Automatic scraping type photovoltaic power station intelligent cleaning device based on image recognition technology

Abstract

The invention relates to an automatic scraping type photovoltaic power station intelligent cleaning device based on an image recognition technology, and belongs to the technical field of photovoltaic power station cleaning. Comprising a crawler, a detection mechanism is arranged at the upper end of the crawler, and the detection mechanism comprises a high-definition camera; a mounting groove is formed in the front end of the crawler, a cleaning box is arranged in the mounting groove in a sliding mode, a driving mechanism is arranged in the cleaning box and comprises a driving pipe, the driving pipe is connected with the inner bottom face of the cleaning box through an action assembly, and the action assembly drives the front end of the driving pipe to be lifted upwards. Meanwhile, the driving pipe is driven to swing back and forth through the action assembly; a sweeping mechanism is arranged at the front end of the driving pipe and comprises a sweeping rod, the sweeping rod is arranged in the driving pipe in a sliding mode, and a sweeping roller is rotationally arranged on the sweeping rod; the problems that an existing photovoltaic power station cleaning device is poor in obstacle crossing capacity and poor in cleaning effect are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning of photovoltaic power stations, and in particular relates to an automatic scraping type intelligent cleaning device for photovoltaic power stations based on image recognition technology. Background Art

[0002] As the global demand for clean energy grows, photovoltaic power generation, as a clean and renewable energy form, has been widely used and developed. Photovoltaic power stations provide green electricity to society by converting solar energy into electrical energy. However, in the actual operation of photovoltaic power stations, pollutants such as dust, dirt, and fallen leaves on the surface of photovoltaic panels will have a significant negative impact on power generation efficiency. On the one hand, pollutants on the surface of photovoltaic panels will block sunlight, reduce the solar energy absorbed by photovoltaic panels, and thus reduce power generation. Studies have shown that when pollutants such as dust on the surface of photovoltaic panels accumulate to a certain extent, it may cause a 10% or even more decrease in power generation efficiency, which means huge economic losses for large-scale photovoltaic power stations. On the other hand, traditional photovoltaic panel cleaning methods mostly rely on manual cleaning or simple mechanical cleaning equipment. Manual cleaning is not only inefficient, but also poses a safety hazard. Especially in large-scale photovoltaic power stations, manual cleaning requires a lot of manpower and time costs. Although simple mechanical cleaning equipment has improved the cleaning efficiency to a certain extent, it often lacks intelligence and cannot perform targeted cleaning according to the actual pollution situation on the surface of the photovoltaic panel. It may result in incomplete cleaning or excessive cleaning, damaging the surface of the photovoltaic panel. Although existing cleaning components and fault detection are relatively mature and actually applied, most of them are single devices with many components and independent operation. They have large power losses and are prone to failure. Moreover, cleaning robots are mostly used in flat photovoltaics. Mountain photovoltaics are affected by the terrain, and cleaning robots are affected by their ability to cross obstacles. The relevant technology is not yet mature, and the above-mentioned shortcomings still exist in actual use. Therefore, improvements and treatments are needed based on the above-mentioned problems. Summary of the invention

[0003] The present invention overcomes the shortcomings of the prior art and proposes an automatic scraping-type intelligent cleaning device for photovoltaic power stations based on image recognition technology, thereby solving the problems of poor obstacle crossing capability and poor cleaning effect of cleaning equipment in current photovoltaic power stations.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions.

[0005] An automatic scraping photovoltaic power station intelligent cleaning device based on image recognition technology includes a tracked vehicle, a detection mechanism is arranged at the upper end of the tracked vehicle, and the detection mechanism includes a high-definition camera; a mounting groove is arranged at the front end of the tracked vehicle, a cleaning box is slidably arranged inside the mounting groove, a driving mechanism is arranged inside the cleaning box, and the driving mechanism includes a driving tube, the driving tube is connected to the bottom surface of the cleaning box through an action component, the front end of the driving tube is driven to lift upward through the action component, and the driving tube is driven to swing back and forth through the action component; a cleaning mechanism is arranged at the front end of the driving tube, and the cleaning mechanism includes a cleaning rod, the cleaning rod is slidably arranged inside the driving tube, and a cleaning roller is rotatably arranged on the cleaning rod.

[0006] Furthermore, the detection mechanism also includes a supporting box and a driving box; the supporting box is fixedly arranged at the upper end of the crawler vehicle, and the driving box is rotatably arranged at the upper end of the supporting box through a rotating assembly; a rotating hole is arranged at the center of the top plate of the supporting box, and a rotating column is fixedly arranged on the lower end surface of the driving box, and the rotating column is rotatably arranged inside the rotating hole; the rotating assembly includes a first motor, a driving gear, and an inner gear ring, the inner gear ring is fixedly arranged inside the supporting box, the first motor is fixedly arranged inside the driving box, and the driving gear is fixedly arranged on the output shaft of the first motor, and the driving gear is meshed with the inner gear ring.

