Photovoltaic operation and maintenance cleaning robot

Abstract

The invention relates to the technical field of photovoltaic power station operation and maintenance, and discloses a photovoltaic operation and maintenance cleaning robot which comprises a walking chassis, an efficient cleaning mechanism is arranged on the walking chassis, sliding grooves are formed in the two sides of the bottom of the walking chassis, and walking mechanisms are arranged in the two sliding grooves. A controller is arranged at the top of the walking chassis, the efficient cleaning mechanism comprises a double-rod sweeping assembly, a micropore spraying assembly and a negative pressure adsorption assembly, and the double-rod sweeping assembly comprises two first bearings, two first servo motors and two flexible brush rollers. Two first bearings and two first servo motors are fixedly mounted at the inner bottom of the walking chassis. According to the photovoltaic operation and maintenance cleaning robot, by arranging the efficient cleaning mechanism, the cleaning efficiency and quality can be improved, meanwhile, secondary pollution is effectively restrained, the water consumption is reduced, the requirements for high efficiency, cleanliness and water saving of automatic operation and maintenance of a photovoltaic power station are well met, and the practicability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic equipment operation and maintenance, and in particular to a photovoltaic operation and maintenance cleaning robot. Background Art

[0002] The photovoltaic operation and maintenance cleaning robot is an automated cleaning device designed specifically for solar photovoltaic power generation systems. It aims to solve the problem of reduced power generation efficiency caused by impurities such as dust, dirt, and snow adhering to the surface of photovoltaic modules. As a key tool for photovoltaic power station operation and maintenance, its core value lies in improving cleaning efficiency, reducing labor costs, and ensuring safe and stable operation of the system through intelligent technology, thereby promoting the sustainable development of the photovoltaic industry.

[0003] In the operation and maintenance of photovoltaic power stations, the surface cleanliness of photovoltaic panels has a significant impact on the photoelectric conversion efficiency, but the existing cleaning methods have obvious shortcomings. First, manual cleaning is costly and inefficient, making it difficult to meet the needs of large-scale power stations. Traditional mechanical cleaning equipment has poor cleaning effects, easily causes secondary pollution, and consumes a lot of water, making it unsuitable for water-scarce areas. At the same time, because photovoltaic panels are mostly installed at an angle, traditional equipment has poor stability when walking on them, is prone to slipping and deflection, and has a low degree of intelligence, which cannot meet the needs of automated and precise operation and maintenance. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In response to the shortcomings of the existing technology, the present invention provides a photovoltaic operation and maintenance cleaning robot, which has the advantages of efficient cleaning and stable walking on inclined surfaces. It solves the problems of existing photovoltaic cleaning equipment such as low cleaning efficiency, easy generation of secondary pollution, high water consumption, and poor walking stability on inclined photovoltaic panel surfaces.

[0006] (2) Technical solution

[0007] In order to achieve the above-mentioned purpose of efficient cleaning and stable walking on inclined surfaces, the present invention provides the following technical solutions: a photovoltaic operation and maintenance cleaning robot, comprising a walking chassis, an efficient cleaning mechanism is provided on the walking chassis, sliding grooves are provided on both sides of the bottom of the walking chassis, and walking mechanisms are provided inside the two sliding grooves, and a controller is provided on the top of the walking chassis.

[0008] The efficient cleaning mechanism includes a double-rod cleaning component, a microporous spray component and a negative pressure adsorption component. The double-rod cleaning component includes two groups of bearings, two servo motors and two flexible brush rollers. The inner bottom of the walking chassis is fixedly installed with two groups of bearings and two servo motors. The inner ring of each group of bearings is fixedly connected to a rotating shaft. The flexible brush roller is fixedly installed on the rotating shaft. The left ends of the rotating shafts of the two flexible brush rollers are respectively fixedly connected to the output ends of the two servo motors through couplings. The microporous spray component includes an air-water mixing device, a diverter pipe and a microporous nozzle. The air-water mixing device is fixedly installed on the top of the walking chassis. A diversion pipe connected to the air-water mixing device is provided at the bottom of the walking chassis and in front of the two flexible brush rollers. A plurality of microporous nozzles are provided, and the top of each microporous nozzle is connected to the inside of the diversion pipe. The negative pressure adsorption component includes a dust collecting box, a negative pressure pump, an ash transport pipe and a dust suction nozzle. The dust collecting box and the negative pressure pump are fixedly installed on the top of the walking chassis and on the left side of the air-water mixing device. An ash transport pipe connected to the input end of the negative pressure pump is provided inside the walking chassis and on the rear side of the diversion pipe. A plurality of dust suction nozzles are provided at the bottom of the walking chassis and behind the front flexible brush roller, and the top of each dust suction nozzle is connected to the inside of the ash transport pipe.

