Offshore photovoltaic cleaning robot based on seawater desalination

Abstract

The invention provides a sea photovoltaic cleaning robot based on sea water desalination, which comprises a sea water desalination device and a backwashing device, and is characterized in that the sea water desalination device is used for producing fresh water used in the cleaning process of the photovoltaic cleaning robot; and the backwashing device is used for removing impurities attached to the reverse osmosis membrane so as to ensure the normal operation of the seawater desalination device. The seawater desalination device combining multi-stage filtration (a large-particle filter and a fine filter) and a reverse osmosis technology is matched with an accurate pressure control (an energy accumulator and a high-pressure plunger pump) and water quality monitoring (a pressure gauge, a flow meter and a differential pressure detector) system, seawater can be efficiently converted into fresh water meeting the cleaning requirement of a photovoltaic panel, stable supply of the fresh water is ensured, and the energy consumption is reduced. The water utilization requirements of the offshore photovoltaic cleaning robot under different working conditions are met, and the cleaning efficiency and quality are improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to an offshore photovoltaic cleaning robot based on seawater desalination. Background Art

[0002] With the growing global demand for clean energy, photovoltaic power generation, as a renewable and pollution-free energy source, has garnered widespread attention. Its operating principle is to utilize the photovoltaic effect to directly convert sunlight into electricity, offering broad application prospects. However, during operation, photovoltaic modules are prone to the accumulation of dust and other pollutants on their surfaces, significantly reducing their power generation efficiency. Studies have shown that dust accumulation on solar photovoltaic panels can lead to a 1.6-3% decrease in power generation efficiency over a month, and a 6-8% decrease over two months. Therefore, regular cleaning of photovoltaic modules is crucial to ensuring efficient photovoltaic power generation. Furthermore, offshore photovoltaic power generation, as an emerging clean energy development method, can effectively alleviate the challenges of limited land resources and power transmission losses faced by terrestrial photovoltaic systems, playing a significant role in optimizing energy distribution and promoting the sustainable development of the new energy industry.

[0003] Currently, offshore photovoltaic panels are primarily cleaned manually, a method that is inefficient and unable to meet the cleaning needs of large-scale offshore photovoltaic power plants. To address this issue, a number of photovoltaic cleaning robots have emerged on the market. These robots typically use a rotating wheel to sweep dust from the surface of photovoltaic panels and spray water to remove stubborn stains. However, these cleaning robots face challenges with fresh water supply. On the one hand, workers need to carry large quantities of fresh water for cleaning, increasing their workload. On the other hand, when the cleaning robot's pipes become clogged by fine particles in seawater, there is a lack of effective solutions, hindering the smooth operation of the cleaning process.

[0004] Existing photovoltaic cleaning robots have obvious shortcomings when used at sea. First, directly using seawater to clean photovoltaic panels will cause salt to corrode the photovoltaic panels, causing them to age, crack, or even break, greatly shortening the service life of the photovoltaic panels. Secondly, traditional cleaning robots cannot effectively solve the problems of fresh water supply and pipe blockage during the cleaning process, which increases the workload of staff and reduces cleaning efficiency. In addition, when photovoltaic panels encounter stubborn stains, manual cleaning by staff is still required, which not only increases the risk of offshore operations, but may also result in casualties. Therefore, existing offshore photovoltaic cleaning robots have obvious defects in fresh water supply, solving pipe blockages, and cleaning stubborn stains, and are in urgent need of improvement.

[0005] Reverse osmosis is a membrane separation technology that utilizes the selective permeability of a semipermeable membrane and applies pressure through a high-pressure pump to separate the solvent from the solute in a solution. Reverse osmosis desalination systems offer distinct advantages over other desalination systems. First, they consume less energy, requiring only pressure and requiring no heating or other operations, and can maintain a stable desalination rate above 90%. Second, reverse osmosis desalination systems are relatively simple in structure, easy to operate, and have low maintenance and operating costs. Finally, they feature a modular design, allowing for flexible expansion or reduction based on the needs of the photovoltaic cleaning robot, facilitating the robot's cleaning work. Summary of the Invention

[0006] In response to the aforementioned technical issues, a desalination-based offshore photovoltaic cleaning robot is provided. This invention reduces the amount of fresh water workers need to carry during the cleaning process and utilizes a backwash system to address pipeline blockages caused by fine particles in seawater, reducing worker workload and ensuring a stable supply of fresh water during the cleaning process to ensure effective cleaning. The desalination device also eliminates the need for manual cleaning of photovoltaic panels when stubborn stains are encountered, eliminating the need for manual cleaning by adding a special cleaning agent, thereby reducing casualties associated with manual cleaning during offshore photovoltaic cleaning.