[0007] Furthermore, the detection mechanism also includes a data transmission platform and a supporting plate. The data transmission platform is arranged inside the drive box, and the supporting plate is arranged above the drive box. The supporting plate and the drive box are connected by an angle adjustment assembly; the angle adjustment assembly includes a connecting rod, a first electric push rod, and a first hinged seat; two vertical connecting rods are fixedly arranged on the upper end surface of the drive box, and the two front corners on the front side of the lower end surface of the supporting plate are respectively hinged to the upper ends of the two connecting rods; a T-shaped groove is arranged on the lower end surface of the supporting plate, and a first electric push rod is fixedly arranged inside the drive box, and a first hinged seat is rotatably arranged at the end of the telescopic rod of the first electric push rod, and the first hinged seat is slidably arranged inside the T-shaped groove; the high-definition camera is fixedly arranged on the upper end surface of the supporting plate.

[0008] Furthermore, the cleaning box is a box structure with an open upper end, and the cleaning box is slidably arranged inside the installation groove along the front-to-back direction; a second electric push rod is fixedly arranged on the inner rear side of the installation groove, and the telescopic rod of the second electric push rod is horizontally forward and fixedly connected to the cleaning box.

[0009] Furthermore, the driving tube is a square tubular structure with an open front end, and the two driving tubes are symmetrically arranged.

[0010] Furthermore, the action component includes a second motor, a positioning screw, a first movable seat, and a ball hinge seat; two second motors are fixedly arranged on the inner bottom surface of the cleaning box, and a positioning screw is respectively fixed on the output shaft of the two second motors, and the positioning screws are horizontally arranged along the front-to-back direction, and a first movable seat is respectively screwed on each positioning screw, and a ball hinge seat is respectively fixed on the upper end surface of the two first movable seats, and an articulated ball is respectively fixed at the lower end of each driving tube, and the two articulated balls are respectively rotatably arranged inside the two ball hinge seats.

[0011] Furthermore, the action component also includes a second movable seat, a third motor, and a swing screw; the same left and right horizontal swing screw is rotatably arranged on the front side of the two positioning screws, and a third motor is fixedly arranged on the inner bottom surface of the cleaning box, and a driving bevel gear is fixedly arranged on the output shaft of the third motor, and a driven bevel gear is fixedly arranged in the middle of the swing screw, and the driving bevel gear is meshed with the driven bevel gear; two second movable seats are screwed on the swing screw, and a second articulated seat is fixedly arranged on the upper end of each second movable seat; a T-slot is respectively arranged on the lower end surface of each driving tube, and a third articulated seat is slidably arranged inside each T-slot of the driving tube, and a circular rotating plate is fixedly arranged on the third articulated seat, and the rotating plate is arranged inside the T-slot, and a support column is arranged between the second articulated seat and the third articulated seat on the same side.

[0012] Furthermore, the cleaning mechanism also includes a fourth motor and a positioning seat; a fourth motor is fixedly arranged at the innermost end of the driving tube, an adjusting screw is fixedly arranged on the output shaft of the fourth motor, a positioning seat is slidingly arranged inside the driving tube, and the positioning seat is screwed to the outer side of the adjusting screw; the cleaning rod is fixedly arranged on the side of the positioning seat away from the fourth motor, and the end of the adjusting screw away from the fourth motor passes through the positioning seat and is screwed to the inside of the cleaning rod; bristles are arranged on the outer side of the cleaning roller.

[0013] Furthermore, the cleaning mechanism also includes a fourth hinged seat, a connecting block, a scraper, and a rotating shaft; a fourth hinged seat is fixedly arranged at the end of each cleaning rod away from the positioning seat, and a connecting block is rotatably arranged on each fourth hinged seat; a connecting groove is respectively arranged on the end faces of the two connecting blocks that are close to each other, and the two ends of the rotating shaft are respectively rotatably inserted into the connecting grooves of the two connecting blocks, and a torsion spring is arranged between the end of the rotating shaft and the connecting groove; a scraper is fixedly sleeved on the outer side of the rotating shaft.

[0014] Furthermore, the cleaning mechanism also includes a positioning plate, a first nozzle, a first water pipe, a first water tank, a mounting head, a second nozzle, a second water pipe, and a second water tank; a positioning plate is fixedly arranged between the two connecting blocks, and a group of mounting heads are fixedly arranged at the upper and lower ends of the positioning plate, respectively, and each group includes two symmetrical mounting heads on the left and right; a first nozzle is fixedly arranged on the two mounting heads at the upper end, and a second nozzle is fixedly arranged on the two mounting heads at the lower end; a first water tank and a second water tank are fixedly arranged inside the cleaning box, the first water tank is filled with cleaning liquid, the second water tank is filled with clean water, the water pump in the first water tank is connected to the first nozzle through the first water pipe, and the water pump in the second water tank is connected to the second nozzle through the second water pipe.