[0009] The walking mechanism includes an upper auxiliary roller, a lower auxiliary roller and a driving assembly, two upper auxiliary rollers are provided on the inner top wall of the sliding groove, two lower auxiliary rollers are provided on the inner bottom wall of the sliding groove, and a driving assembly is provided on the inner wall of the sliding groove. The driving assembly includes servo motor 2, fixed plate, bearing 2, transmission rod, walking wheel and transmission structure, servo motor 2 is fixedly installed on the left and right outer walls of the walking chassis, two fixed plates are fixedly installed on the inner wall of the sliding groove, and bearing 2 is fixedly installed on the opposite surfaces of the two fixed plates, and the inner walls of the two bearings on the same side are fixedly connected with a transmission rod extending to the outside of the lower fixed plate, and a walking wheel is provided on the transmission rod, and one end of the transmission rod extending downward from the lower fixed plate is connected to the output shaft of the corresponding servo motor 2 through the transmission structure.

[0010] Preferably, the flexible brush roller is made of ShoreA 40-60 degree silicone, and micro-hairs with a length of 0.5-1 mm are distributed on the surface of the brush body.

[0011] Preferably, the interior of the gas-water mixing device is connected to the interior of the diversion pipe through a pipeline, and the output end of the negative pressure pump is connected to the interior of the dust collecting box through a pipeline.

[0012] Preferably, the transmission structure is composed of two transmission gears and a transmission belt, and the sliding groove is a closed guide rail structure.

[0013] Preferably, an intelligent control system is provided inside the controller, and the intelligent control system includes a main control module, a wireless communication module, an obstacle avoidance module, a positioning and navigation module, and a stain recognition module. The main control module and the positioning and navigation module are both provided inside the controller, and the stain recognition module and the obstacle avoidance module are both provided on the front side wall of the walking chassis.

[0014] Preferably, the main control module adopts an STM32H743 single-chip microcomputer, the obstacle avoidance module includes a laser radar, the positioning and navigation module includes a GPS module and a gyroscope, and the stain recognition module includes a high-definition camera and an image recognition chip.

[0015] Preferably, a light power supply system is provided above the controller, the light power supply system comprises a power supply module and a solar power generation panel, the power supply module adopts a lithium battery for energy storage, and the power supply module is electrically connected to the intelligent control system via a wire.

[0016] Preferably, the wireless communication module supports 4G / 5G or LoRa protocol and can communicate with the remote monitoring platform.

[0017] Preferably, the surfaces of the upper auxiliary roller, the lower auxiliary roller and the travel wheel are all provided with rubber anti-skid patterns, and the depth of the patterns is 2-5 mm.

[0018] (3) Beneficial effects

[0019] Compared with the existing technology, the present invention provides a photovoltaic operation and maintenance cleaning robot with the following beneficial effects:

[0020] 1. The photovoltaic operation and maintenance cleaning robot is equipped with an efficient cleaning mechanism. When the robot starts cleaning, the microporous spray component works first, and the air-water mixing device fully mixes water and air. The mixed air-water mixture is transported to multiple microporous nozzles distributed in front of the cleaning area through a diversion pipe. The microporous nozzles spray the mixture in an extremely fine mist form onto the surface of the photovoltaic panel to be cleaned. Then the front flexible brush roller in the double-pole cleaning component starts to rotate at high speed under the drive of the front servo motor. At this time, the flexible bristles of the roller contact and rub the wet surface of the photovoltaic panel, loosening, peeling off and sweeping up the moistened and softened dust and dirt from the panel surface. While spraying to reduce dust and the front brush roller loosening the dirt, the negative pressure adsorption component is started, and the negative pressure pump generates a strong negative pressure in the dust collection box. This suction force passes through the dust collection box. The dust, dirt particles and some residual water stains swept up by the front brush roller and wrapped in water mist are immediately and efficiently sucked into the dust collection pipe by the dust collection nozzle, and collected into the dust collection box. Then the rear flexible brush roller in the double-pole cleaning assembly starts to work driven by the rear servo motor 1. The cleaning roller is responsible for further sweeping away and spreading the residual water stains or impurities that have not been completely absorbed by the front brush roller and the negative pressure adsorption, and cooperates with negative pressure adsorption or natural evaporation to significantly reduce or even eliminate the water marks left on the board surface after cleaning. In summary, this mechanism can greatly improve the cleaning efficiency and quality, while also effectively suppressing secondary pollution and significantly reducing water consumption. It better meets the requirements of photovoltaic power station automation operation and maintenance for high efficiency, cleanliness and water saving, and its practicality is strong.

[0021] 2. The photovoltaic operation and maintenance cleaning robot is equipped with a slide groove and a walking mechanism. First, the servo motor 2 is started to output rotational power, and the power is transmitted to the transmission rod through the transmission structure. At this time, the transmission rod rotates stably under the support of the bearing 2, and the walking wheel installed on the transmission rod will also rotate accordingly. Then, the rotating walking wheel generates friction with the surface of the photovoltaic panel, thereby driving the entire robot forward or backward along the guide direction of the slide groove. At the same time, since the entire walking mechanism is embedded in the slide groove at the bottom of the walking chassis, the slide groove plays the role of a guide track, strictly limiting the walking mechanism to move only along the length direction of the slide groove, and the upper auxiliary roller and the lower auxiliary roller are respectively The sides and bottom of the robot gently press against the edge of the photovoltaic panel assembly. This design offsets the lateral force caused by gravity and movement, provides stable support, and prevents side slip and deviation. In summary, the key design of the walking mechanism is to solve the problem of stable walking of the robot caused by the inclined surface of the photovoltaic panel through the rigid guidance of the sliding groove and the clamping and anti-skid of the upper and lower auxiliary rollers. At the same time, the modular servo drive components ensure the accuracy, reliability and easy maintenance of the power output. This design not only ensures that the robot can complete the walking task safely, stably and accurately in the harsh photovoltaic power station environment and cover the entire cleaning area, but also provides the necessary hardware support for the intelligent control and long-term reliable operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle;

[0024] Figure 3 It is a front cross-sectional view of the structure of the present invention;

[0025] Figure 4 It is a partial front cross-sectional view of the structure of the present invention;

[0026] Figure 5 It is a partial rear cross-sectional view of the structure of the present invention;

[0027] Figure 6 This is the system operation diagram of the present invention.

[0028] In the figure: 1. Walking chassis; 101. Sliding groove; 2. Double-rod cleaning assembly; 201. Bearing 1; 202. Servo motor 1; 203. Flexible brush roller; 3. Microporous spray assembly; 301. Air-water mixing device; 302. Diverter pipe; 303. Microporous nozzle; 4. Negative pressure adsorption assembly; 401. Dust collection box; 402. Negative pressure pump; 403. Ash transport pipe; 404. Dust suction nozzle; 5. Walking mechanism; 501. Upper auxiliary roller; 502. Lower auxiliary roller; 503. Drive assembly; 5031. Servo motor 2; 5032. Fixed plate; 5033. Bearing 2; 5034. Transmission rod; 5035. Walking wheel; 5036. Transmission structure; 6. Controller; 7. Solar power supply system. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0030] See also Figure 1-6 A photovoltaic operation and maintenance cleaning robot includes a walking chassis 1, on which an efficient cleaning mechanism is provided. Slide grooves 101 are provided on both sides of the bottom of the walking chassis 1, wherein the slide grooves 101 are closed guide rail structures, and walking mechanisms 5 are provided inside the two slide grooves 101. A controller 6 is provided on the top of the walking chassis 1.