[0007] The technical means adopted in the present invention are as follows:

[0008] A seawater desalination-based offshore photovoltaic cleaning robot comprises a seawater desalination device and a backwashing device, wherein:

[0009] The seawater desalination device is used to produce fresh water used by the photovoltaic cleaning robot during the cleaning process;

[0010] The backwash device is used to remove impurities attached to the reverse osmosis membrane to ensure the normal operation of the seawater desalination device.

[0011] Furthermore, the seawater desalination device includes a large impurity filter, a feed pump, an accumulator, a fine filter, a pressure gauge, a flow meter I, an electromagnetic three-way valve I, a high-pressure plunger pump, a reverse osmosis membrane device, a check valve, an activated carbon filter, a flow meter II and a fresh water collection device, wherein:

[0012] The large impurity filter is used to perform primary solid-liquid separation on seawater;

[0013] The feed pump is used to transport seawater that has passed through the primary solid-liquid separation of the large impurity filter;

[0014] The accumulator is used to dynamically adjust the pipeline pressure;

[0015] The fine filter is used to perform secondary filtration on the seawater;

[0016] The pressure gauge and flow meter I are used to monitor the water inlet parameters in real time;

[0017] The electromagnetic three-way valve I is used to control the flow direction of the pretreated seawater;

[0018] The high-pressure plunger pump is used to pressurize the seawater;

[0019] The reverse osmosis membrane device is used to perform deep desalination treatment on the pressurized seawater to produce fresh water;

[0020] The check valve is connected to the reverse osmosis membrane device and is used to prevent the backflow of fresh water;

[0021] The activated carbon filter is used to perform secondary filtration on fresh water to remove residual tiny particles and organic matter, further improving the purity of the water quality;

[0022] The flow meter II is used to accurately measure and record the flow of produced fresh water;

[0023] The fresh water collecting device is used to collect the fresh water produced by the reverse osmosis membrane device.

[0024] Furthermore, the backwash device includes an electromagnetic three-way valve II, a pressure difference detector and a wastewater electromagnetic valve, wherein:

[0025] The electromagnetic three-way valve II is used to control the flow direction of water during backwashing;

[0026] The pressure difference detector is connected to the reverse osmosis membrane device and is used to detect the pressure difference between the pipes on both sides of the membrane stack of the reverse osmosis membrane device;

[0027] The waste liquid solenoid valve is used to control the discharge of flushing waste water.

[0028] Furthermore, the offshore photovoltaic cleaning robot also includes pipeline a, pipeline b, pipeline c, pipeline d, pipeline e, pipeline f, pipeline g, pipeline h, pipeline i, pipeline j, pipeline k, pipeline l, pipeline m, pipeline n, pipeline o, pipeline p, and pipeline q, which are used to connect various components of the seawater desalination device and the backwashing device to realize the transportation of seawater and fresh water.

[0029] Furthermore, when the pressure difference detector detects that the pressure difference between pipe m and pipe n on both sides of the reverse osmosis membrane device exceeds the set threshold, the backwash program of the offshore photovoltaic cleaning robot will be automatically triggered. The offshore photovoltaic cleaning robot will cut off the power circuit of the feed pump and stop the supply of raw seawater. Under the drive of the electrical signal, the valve core of the electromagnetic three-way valve I will switch from the normal pipe c (seawater inlet) to pipe j (fresh water return port). At the same time, the valve position of the electromagnetic three-way valve II will switch from pipe f (product water output port) to pipe k (backwash interface), and the wastewater solenoid valve will be opened synchronously to establish a complete backwash flow path.

