it is recharge start or recharge continuation start, it is automatically completed by the control system in the automatic start state. When the recharge start is completed and returns to the charging point for charging, the automatic start will stop the power supply. After the charging voltage is fully charged, the recharge continuation will automatically start. At this time, the robot will first power on and drive forward a distance away from the charging pile, and then automatically start and run after the satellite signal is normal, and execute the recharge continuation program.

[0076] Compared with the traditional design, the present invention utilizes the high-precision positioning of the Beidou navigation system, plans its working path once, and can realize the functions of autonomous navigation and autonomous positioning. The centimeter-level positioning accuracy ensures that the walking route is accurate and precise. When planning the path, the lifting point of the cleaning brush can be accurately recorded according to the longitude and latitude, ensuring the stable rise and fall of the brush on the photovoltaic panel. When automatically running on the photovoltaic panel, it can automatically patrol the edge by relying on its ranging sensor, and can also automatically correct when deviating from the planned path, ensuring that the robot walks safely along the correct trajectory on the photovoltaic panel.

[0077] At the same time, when the battery reaches the preset low voltage value, the robot will stop cleaning and raise the brush to return autonomously along the nearest main loop point until it returns to the pre-set charging point and adjusts to the correct charging angle before starting to charge automatically. When the charging voltage reaches the set voltage value, the battery is fully charged and can continue to work at the path point where the power supply voltage was insufficient last time. Before the robot reaches the target set point, the robot will make real-time corrections based on the difference between the current latitude and longitude, angle and target point, ensuring the stability and accuracy of the robot's movement.

[0078] Scenario 2: Cleaning the surface of photovoltaic panels on the ground:

[0079] During the above implementation process, the specific process of the intelligent cleaning vehicle 1 cleaning impurities and dust on the surface of the photovoltaic panel is as follows:

[0080] like Figure 3 As shown, when the smart cleaning vehicle 1 runs to the specified positioning coordinates, the motor installed on the smart cleaning vehicle 1 is started under the control of the controller of the terminal. Since the motor is fixedly connected to the middle of the transmission shaft 21, the counterclockwise rotation of the motor will drive the transmission shaft 21 to start rotating counterclockwise. Since the transmission shaft 21 is unfolded as a power arm, and the second V-shaped plate 24 is used as an auxiliary arm for controlling the direction of the cleaning isolation cover 12, when the transmission shaft 21 rotates counterclockwise, the second V-shaped plate 24 will start rotating counterclockwise through the linkage of the first auxiliary plate 23. When the cleaning isolation cover 12 is in contact with the surface of the photovoltaic panel, as shown in FIG. Figure 5 As shown, the cleaning rod on the surface of the slide plate 31 contacts the photovoltaic panel and generates a certain pressure, and the cleaning rod and the photovoltaic panel generate an interaction force, that is, the cleaning rod drives the slide plate 31 to slide upward along the inner wall of the cleaning isolation cover 12. At this time, the upward sliding of the slide plate 31 will push the support plate 32 to make the T-shaped slide cylinder 33 slide. Since the T-shaped slide cylinder 33 and the support plate 32 are symmetrically arranged on the slide plate 31, and the fixing rod 34 is fixed on the T-shaped slide cylinder 33, at this time, the T-shaped slide cylinder 33 is squeezed to slide toward the middle of the fixing rod 34, and the compression spring 35 is compressed. Since a pressure control device is built into the T-shaped slide 33, when the pressure control device reaches a preset threshold, the pressure control device can control the motor on the intelligent cleaning vehicle 1 to stop rotating. At this time, the cleaning rod at the bottom of the cleaning isolation cover 12 is pressed against the surface of the photovoltaic panel with a certain pressure; and when the cleaning isolation cover 12 is unfolded, the cleaning rod in the slide plate 31 quickly contacts the surface of the photovoltaic panel and applies a just right pressure. This pressure can ensure that the cleaning rod effectively removes dust from the surface of the photovoltaic panel without causing any damage to the photovoltaic panel.

[0081] When the intelligent cleaning vehicle 1 is running, it drives the photovoltaic panel to clean. At the same time, some mechanical vibrations will be generated due to the cleaning of the cleaning rod and the surface of the photovoltaic panel. The mechanical vibration will cause uneven cleaning of impurities on the surface of the photovoltaic panel. Figure 8 As shown, at this time, the vibration transmission generated in the slide plate 31 will control the T-shaped slide cylinder 33 to slide slightly in the compression spring 35, and the sliding of the T-shaped slide cylinder 33 can drive the extrusion rod 36 to continuously squeeze the guide groove 38, and the extrusion interaction can drive the L-shaped shock absorbing block 37 to continuously press the surface of the cleaning isolation cover 12. The pressing of the L-shaped shock absorbing block 37 performs a damping effect on the surface of the cleaning isolation cover 12, so that the vibration generated by the cleaning rod on the slide plate 31 during cleaning can reduce the uneven cleaning caused by the vibration of the equipment under the damping effect of the L-shaped shock absorbing block 37.

[0082] In this solution, the water spraying trough of the V-shaped booster water outlet trough 41 and the multiple groups of cleaning rods on the slide 31 can increase the cleaning efficiency of impurities and dust on the surface of the photovoltaic panel, and realize efficient cleaning of the surface of the photovoltaic panel, while the multiple groups of cleaning rods can evenly distribute and effectively remove dust and impurities on the surface. This combination not only improves the coverage of cleaning, but also ensures the depth and effect of cleaning. By installing a scraper cotton 42 at the bottom of the angled scraper, the cleaned sewage can be concentrated, and at the same time, a sewage hole is opened at the water collection point below the angled scraper, wherein the sewage hole is connected to the water absorption device, forming a complete sewage collection system for collecting sewage on the surface of the photovoltaic panel. The present invention is more environmentally friendly in that the collected sewage can be used for plant irrigation, which not only realizes the reuse of wastewater, but also provides valuable water resources for plant growth and reduces water resource waste.