[0031] The efficient cleaning mechanism includes a double-rod cleaning component 2, a microporous spray component 3 and a negative pressure adsorption component 4. The double-rod cleaning component 2 includes two sets of bearings 201, two servo motors 202 and two flexible brush rollers 203. The flexible brush rollers are made of ShoreA40-60 degree silicone, and the surface of the brush body is distributed with 0.5-1mm long micro-fur. Two sets of bearings 201 and two servo motors 202 are fixedly installed on the inner bottom of the walking chassis 1. The number of each set of bearings 201 is two, and the inner ring of each set of bearings 201 is fixedly connected to a rotating shaft. The flexible brush rollers 203 are fixedly installed on the rotating shaft. The left ends of the rotating shafts of the two flexible brush rollers 203 are fixedly connected to the output ends of the two servo motors 202 through couplings. The microporous spray assembly 3 includes an air-water mixing device 301, a diversion pipe 302 and a microporous nozzle 303. The air-water mixing device 301 is fixedly installed on the top of the walking chassis 1, and a diversion pipe 302 connected to the air-water mixing device 301 is provided inside the walking chassis 1, wherein the air-water mixing device 301 realizes air-water mixing through a venturi tube structure, so that water and air form a gas-liquid two-phase mist flow, thereby improving the spray coverage and wetting efficiency. At the same time, the interior of the air-water mixing device 301 is connected to the interior of the diversion pipe 302 through a pipeline. A plurality of microporous nozzles 303 are provided at the bottom of the walking chassis 1 and in front of the two flexible brush rollers 203, and the top of each microporous nozzle 303 is connected to the interior of the diversion pipe 302. The negative pressure adsorption assembly 4 includes The dust collecting box 401, the negative pressure pump 402, the ash transport pipe 403 and the dust suction nozzle 404 are fixedly installed on the top of the walking chassis 1 and on the left side of the air-water mixing device 301, wherein the output end of the negative pressure pump 402 is connected to the interior of the dust collecting box 401 through a pipe, and the interior of the walking chassis 1 and the rear side of the diversion pipe 302 are provided with an ash transport pipe 403 connected to the input end of the negative pressure pump 402, and the bottom of the walking chassis 1 and the rear side of the front flexible brush roller 203 are provided with a plurality of dust suction nozzles 404, and the top of each dust suction nozzle 404 is connected to the interior of the ash transport pipe 403. When the robot starts the cleaning operation, the microporous spray assembly 3 works first, and the air-water mixing device 301 fully mixes water and air The mixed air-water mixture is transported to a plurality of micro-pore nozzles 303 distributed in front of the cleaning area through the shunt pipe 302, and the micro-pore nozzles 303 spray the mixture in the form of extremely fine mist onto the surface of the photovoltaic panel to be cleaned. Then, the front flexible brush roller 203 in the double-pole cleaning component 2 starts to rotate at high speed driven by the front servo motor 202. At this time, the flexible bristles of the roller contact and rub the moistened surface of the photovoltaic panel, loosening, peeling off and sweeping up the moistened and softened dust and dirt from the panel surface. While the dust is sprayed and the front brush roller loosens the dirt, the negative pressure adsorption component 4 is started, and the negative pressure pump 402 generates a strong negative pressure in the dust box 401. This suction force is transmitted to the dust nozzle 404 located in the cleaning area through the ash transport pipe 403.The dust suction nozzle 404 immediately and efficiently sucks the dust, dirt particles and some residual water stains swept up by the front brush roller and wrapped in water mist into the dust transport pipe 403 and collects them in the dust collection box 401. Then, the rear flexible brush roller 203 in the double-pole cleaning component 2 starts working under the drive of the rear servo motor 202. The cleaning roller is responsible for further sweeping away and spreading the residual water stains or impurities that have not been completely sucked away by the front brush roller and the negative pressure adsorption, and cooperates with negative pressure adsorption or natural evaporation to significantly reduce or even eliminate the water marks left on the board surface after cleaning. In summary, this mechanism can greatly improve the cleaning efficiency and quality, while also effectively suppressing secondary pollution and significantly reducing water consumption. It better meets the requirements of photovoltaic power station automation operation and maintenance for high efficiency, cleanliness and water conservation, and its practicality is strong.