[0030] Furthermore, the backwash device adopts instantaneous pulse operation. The qualified fresh water stored in the fresh water collection device flows back through the pipe j and is introduced into the pipe d through the electromagnetic three-way valve I. With the help of a high-pressure plunger pump, it is forced to increase the pressure in the reverse direction at 1.2-1.5 times the normal operating pressure. The high-pressure fresh water impacts the contaminated side of the reverse osmosis membrane through the pipe k, and utilizes the hydraulic shear force and osmotic pressure reversal effect to peel off the attached colloidal particles, biofilm and salt scale. The generated flushing wastewater carries pollutants and is directly discharged into the ocean through the pipe i.

[0031] Furthermore, when the pressure differential detector monitors that the pressure differential between pipes m and n on both sides of the reverse osmosis membrane device returns to below the set value, the offshore photovoltaic cleaning robot automatically executes the reset procedure, the feed pump restarts, the valve core of the electromagnetic three-way valve I is cut back to the pipe c, the electromagnetic three-way valve II is restored to connection with the pipe f, the wastewater solenoid valve is closed, and the reverse osmosis device resumes normal operation to ensure that the membrane flux is maintained at more than 80% of the initial value.

[0032] Furthermore, the seawater desalination device and the backwashing device operate simultaneously when the offshore photovoltaic cleaning robot is working, ensuring the efficient production of fresh water and the purity and reliability of the water quality.

[0033] Furthermore, the fluctuation range of the accumulator control line pressure is within ±0.2 MPa.

[0034] Furthermore, the precision of the fine filter is 5 μm, ensuring that the quality of the pretreated water meets the reverse osmosis membrane inlet water standard, that is, turbidity <1 NTU, residual chlorine <0.1 ppm.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] 1. The present invention provides a desalination-based offshore photovoltaic cleaning robot, which adopts a desalination device that combines multi-stage filtration (large particle filter, fine filter) with reverse osmosis technology, and cooperates with precise pressure control (accumulator, high-pressure plunger pump) and water quality monitoring (pressure gauge, flow meter, differential pressure detector) systems. It can efficiently convert seawater into fresh water that meets the cleaning requirements of photovoltaic panels, ensure a stable supply of fresh water, meet the water needs of the offshore photovoltaic cleaning robot under different working conditions, and improve cleaning efficiency and quality.

[0037] 2. The present invention provides an offshore photovoltaic cleaning robot based on seawater desalination, which is equipped with a pressure differential detector to monitor the pressure difference on both sides of the reverse osmosis membrane device in real time. When an abnormality is detected, the backwash program is automatically started, and a high-pressure plunger pump is used to flush the membrane with reverse pressure. Combined with instantaneous pulse operation, it effectively removes impurities on the membrane surface, restores membrane flux, extends the service life of the reverse osmosis membrane, reduces equipment maintenance costs and replacement frequency, ensures the long-term stable operation of the seawater desalination device, and improves the reliability and economy of the system.

[0038] 3. The present invention provides an offshore photovoltaic cleaning robot based on seawater desalination. During the freshwater production process, an activated carbon filter is added to perform secondary filtration on the freshwater to remove residual tiny particles and organic matter; the flushing wastewater is directly discharged into the ocean to avoid secondary pollution, further improving the purity of the freshwater quality, ensuring better cleaning effects for photovoltaic panels, and at the same time reducing the impact on the marine environment, meeting environmental protection requirements, and achieving a win-win situation for cleaning operations and ecological protection.

[0039] 4. The present invention provides a desalination-based offshore photovoltaic cleaning robot, which integrates a desalination device with a backwash device. It realizes automatic switching and control of water flow through components such as an electromagnetic three-way valve and a wastewater solenoid valve. Combined with the monitoring signal of the pressure difference detector, it realizes the automatic operation of the entire system, simplifies the operation process, reduces the cost of manual intervention, and improves the operation efficiency and stability of the system, so that the offshore photovoltaic cleaning robot can complete cleaning tasks more conveniently and efficiently and adapt to the complex and changeable offshore operating environment.