[0083] Please refer to the above implementation process Figures 1 to 8 .

[0084] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0085] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned photovoltaic operation and maintenance device, comprising an intelligent cleaning vehicle (1), a protective cover (11) is installed in the middle of the upper surface of the intelligent cleaning vehicle (1), a cleaning device (14) is installed in front of the intelligent cleaning vehicle (1), and cleaning isolation covers (12) are arranged on both sides of the intelligent cleaning vehicle (1), characterized in that: It also includes an angle adjustment storage mechanism (2) and an anti-vibration buffer mechanism (3); Angle adjustment storage mechanism (2); The angle adjustment storage mechanism (2) is arranged in the protective cover (11), and the angle adjustment storage mechanism (2) is used for adjusting the angle of the cleaning isolation cover (12); Anti-vibration buffer mechanism (3); The anti-vibration buffer mechanism (3) is arranged in the cleaning isolation cover (12), and the anti-vibration buffer mechanism (3) is used for cleaning dust on the surface of the photovoltaic panel.

2. The unmanned photovoltaic operation and maintenance device according to claim 1, characterized in that: The angle adjustment storage mechanism (2) comprises a transmission shaft (21); a drive motor is symmetrically mounted on the intelligent cleaning vehicle (1); a drive shaft of the drive motor is fixedly connected to the transmission shaft (21); an outer surface of the transmission shaft (21) is rotatably connected to the protective cover (11); an end of the transmission shaft (21) away from the motor drive shaft is fixedly connected to a first V-shaped plate (22); and one end of the first V-shaped plate (22) is rotatably connected to the cleaning isolation cover (12).

3. The unmanned photovoltaic operation and maintenance device according to claim 2, characterized in that: The other end of the first V-shaped plate (22) is rotatably connected to a first auxiliary plate (23); the end of the first auxiliary plate (23) away from the first V-shaped plate (22) is rotatably connected to a second V-shaped plate (24); the middle part of the second V-shaped plate (24) close to the first auxiliary plate (23) is rotatably connected to the protective cover (11); the middle part of the second V-shaped plate (24) is rotatably connected to a tension spring (25); the end of the tension spring (25) away from the second V-shaped plate (24) is rotatably connected to the protective cover (11); the end of the second V-shaped plate (24) away from the first auxiliary plate (23) is rotatably connected to a second auxiliary plate (26); the end of the second auxiliary plate (26) away from the second V-shaped plate (24) is rotatably connected to the cleaning isolation cover (12).

4. The unmanned photovoltaic operation and maintenance device according to claim 1, characterized in that: The anti-vibration buffer mechanism (3) comprises a slide plate (31), the slide plate (31) is symmetrically slidably connected to the inner wall at the bottom of the cleaning isolation cover (12), the upper surface of the slide plate (31) is symmetrically rotatably connected to a support plate (32), the support plate (32) is rotatably connected to a T-shaped slide cylinder (33) at one end away from the slide plate (31), the inner wall of the cleaning isolation cover (12) is fixedly connected to a fixing rod (34) near the top of the slide plate (31), the middle part of the T-shaped slide cylinder (33) is symmetrically slidably connected to the fixing rod (34), the middle part of the fixing rod (34) is sleeved with a compression spring (35), and the two ends of the compression spring (35) are fixedly connected to the T-shaped slide cylinder (33).

5. The unmanned photovoltaic operation and maintenance device according to claim 4, characterized in that: The anti-vibration buffer mechanism (3) also includes an extrusion rod (36), the upper end of which is fixedly connected to the T-shaped slide cylinder (33), the cleaning isolation cover (12) is symmetrically provided with a shock-absorbing groove, an L-shaped shock-absorbing block (37) is slidably connected in the shock-absorbing groove of the cleaning isolation cover (12), the L-shaped shock-absorbing block (37) is provided with a guide groove (38), one end of the extrusion rod (36) away from the T-shaped slide cylinder (33) is slidably connected in the guide groove (38), a buffer spring (39) is symmetrically fixedly connected to the lower surface of the L-shaped shock-absorbing block (37), and one end of the buffer spring (39) away from the connection with the L-shaped shock-absorbing block (37) is fixedly connected to the inner wall of the cleaning isolation cover (12).

6. The unmanned photovoltaic operation and maintenance device according to claim 1, characterized in that: The cleaning isolation cover (12) is also provided with a cleaning recovery mechanism (4), the cleaning recovery mechanism (4) comprising a V-shaped pressurized water outlet groove (41), one end of the V-shaped pressurized water outlet groove (41) being fixedly connected to the bottom of the cleaning isolation cover (12), a water collection tank and a wastewater collection chamber being respectively installed at both ends of the upper surface of the intelligent cleaning vehicle (1), and the other end of the V-shaped pressurized water outlet groove (41) being fixedly connected to the water collection tank of the intelligent cleaning vehicle (1).

7. The unmanned photovoltaic operation and maintenance device according to claim 6, characterized in that: The cleaning isolation cover (12) is provided with a water collection bin on one side away from the V-shaped boost water outlet trough (41), and an elastic expansion plate is fixedly connected to the bottom of the water collection bin, and a scraper cotton (42) is installed on the elastic expansion plate for cleaning the surface of the photovoltaic panel and collecting waste water.

Images