[0015] The beneficial effects of the present invention compared with the prior art are as follows: The present invention facilitates the stable movement of the device when going uphill and downhill through the cooperation of the tracked vehicle and the track, thereby improving the stability of the device movement; facilitates the horizontal rotation of the high-definition camera through the cooperation of the driving gear and the inner gear ring, thereby improving the detection capability of the high-definition camera; facilitates the vertical rotation of the high-definition camera through the cooperation of the first electric push rod and the first articulated seat, thereby facilitating the high-definition camera to face the inclined photovoltaic panel, thereby improving the detection efficiency and detection effect of the high-definition camera; facilitates the inclination of the cleaning rod through the cooperation of the first movable seat and the second movable seat, thereby facilitating the cleaning of the photovoltaic panel; facilitates the swing of the cleaning rod through the cooperation of the rotating plate and the ball-hinged seat, thereby improving the cleaning range of the cleaning roller; facilitates the provision of cleaning fluid and clean water through the cooperation of the first water tank and the second water tank, thereby improving the cleaning efficiency; facilitates the scraper and the first nozzle and the second nozzle to scrape away the debris adhering to the surface of the photovoltaic panel, thereby improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure inside the drive box; Figure 3 It is a schematic diagram of the structure of the present invention after half-section in working state; Figure 4 It is a schematic diagram of the structure of the rotary assembly; Figure 5 It is a schematic diagram of the connection between the drive box and the rotary assembly; Figure 6 It is a schematic diagram of the structure of the testing mechanism after being cut; Figure 7 This is the connection diagram of the driving mechanism, cleaning mechanism and cleaning box. Figure 1 ; Figure 8This is the connection diagram of the driving mechanism, cleaning mechanism and cleaning box. Figure 2 ; Fig. 9 It is a schematic diagram of the connection between the driving mechanism and the cleaning mechanism; Fig.10 It is a schematic diagram of the structure of the driving tube, the first moving seat and the second moving seat after being half-cut; Fig.11 It is a schematic diagram of the structure of the driving tube after being cut; Fig.12 It is a partial structural diagram of the cleaning mechanism; Fig.13 It is a schematic diagram of the connection between the fourth articulated seat, the connecting block, the rotating shaft and the scraper; Fig.14 yes Fig. 9 A local enlarged schematic diagram of the middle A; Among them, 1 is a crawler vehicle, 2 is a crawler, 3 is a transmission wheel, 4 is a driven wheel, 5 is a support wheel, 6 is a support box, 7 is a drive box, 8 is a first motor, 9 is a drive gear, 10 is an inner gear ring, 11 is a data transmission platform, 12 is a cooling fan, 13 is a first electric push rod, 14 is a support plate, 15 is a connecting rod, 16 is a first articulated seat, 17 is a high-definition camera, 18 is a cleaning box, 19 is a second electric push rod, 20 is a positioning screw, 21 is a second motor, 22 is a first moving seat, 23 is an articulated ball, 24 is a drive tube, 25 is a fourth motor, and 26 is an adjusting screw , 27 is a positioning seat, 28 is a cleaning rod, 29 is a cleaning roller, 30 is a second moving seat, 31 is a second articulated seat, 32 is a swing screw, 33 is a driven bevel gear, 34 is an active bevel gear, 35 is a third motor, 36 is a support column, 37 is a third articulated seat, 38 is a rotating plate, 39 is a fourth articulated seat, 40 is a connecting block, 41 is a positioning plate, 42 is a first nozzle, 43 is a first water pipe, 44 is a first water tank, 45 is a mounting head, 46 is a second nozzle, 47 is a second water pipe, 48 is a second water tank, 49 is a rotating shaft, 50 is a torsion spring, and 51 is a scraper. DETAILED DESCRIPTION

[0017] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is further described in detail in conjunction with the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The technical solutions of the present invention are described in detail below in conjunction with the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0018] like Figure 1As shown in FIG14 , the present invention provides an automatic scraping type photovoltaic power station intelligent cleaning device based on image recognition technology, comprising a tracked vehicle 1, wherein a detection mechanism is arranged at the upper end of the tracked vehicle 1, and the detection mechanism comprises a high-definition camera 17; a mounting groove is arranged at the front end of the tracked vehicle 1, and a cleaning box 18 is slidably arranged inside the mounting groove, and a driving mechanism is arranged inside the cleaning box 18, and the driving mechanism comprises a driving tube 24, and the driving tube 24 is connected to the inner bottom surface of the cleaning box 18 through an action component, and the front end of the driving tube 24 is driven to be lifted upward by the action component, and the driving tube 24 is driven to swing back and forth by the action component at the same time; a cleaning mechanism is arranged at the front end of the driving tube 24, and the cleaning mechanism comprises a cleaning rod 28, and the cleaning rod 28 is slidably arranged inside the driving tube 24, and a cleaning roller 29 is rotatably arranged on the cleaning rod 28.