[0040] 5. The present invention provides an offshore photovoltaic cleaning robot based on seawater desalination. It uses a freshwater collection device to store excess fresh water, and uses the stored fresh water for flushing during backwashing, thereby avoiding the waste of extra fresh water. During operation, the offshore photovoltaic cleaning robot optimizes energy consumption through precise pressure control and flow regulation, realizes the recycling of water resources, improves resource utilization, reduces energy consumption, reduces operating costs, enhances the economy and sustainability of the offshore photovoltaic cleaning robot, and provides a strong guarantee for the large-scale application and promotion of offshore photovoltaic power stations.

[0041] Based on the above reasons, the present invention can be widely promoted in fields such as offshore photovoltaic power stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 This is a front view of an offshore photovoltaic cleaning robot based on seawater desalination according to the present invention.

[0044] Figure 2 This is a top view of an offshore photovoltaic cleaning robot based on seawater desalination according to the present invention.

[0045] Figure 3 This is a left view of an offshore photovoltaic cleaning robot based on seawater desalination according to the present invention.

[0046] Figure 4 This is a diagram of the internal structure of an offshore photovoltaic cleaning robot based on seawater desalination according to the present invention.

[0047] Figure 5 This is a piping diagram of an offshore photovoltaic cleaning robot based on seawater desalination according to the present invention.

[0048] In the figure: 1. Large particle filter; 2. Feed pump; 3. Accumulator; 4. Fine filter; 5. Pressure gauge; 6. Flow meter I; 7. Solenoid three-way valve I; 8. High-pressure plunger pump; 9. Solenoid three-way valve II; 10. Reverse osmosis membrane device; 11. Check valve; 12. Activated carbon filter; 13. Flow meter II; 14. Fresh water collection device; 15. Pressure difference detector; 16. Wastewater solenoid valve; a, b, c, d, e, f, g, h, i, j, k, l, m, n, o, p, q: pipelines. DETAILED DESCRIPTION

[0049] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0053] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0054] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0055] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0056] like Figure 1-3 As shown, the present invention provides a seawater desalination-based offshore photovoltaic cleaning robot, comprising: a seawater desalination device and a backwashing device, wherein:

[0057] The seawater desalination device is used to produce fresh water used by the photovoltaic cleaning robot during the cleaning process;

[0058] The backwash device is used to remove impurities attached to the reverse osmosis membrane to ensure the normal operation of the seawater desalination device.

[0059] When specifically implemented, as a preferred embodiment of the present invention, Figure 4 As shown, the seawater desalination device includes a large impurity filter 1, a feed pump 2, an accumulator 3, a fine filter 4, a pressure gauge 5, a flow meter I 6, an electromagnetic three-way valve I 7, a high-pressure plunger pump 8, a reverse osmosis membrane device 10, a check valve 11, an activated carbon filter 12, a flow meter II 3 and a fresh water collection device 14, wherein:

[0060] The large impurity filter 1 is used for primary solid-liquid separation of seawater;

[0061] The feed pump 2 is used to transport the seawater that has passed through the primary solid-liquid separation of the large impurity filter 1;

[0062] The accumulator 3 is used to dynamically adjust the pipeline pressure to control the fluctuation range of the pipeline pressure within ±0.2MPa;

[0063] The fine filter 4 is used for secondary filtration of seawater. The precision of the fine filter 4 is 5 μm, ensuring that the pre-treated water quality meets the reverse osmosis membrane water inlet standard, that is, turbidity <1 NTU, residual chlorine <0.1 ppm;

[0064] The pressure gauge 5 and flow meter I 6 are used to monitor the water inlet parameters in real time;

[0065] The electromagnetic three-way valve I7 is used to control the flow direction of the pre-treated seawater;

[0066] The high-pressure plunger pump 8 is used to pressurize the seawater;

[0067] The reverse osmosis membrane device 10 is used to perform deep desalination treatment on the pressurized seawater to produce fresh water;

[0068] The check valve 11 is connected to the reverse osmosis membrane device 10 and is used to prevent the backflow of fresh water;

[0069] The activated carbon filter 12 is used to perform secondary filtration on the fresh water to remove residual tiny particles and organic matter, further improving the purity of the water quality;

[0070] The flow meter II 13 is used to accurately measure and record the flow of produced fresh water;

[0071] The fresh water collecting device 14 is used to collect the fresh water produced by the reverse osmosis membrane device 10 .