[0019] The crawler vehicle 1 is provided with inverted trapezoidal tracks 2 on both sides, a transmission wheel 3 is provided at the lower rear side of the crawler track 2, a driven wheel 4 is provided at the lower front side of the crawler track 2, and a supporting wheel 5 is provided above the front and rear sides of the crawler track 2 respectively. The transmission wheel 3 is connected to the driving device inside the crawler vehicle 1, and the driving device drives the transmission wheels 3 on both sides to rotate, and the transmission wheel 3 drives the crawler track 2 to move, thereby realizing the forward or backward movement of the crawler vehicle 1.

[0020] The detection mechanism also includes a supporting box 6 , a data transmission platform 11 , a driving box 7 , a rotating component, an angle adjustment component, and a supporting plate 14 .

[0021] The supporting box 6 and the driving box 7 are both hollow square box structures, the supporting box 6 is fixedly arranged at the upper end of the crawler vehicle 1, and the driving box 7 is rotatably arranged at the upper end of the supporting box 6. A circular rotating hole is arranged at the center of the top plate of the supporting box 6, and a rotating column is fixedly arranged at the lower end surface of the driving box 7, and the rotating column is rotatably arranged inside the rotating hole, and the outer side surface of the rotating column keeps rotating contact with the inner side surface of the rotating hole.

[0022] The rotating assembly is arranged between the supporting box 6 and the driving box 7, and the rotating assembly includes a first motor 8, a driving gear 9, and an inner gear ring 10. A horizontal inner gear ring 10 is fixedly arranged inside the supporting box 6, and the first motor 8 is fixedly arranged inside the driving box 7. The output shaft of the first motor 8 extends vertically downward into the supporting box 6, and a driving gear 9 is fixedly arranged on the output shaft of the first motor 8, and the driving gear 9 is meshed with the inner gear ring 10.

[0023] The interior of the drive box 7 is divided into two cavities, front and rear, by a partition. A data transmission platform 11 is arranged inside the front cavity, vents are arranged on the left and right side walls of the rear cavity, and a plurality of cooling fans 12 are arranged on the partition. When the data transmission platform 11 is working, the cooling fans 12 disperse the heat generated by the data transmission platform 11 to the interior of the rear cavity, and dissipate it outward from the vents on both sides of the rear cavity.

[0024] The support plate 14 is a square plate-like structure, and the support plate 14 is arranged above the drive box 7. The support plate 14 and the drive box 7 are connected by an angle adjustment component. The angle adjustment component includes a connecting rod 15, a first electric push rod 13, and a first hinge seat 16. Two vertical connecting rods 15 are fixedly arranged on the upper end surface of the drive box 7, and the two front corners of the lower end surface of the support plate 14 are respectively hinged to the upper ends of the two connecting rods 15. Three mutually parallel T-shaped slides are arranged on the lower end surface of the support plate 14, and the T-shaped slides extend along the front and rear directions. Three first electric push rods 13 are fixedly arranged inside the drive box 7, and the telescopic rods of the first electric push rods 13 are vertically upward, and a first hinge seat 16 is rotatably arranged at the ends of the telescopic rods of the three first electric push rods 13, and the three first hinge seats 16 are all T-block structures, and the three first hinge seats 16 are respectively slidably arranged inside the three T-shaped slides.

[0025] A plurality of high-definition cameras 17 arranged equidistantly are fixedly disposed on the upper end surface of the supporting plate 14 . The model of the high-definition cameras 17 is the In-Sight 7000 series.

[0026] The first motor 8 drives the driving gear 9 to rotate. Since the driving gear 9 is meshed with the inner gear ring 10, and the inner gear ring 10 is fixedly connected to the supporting box 6, the driving gear 9 revolves around the axis of the inner gear ring 10, thereby driving the driving box 7 to rotate on the upper end of the supporting box 6. The driving box 7 drives the supporting plate 14 and the high-definition camera 17 to rotate, thereby adjusting the horizontal angle of the high-definition camera 17. The three first electric push rods 13 are synchronously extended and retracted, driving the height of the first articulated seat 16 to change. The first articulated seat 16 slides inside the corresponding T-shaped slide groove, thereby causing the supporting plate 14 to rotate on the connecting rod 15, thereby adjusting the pitch angle of the high-definition camera 17.

[0027] The installation slot is a square structure, and the cleaning box 18 is a square box structure with an upper end open. The cleaning box 18 is slidably arranged inside the installation slot along the front-back direction. A second electric push rod 19 is fixedly arranged on the rear side of the installation slot. The telescopic rod of the second electric push rod 19 is horizontally forward and fixedly connected to the cleaning box 18. The telescopic rod of the second electric push rod 19 is extended to drive the cleaning box 18 to slide outward or retract inward.

[0028] The driving tube 24 is a square tubular structure with an open front end. There are two driving tubes 24 , and the two driving tubes 24 are symmetrically arranged.

[0029] The action assembly includes a second motor 21 , a positioning screw 20 , a first moving seat 22 , a ball hinge seat, a second moving seat 30 , a third motor 35 , and a swinging screw 32 .

[0030] Two second motors 21 are fixedly arranged on the inner bottom surface of the cleaning box 18, and a positioning screw 20 is fixed on the output shaft of each of the two second motors 21. The positioning screw 20 is horizontally arranged along the front-back direction, and the second motor 21 drives the positioning screw 20 to rotate. A first moving seat 22 is screwed on each positioning screw 20, and the lower end surface of the first moving seat 22 maintains sliding contact with the inner bottom surface of the cleaning box 18. A ball hinge seat is fixedly arranged on the upper end surface of the two first moving seats 22, and a hinge ball 23 is fixedly arranged at the lower end of each driving tube 24, and the two hinge balls 23 are rotatably arranged inside the two ball hinge seats.

[0031] The same swing screw 32 is rotatably arranged in front of the two positioning screws 20, and the swing screw 32 is arranged horizontally along the left and right direction. A third motor 35 is fixedly arranged on the inner bottom surface of the cleaning box 18, and a driving bevel gear 34 is fixedly arranged on the output shaft of the third motor 35. A driven bevel gear 33 is fixedly arranged in the middle of the swing screw 32. The driving bevel gear 34 is meshed with the driven bevel gear 33. The third motor 35 drives the swing screw 32 to rotate through the mutually meshing driving bevel gear 34 and the driven bevel gear 33. Two second moving seats 30 are screwed on the swing screw 32, and the two second moving seats 30 are respectively located in front of the two positioning screws 20. A second hinge seat 31 is fixedly arranged on the upper end of each second moving seat 30. A T-slot is respectively arranged on the lower end surface of each driving tube 24, and the extension direction of the T-slot is parallel to the length direction of the driving tube 24. A third hinge seat 37 is slidably disposed inside each T-slot of the driving tube 24, and a circular rotating plate 38 is fixedly disposed on the third hinge seat 37. The rotating plate 38 is disposed inside the T-slot so that the rotating plate 38 can slide and rotate inside the T-slot at the same time, thereby enabling the third hinge seat 37 to rotate while sliding relative to the driving tube 24. A support column 36 is disposed between the second hinge seat 31 and the third hinge seat 37 on the same side, and the two ends of the support column 36 are respectively hinged to the second hinge seat 31 and the third hinge seat 37, and the hinge axes at the two ends of the support column 36 are horizontally disposed along the left-right direction.

[0032] The cleaning mechanism also includes a fourth motor 25, a positioning seat 27, a fourth hinge seat 39, a connecting block 40, a positioning plate 41, a first nozzle 42, a first water pipe 43, a first water tank 44, a mounting head 45, a second nozzle 46, a second water pipe 47, a second water tank 48, a scraper 51, and a rotating shaft 49.

[0033] A fourth motor 25 is fixedly arranged at the innermost end of the driving tube 24, and an adjusting screw 26 is fixedly arranged on the output shaft of the fourth motor 25, and the axis of the adjusting screw 26 is kept parallel to the axis of the driving tube 24. A positioning seat 27 is slidably arranged inside the driving tube 24, and the positioning seat 27 is a rectangular parallelepiped structure, and the outer side surface of the positioning seat 27 is kept in sliding contact with the inner side surface of the driving tube 24; the positioning seat 27 is screwed to the outer side of the adjusting screw 26. The cleaning rod 28 is fixedly arranged on the side of the positioning seat 27 away from the fourth motor 25, and the axis of the cleaning rod 28 is kept coincident with the axis of the adjusting screw 26. The end of the adjusting screw 26 away from the fourth motor 25 passes through the positioning seat 27 and is screwed to the inside of the cleaning rod 28. The cleaning roller 29 is rotatably arranged on one side of the cleaning rod 28, and the cleaning roller 29 is arranged parallel to the cleaning rod 28, and bristles are arranged on the outer side of the cleaning roller 29.