[0072] In specific implementation, as a preferred embodiment of the present invention, the backwash device includes an electromagnetic three-way valve II 9, a pressure difference detector 15 and a wastewater electromagnetic valve 16, wherein:

[0073] The electromagnetic three-way valve II 9 is used to control the flow direction of water during backwashing;

[0074] The pressure difference detector 15 is connected to the reverse osmosis membrane device 10 and is used to detect the pressure difference between the pipes on both sides of the membrane stack of the reverse osmosis membrane device 10;

[0075] The waste liquid solenoid valve 16 is used to control the discharge of flushing waste water.

[0076] When specifically implemented, as a preferred embodiment of the present invention, Figure 5 As shown, the offshore photovoltaic cleaning robot also includes pipeline a, pipeline b, pipeline c, pipeline d, pipeline e, pipeline f, pipeline g, pipeline h, pipeline i, pipeline j, pipeline k, pipeline l, pipeline m, pipeline n, pipeline o, pipeline p, and pipeline q, which are used to connect the various components of the seawater desalination device and the backwashing device to realize the transportation of seawater and fresh water.

[0077] During specific implementation, as a preferred embodiment of the present invention, when the pressure difference detector 15 monitors that the pressure difference between pipe m and pipe n on both sides of the reverse osmosis membrane device 10 exceeds the set threshold, the backwash program of the offshore photovoltaic cleaning robot will be automatically triggered, and the offshore photovoltaic cleaning robot will cut off the power circuit of the feed pump 2 and stop the supply of raw seawater. Under the drive of the electrical signal, the solenoid three-way valve I7 switches the valve core from the normal pipe c (seawater inlet) to pipe j (fresh water return port), and at the same time, the valve position of the solenoid three-way valve II9 switches from pipe f (water production outlet) to pipe k (backwash interface), and the wastewater solenoid valve 16 is opened synchronously to establish a complete backwash flow path.

[0078] In specific implementation, as a preferred embodiment of the present invention, the backwash device adopts instantaneous pulse operation. The qualified fresh water stored in the fresh water collection device 14 is returned through the pipe j and introduced into the pipe d through the electromagnetic three-way valve I7. With the help of the high-pressure plunger pump 8, it is forced to increase the pressure in the reverse direction at 1.2-1.5 times the normal operating pressure. The high-pressure fresh water impacts the contaminated side of the reverse osmosis membrane through the pipe k, and utilizes the hydraulic shear force and osmotic pressure reversal effect to peel off the attached colloidal particles, biofilm and salt scale. The generated flushing wastewater carries pollutants and is directly discharged into the ocean through the pipe i.

[0079] In specific implementation, as a preferred embodiment of the present invention, when the pressure difference detector 15 monitors that the pressure difference between the pipe m and the pipe n on both sides of the reverse osmosis membrane device 10 is restored to below the set value, the offshore photovoltaic cleaning robot automatically executes the reset procedure, the feed pump 2 is restarted, the solenoid three-way valve I7 valve core is cut back to the pipe c, the solenoid three-way valve II9 is ​​restored to be connected with the pipe f, the wastewater solenoid valve 16 is closed, and the reverse osmosis device 10 is put into normal operation again to ensure that the membrane flux is maintained at more than 80% of the initial value.

[0080] In summary, the present invention provides a desalination-based offshore photovoltaic cleaning robot, the specific working principle of which is as follows:

[0081] The entire reverse osmosis desalination system operates simultaneously with the offshore photovoltaic cleaning robot. After primary solid-liquid separation through coarse particle filter 1, seawater enters pipeline a and is transported to feed pump 2. To prevent transient high-pressure surges, the system is equipped with an accumulator 3 to dynamically regulate pipeline pressure, keeping pressure fluctuations within ±0.2 MPa. After secondary filtration through fine filter 4 (5 μm precision), pressure gauge 5 and flow meter 6 monitor inlet parameters in real time to ensure that pretreated water quality meets reverse osmosis membrane feed standards (turbidity <1 NTU, residual chlorine <0.1 ppm). When the pressure differential detector 15 detects no system pressure differential abnormalities, the solenoid three-way valve I7 automatically opens, directing the pretreated seawater through pipeline d to the high-pressure plunger pump 8. During this stage, the high-pressure plunger pump 8 boosts the seawater pressure to ensure sufficient pressure support for the subsequent reverse osmosis process. As the seawater enters pipeline e, the solenoid three-way valve II9 receives a signal and opens pipeline f, transporting the boosted seawater to the reverse osmosis unit 10. The reverse osmosis unit uses efficient membrane separation technology to deeply desalinate seawater, producing high-quality freshwater. The freshwater then flows through check valve 11 into pipe g and into activated carbon filter 12 for secondary filtration. This process removes any remaining particles and organic matter, further enhancing water purity. After treatment by the activated carbon filter, the freshwater flows through pipe h and enters flowmeter II 13, which accurately measures and records the flow rate of the produced freshwater. Finally, the freshwater flows through pipe i into freshwater collection device 14, providing a stable, high-quality water source for the offshore photovoltaic cleaning robot. This not only ensures efficient freshwater production, but also, through multiple filtration and monitoring steps, guarantees the purity and reliability of the water resource, providing strong support for photovoltaic panel cleaning operations.

[0082] When the reverse osmosis device 10 continues to operate for a long time, impurities such as inorganic salt scale, organic pollutants, and microbial metabolites brought by seawater will gradually accumulate on the membrane surface. These deposits will form a dense contamination layer, causing the device's desalination efficiency to decline and generating an abnormal pressure differential between pipes m and n on both sides of the membrane stack. When the pressure differential detector 15 detects that the ΔP value exceeds the set threshold, it will automatically trigger the backwash process, first cutting off the power circuit of the feed pump 2 and stopping the raw seawater supply. Driven by an electrical signal, the solenoid three-way valve I7 switches its valve core from the normal pipe c (seawater inlet) to pipe j (freshwater return port). Simultaneously, the valve position of the solenoid three-way valve II9 switches from pipe f (product water output port) to pipe k (backwash interface). At this time, the wastewater solenoid valve 16 opens synchronously, establishing a complete backwash flow path.

[0083] The backwash process utilizes a transient pulse-type operation. Qualified fresh water from the fresh water collection device 14 flows back through pipe j and is introduced into pipe d via electromagnetic three-way valve I7. High-pressure plunger pump 8 then forcibly boosts the pressure to 1.2-1.5 times the normal operating pressure in the reverse direction. The high-pressure fresh water then impacts the contaminated side of the reverse osmosis membrane through pipe k, utilizing hydraulic shear and osmotic pressure reversal to remove attached colloidal particles, biofilm, and salt scale. The resulting flushing wastewater, carrying contaminants, is discharged directly into the ocean through pipe i (the original concentrate discharge pipe).

[0084] When differential pressure detector 15 detects that the differential pressure between pipelines m and n has returned to below the set value, the system automatically executes a reset procedure: feed pump 2 restarts, the spool of solenoid three-way valve I7 returns to pipeline c, solenoid three-way valve II9 restores connection to pipeline f, and wastewater solenoid valve 16 closes. After backwash calibration, reverse osmosis unit 10 resumes normal operation, ensuring that membrane flux remains above 80% of its initial value.

[0085] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A marine photovoltaic cleaning robot based on seawater desalination, characterized in that: include: Seawater desalination plant and backwash plant, including: The seawater desalination device is used to produce fresh water used by the photovoltaic cleaning robot during the cleaning process; The backwash device is used to remove impurities attached to the reverse osmosis membrane to ensure the normal operation of the seawater desalination device.

2. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: The seawater desalination device comprises a large impurity filter (1), a feed pump (2), an accumulator (3), a fine filter (4), a pressure gauge (5), a flow meter I (6), an electromagnetic three-way valve I (7), a high-pressure plunger pump (8), a reverse osmosis membrane device (10), a check valve (11), an activated carbon filter (12), a flow meter II (3) and a fresh water collection device (14), wherein: The large impurity filter (1) is used for performing primary solid-liquid separation on seawater; The feed pump (2) is used to transport the seawater that has passed through the primary solid-liquid separation of the large impurity filter (1); The accumulator (3) is used to dynamically adjust the pipeline pressure; The fine filter (4) is used for secondary filtration of seawater; The pressure gauge (5) and flow meter I (6) are used to monitor the water inlet parameters in real time; The electromagnetic three-way valve I (7) is used to control the flow direction of the pre-treated seawater; The high-pressure plunger pump (8) is used to pressurize the seawater; The reverse osmosis membrane device (10) is used to perform deep desalination treatment on the pressurized seawater to produce fresh water; The check valve (11) is connected to the reverse osmosis membrane device (10) and is used to prevent the backflow of fresh water; The activated carbon filter (12) is used to perform secondary filtration on the fresh water to remove residual tiny particles and organic matter; The flow meter II (13) is used to accurately measure and record the flow of the produced fresh water; The fresh water collecting device (14) is used to collect the fresh water produced by the reverse osmosis membrane device (10).

3. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: The backwash device comprises an electromagnetic three-way valve II (9), a pressure difference detector (15) and a wastewater electromagnetic valve (16), wherein: The electromagnetic three-way valve II (9) is used to control the flow direction of water during backwashing; The pressure difference detector (15) is connected to the reverse osmosis membrane device (10) and is used to detect the pressure difference between the pipes on both sides of the membrane stack of the reverse osmosis membrane device (10); The waste liquid solenoid valve (16) is used to control the discharge of flushing waste water.

4. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: The offshore photovoltaic cleaning robot also includes pipeline a, pipeline b, pipeline c, pipeline d, pipeline e, pipeline f, pipeline g, pipeline h, pipeline i, pipeline j, pipeline k, pipeline l, pipeline m, pipeline n, pipeline o, pipeline p, and pipeline q, which are used to connect various components of the seawater desalination device and the backwashing device to achieve the transportation of seawater and fresh water.

5. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: When the pressure difference detector (15) detects that the pressure difference between pipeline m and pipeline n on both sides of the reverse osmosis membrane device (10) exceeds the set threshold, the backwash program of the offshore photovoltaic cleaning robot will be automatically triggered. The offshore photovoltaic cleaning robot will cut off the power circuit of the feed pump (2) and stop the supply of raw seawater. Under the drive of the electric signal, the valve core of the electromagnetic three-way valve I (7) will switch from the normal pipeline c to the pipeline j. At the same time, the valve position of the electromagnetic three-way valve II (9) will switch from the pipeline f to the pipeline k, and the wastewater electromagnetic valve (16) will be opened synchronously to establish a complete backwash flow path.

6. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 5, characterized in that: The backwashing device adopts instantaneous pulse operation. The qualified fresh water stored in the fresh water collection device (14) is returned through the pipeline j and introduced into the pipeline d through the electromagnetic three-way valve I (7). With the help of the high-pressure plunger pump (8), the reverse pressure is forced to be increased by 1.2-1.5 times the normal operating pressure. The high-pressure fresh water impacts the contaminated side of the reverse osmosis membrane through the pipeline k, and utilizes the hydraulic shear force and the osmotic pressure reversal effect to peel off the attached colloidal particles, biofilm and salt scale. The generated flushing wastewater carries pollutants and is directly discharged into the ocean through the pipeline i.

7. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: When the pressure difference detector (15) detects that the pressure difference between the pipe m and the pipe n on both sides of the reverse osmosis membrane device (10) has returned to below the set value, the offshore photovoltaic cleaning robot automatically executes a reset procedure, the feed pump (2) is restarted, the valve core of the electromagnetic three-way valve I (7) is cut back to the pipe c, the electromagnetic three-way valve II (9) is restored to be connected with the pipe f, the wastewater electromagnetic valve (16) is closed, and the reverse osmosis device (10) is put into normal operation again, ensuring that the membrane flux is maintained at more than 80% of the initial value.

8. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: The seawater desalination device and the backwashing device operate simultaneously when the offshore photovoltaic cleaning robot is working, ensuring the efficient production of fresh water and the purity and reliability of the water quality.

9. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: The accumulator (3) controls the pipeline pressure to fluctuate within a range of ±0.2 MPa.

10. The offshore photovoltaic cleaning robot based on seawater desalination according to claim 1, characterized in that: The precision of the fine filter (4) is 5 μm, ensuring that the quality of the pre-treated water reaches the reverse osmosis membrane inlet water standard, that is, turbidity <1 NTU, residual chlorine <0.1 ppm.

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