[0034] A fourth hinge seat 39 is fixedly provided at one end of each cleaning rod 28 away from the positioning seat 27, and a connecting block 40 is rotatably provided on each fourth hinge seat 39. A connecting groove is respectively provided on the end faces of the two connecting blocks 40 that are close to each other, and the two ends of the rotating shaft 49 are respectively rotatably inserted into the connecting grooves of the two connecting blocks 40, and a torsion spring 50 is provided between the end of the rotating shaft 49 and the connecting groove. The axis of the rotating shaft 49 is kept perpendicular to the hinge axis of the fourth hinge seat 39. A scraper 51 is fixedly sleeved on the outer side of the rotating shaft 49.

[0035] A positioning plate 41 is fixedly arranged between the two connection blocks 40, and a group of mounting heads 45 are fixedly arranged at the upper and lower ends of the positioning plate 41, each group including two symmetrical mounting heads 45 on the left and right. A first nozzle 42 is fixedly arranged on each of the two mounting heads 45 at the upper end, and a second nozzle 46 is fixedly arranged on each of the two mounting heads 45 at the lower end. A first water tank 44 and a second water tank 48 are fixedly arranged inside the cleaning box 18, the first water tank 44 is filled with cleaning liquid, and the second water tank 48 is filled with clean water. The water pump in the first water tank 44 is connected to the first nozzle 42 through the first water pipe 43, and the water pump in the second water tank 48 is connected to the second nozzle 46 through the second water pipe 47.

[0036] The present invention also proposes a method for using an automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology, comprising the following steps: Step 1: First, connect all electrical devices with wires and power them on; then start the driving device inside the tracked vehicle 1, control the rotation of the transmission wheel 3 through the driving device, thereby controlling the rotation of the track 2, and then support the track 2 through the driven wheel 4 and the supporting wheel 5, thereby controlling the movement of the tracked vehicle 1, and then controlling the movement of the device in the photovoltaic station.

[0037] Step 2, start the first motor 8, the first motor 8 drives the driving gear 9 to rotate, because the driving gear 9 is meshed with the inner gear ring 10, and the inner gear ring 10 is fixedly connected to the supporting box 6, so that the driving gear 9 revolves around the axis of the inner gear ring 10, and then drives the driving box 7 to rotate on the upper end of the supporting box 6, and the driving box 7 drives the supporting plate 14 and the high-definition camera 17 to rotate, and then adjusts the horizontal angle of the high-definition camera 17. The three first electric push rods 13 are synchronously extended and retracted, driving the height of the first articulated seat 16 to change, and the first articulated seat 16 slides inside the corresponding T-shaped slide groove, so that the supporting plate 14 rotates on the connecting rod 15, and then adjusts the pitch angle of the high-definition camera 17, so as to control the high-definition camera 17 to face the tilted photovoltaic panel.

[0038] Step 3: When the high-definition camera 17 detects impurities on the surface of the photovoltaic panel, the data is uploaded to the cloud through the data transmission platform 11, and then the second electric push rod 19 is started to push the cleaning box 18 out of the crawler vehicle 1, and then the second motor 21 is started to control the rotation of the positioning screw 20, and then the first mobile seat 22 is controlled to move to the front end. Since the drive tube 24 is connected to the first mobile seat 22 through the hinge ball 23, and the drive tube 24 is connected to the second mobile seat 30 through the support column 36, the front end of the drive tube 24 is gradually lifted upward. Then the fourth motor 25 is started, and the fourth motor 25 drives the adjustment screw 26 to rotate. Since the adjustment screw 26 is screwed with the positioning seat 27 and the cleaning rod 28 at the same time, the cleaning rod 28 is driven to extend toward the outside of the drive tube 24, and the cleaning rod 28 drives the cleaning roller 29 to move to the outside of the drive tube 24.

[0039] Step 4, after the cleaning rod 28 extends out of the outside of the driving tube 24, the brush bristles on the outside of the cleaning roller 29 on the cleaning rod 28 are controlled to press against the surface of the photovoltaic panel through the crawler 2. Then the third motor 35 is started, and the third motor 35 controls the swing screw 32 to rotate through the mutually meshing active bevel gear 34 and the driven bevel gear 33. Since the swing screw 32 is screwed with the two second moving seats 30, the two second moving seats 30 are controlled to move in the same direction. When the two second moving seats 30 move in the same direction, the second moving seat 30 drives the third articulated seat 37 to move synchronously in the same direction through the support column 36, so that the third articulated seat 37 slides inside the T-slot of the driving tube 24 through the rotating plate 38, and at the same time, the third articulated seat 37 rotates relative to the driving tube 24, and the driving tube 24 rotates relative to the first moving seat 22 through the articulated ball 23. When the second movable seat 30 slides back and forth, it drives the driving tube 24 to swing back and forth, and the driving tube 24 drives the bristles on the cleaning roller 29 to swing back and forth on the surface of the photovoltaic panel, thereby completing the cleaning of the photovoltaic panel.

[0040] Step 5: Use the bristles on the outside of the cleaning roller 29 to sweep away the impurities that are not adhered to the surface of the photovoltaic panel. When the impurities adhered to the surface of the photovoltaic panel cannot be cleaned, the crawler 2 moves to make the scraper 51 abut against the surface of the photovoltaic panel, and the fourth motor 25 controls the extension and retraction of the cleaning roller 29, thereby controlling the scraper 51 to move up and down on the surface of the photovoltaic panel. When the scraper 51 moves upward, the cleaning liquid is provided to the first nozzle 42 at the upper end through the water pump in the first water tank 44 and the first water pipe 43, and the cleaning liquid is sprayed on the surface of the photovoltaic panel through the first nozzle 42. The scraper 51 moves upward, so that the cleaning liquid is evenly applied on the surface of the photovoltaic panel. When the scraper 51 moves downward, the water pump in the second water tank 48 and the second water pipe 47 provide clean water to the second nozzle 46, and the cleaning liquid on the surface of the photovoltaic panel is rinsed off through the second nozzle 46, and then the scraper 51 moves downward, so as to scrape off the adhered impurities.

[0041] Step 6: When cleaning is completed, the cleaning rod 28 is retracted into the driving tube 24 by the fourth motor 25; the two second moving seats 30 are driven to move to the front side of the two positioning screws 20 by the third motor 35; the driving tube 24 is gradually rotated downward by the second motor 21 until the driving tube 24 is retracted into the cleaning box 18. The cleaning box 18 is controlled to retract into the crawler vehicle 1 by the second electric push rod 19. Then the control device moves to the next position to be cleaned.

[0042] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. Automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology, characterized by: The invention comprises a tracked vehicle (1), wherein a detection mechanism is arranged at the upper end of the tracked vehicle (1), and the detection mechanism comprises a high-definition camera (17); a mounting groove is arranged at the front end of the tracked vehicle (1), and a cleaning box (18) is slidably arranged inside the mounting groove, and a driving mechanism is arranged inside the cleaning box (18), and the driving mechanism comprises a driving tube (24), and the driving tube (24) is connected to the inner bottom surface of the cleaning box (18) through an action component, and the front end of the driving tube (24) is driven to be lifted upward by the action component, and the driving tube (24) is driven to swing back and forth by the action component; and a cleaning mechanism is arranged at the front end of the driving tube (24), and the cleaning mechanism comprises a cleaning rod (28), and the cleaning rod (28) is slidably arranged inside the driving tube (24), and a cleaning roller (29) is rotatably arranged on the cleaning rod (28).

2. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 1 is characterized in that: The detection mechanism further comprises a supporting box (6) and a driving box (7); the supporting box (6) is fixedly arranged at the upper end of the crawler vehicle (1), and the driving box (7) is rotatably arranged at the upper end of the supporting box (6) through a slewing assembly; a slewing hole is arranged at the center of the top plate of the supporting box (6), and a slewing column is fixedly arranged at the lower end surface of the driving box (7), and the slewing column is rotatably arranged inside the slewing hole; the slewing assembly comprises a first motor (8), a driving gear (9), and an inner gear ring (10); the inner gear ring (10) is fixedly arranged inside the supporting box (6), the first motor (8) is fixedly arranged inside the driving box (7), and the driving gear (9) is fixedly arranged on the output shaft of the first motor (8), and the driving gear (9) is meshed with the inner gear ring (10).

3. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 2 is characterized in that: The detection mechanism further comprises a data transmission platform (11) and a support plate (14); the data transmission platform (11) is arranged inside the drive box (7); the support plate (14) is arranged above the drive box (7); the support plate (14) and the drive box (7) are connected via an angle adjustment assembly; the angle adjustment assembly comprises a connecting rod (15), a first electric push rod (13), and a first hinge seat (16); two vertical connecting rods (15) are fixedly arranged on the upper end surface of the drive box (7); 5), the two front corners of the lower end face of the support plate (14) are respectively hinged to the upper ends of the two connecting rods (15); a T-shaped slide groove is arranged on the lower end face of the support plate (14), a first electric push rod (13) is fixedly arranged inside the drive box (7), a first hinge seat (16) is rotatably arranged at the end of the telescopic rod of the first electric push rod (13), and the first hinge seat (16) is slidably arranged inside the T-shaped slide groove; the high-definition camera (17) is fixedly arranged on the upper end face of the support plate (14).

4. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 1 is characterized in that: The cleaning box (18) is a box structure with an open top, and the cleaning box (18) is slidably arranged inside the installation slot along the front-rear direction; a second electric push rod (19) is fixedly arranged on the rear side inside the installation slot, and the telescopic rod of the second electric push rod (19) is horizontally forward and fixedly connected to the cleaning box (18).

5. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 1 is characterized in that: The driving tube (24) is a square tubular structure with an open front end, and the two driving tubes (24) are arranged symmetrically on the left and right.

6. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 5 is characterized in that: The action assembly comprises a second motor (21), a positioning screw (20), a first movable seat (22), and a ball hinge seat; two second motors (21) are fixedly arranged on the inner bottom surface of the cleaning box (18); a positioning screw (20) is fixedly arranged on the output shafts of the two second motors (21); the positioning screws (20) are horizontally arranged along the front-back direction; a first movable seat (22) is screwed on each positioning screw (20); a ball hinge seat is fixedly arranged on the upper end surfaces of the two first movable seats (22); a hinge ball (23) is fixedly arranged on the lower end of each driving tube (24); and the two hinge balls (23) are rotatably arranged inside the two ball hinge seats.

7. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 6 is characterized in that: The action assembly further comprises a second moving seat (30), a third motor (35), and a swinging screw (32); a same left-right horizontal swinging screw (32) is rotatably arranged in front of the two positioning screws (20); a third motor (35) is fixedly arranged on the inner bottom surface of the cleaning box (18); a driving bevel gear (34) is fixedly arranged on the output shaft of the third motor (35); a driven bevel gear (33) is fixedly arranged in the middle of the swinging screw (32); the driving bevel gear (34) meshes with the driven bevel gear (33); the swinging screw (32) Two second movable seats (30) are screwed on the upper part, and a second hinge seat (31) is fixedly arranged at the upper end of each second movable seat (30); a T-shaped slot is arranged on the lower end surface of each driving tube (24), and a third hinge seat (37) is slidably arranged inside each T-shaped slot of the driving tube (24); a circular rotating plate (38) is fixedly arranged on the third hinge seat (37), and the rotating plate (38) is arranged inside the T-shaped slot; a supporting column (36) is arranged between the second hinge seat (31) and the third hinge seat (37) on the same side.

8. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 5 is characterized by: The cleaning mechanism further comprises a fourth motor (25) and a positioning seat (27); the fourth motor (25) is fixedly arranged at the innermost end of the driving tube (24); an adjusting screw (26) is fixedly arranged on the output shaft of the fourth motor (25); a positioning seat (27) is slidably arranged inside the driving tube (24); the positioning seat (27) is screwed to the outer side of the adjusting screw (26); the cleaning rod (28) is fixedly arranged on a side of the positioning seat (27) away from the fourth motor (25); an end of the adjusting screw (26) away from the fourth motor (25) passes through the positioning seat (27) and is screwed to the inside of the cleaning rod (28); and bristles are arranged on the outer side of the cleaning roller (29).

9. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 8 is characterized in that: The cleaning mechanism further comprises a fourth hinged seat (39), a connecting block (40), a scraper (51), and a rotating shaft (49); a fourth hinged seat (39) is fixedly arranged at one end of each cleaning rod (28) away from the positioning seat (27), and a connecting block (40) is rotatably arranged on each fourth hinged seat (39); a connecting groove is respectively arranged on the end surfaces of one side of the two connecting blocks (40) close to each other, and the two ends of the rotating shaft (49) are respectively rotatably inserted into the connecting grooves of the two connecting blocks (40), and a torsion spring (50) is arranged between the end of the rotating shaft (49) and the connecting groove; and a scraper (51) is fixedly sleeved on the outer side of the rotating shaft (49).

10. The automatic scraping and sweeping photovoltaic power station intelligent cleaning device based on image recognition technology according to claim 9 is characterized in that: The cleaning mechanism further comprises a positioning plate (41), a first nozzle (42), a first water pipe (43), a first water tank (44), a mounting head (45), a second nozzle (46), a second water pipe (47), and a second water tank (48); a positioning plate (41) is fixedly arranged between the two connecting blocks (40); a group of mounting heads (45) are fixedly arranged at the upper and lower ends of the positioning plate (41), each group comprising two symmetrical mounting heads (45) on the left and right; a mounting head (45) is fixedly arranged on each of the two mounting heads (45) at the upper end; A first nozzle (42) is provided, and a second nozzle (46) is fixedly arranged on each of the two mounting heads (45) at the lower end; a first water tank (44) and a second water tank (48) are fixedly arranged inside the cleaning box (18); the first water tank (44) contains cleaning liquid, and the second water tank (48) contains clean water; a water pump in the first water tank (44) is connected to the first nozzle (42) via a first water pipe (43), and a water pump in the second water tank (48) is connected to the second nozzle (46) via a second water pipe (47).

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