[0032] The walking mechanism 5 includes an upper auxiliary roller 501, a lower auxiliary roller 502 and a driving assembly 503. Two upper auxiliary rollers 501 are provided on the inner top wall of the sliding groove 101, and two lower auxiliary rollers 502 are provided on the inner bottom wall of the sliding groove 101. A driving assembly 503 is provided on the inner wall of the sliding groove 101. The driving assembly 503 includes a servo motor 2 5031, a fixed plate 5032, a bearing 2 5033, a transmission rod 5034, a walking wheel 5035 and a transmission structure 5036. The outer walls of the left and right sides of the walking chassis 1 are fixedly installed with a servo motor 2 5031. The inner wall of the sliding groove 101 is fixedly installed with two fixed plates 5032, and the two fixed plates 5034 are fixedly installed with the driving assembly 5035. The opposite surfaces of the servo motor 32 are fixedly mounted with bearing 2 5033. The inner walls of the two bearing 2 5033 on the same side are fixedly connected with a transmission rod 5034 extending to the outside of the lower fixed plate 5032. A walking wheel 5035 is provided on the transmission rod 5034. One end of the transmission rod 5034 extending downward from the lower fixed plate 5032 is connected to the output shaft of the corresponding servo motor 2 5031 through a transmission structure 5036. The transmission structure 5036 is composed of two transmission gears and a transmission belt to ensure that power transmission is non-slip and adapt to the high-precision drive requirements of the servo motor. First, the servo motor 2 5031 is started and outputs rotational power. The power is transmitted to the transmission structure 5036 through the transmission structure. The driving rod 5034 rotates stably under the support of the second bearing 5033, and the walking wheel 5035 installed on the driving rod 5034 will also rotate accordingly. Then, the rotating walking wheel 5035 generates friction with the surface of the photovoltaic panel, thereby driving the entire robot forward or backward along the guide direction of the slide groove 101. At the same time, since the entire walking mechanism 5 is embedded in the slide groove 101 at the bottom of the walking chassis 1, the slide groove 101 plays the role of a guide rail, strictly limiting the walking mechanism to move only along the length direction of the slide groove, and the upper auxiliary roller 501 and the lower auxiliary roller 502 gently press against the edge of the photovoltaic panel assembly from above and below respectively. The design offsets the gravity component, especially the lateral force generated on the inclined plate surface and the movement, provides stable support, and prevents side slip and deviation. In summary, the key design of the walking mechanism is to solve the problem of stable walking of the robot caused by the inclined surface of the photovoltaic panel through the rigid guidance of the sliding groove 101 and the clamping and anti-skid of the upper and lower auxiliary rollers. At the same time, the modular servo drive component 503 ensures the accuracy, reliability and easy maintenance of the power output. This design not only ensures that the robot can complete the walking task safely, stably and accurately in the harsh photovoltaic power station environment, covering the entire cleaning area, but also provides the necessary hardware support for the intelligent control and long-term reliable operation of the robot.

[0033] In the case implementation, an intelligent control system is set up inside the controller 6, which includes a main control module, a wireless communication module, an obstacle avoidance module, a positioning and navigation module, and a stain recognition module. The main control module and the positioning and navigation module are both set inside the controller 6, where the main control module adopts the STM32H743 single-chip microcomputer, the positioning and navigation module includes a GPS module and a gyroscope, and the stain recognition module and the obstacle avoidance module are both set on the front side wall of the walking chassis 1, where the obstacle avoidance module includes a laser radar, and the stain recognition module includes a high-definition camera and an image recognition chip. The stain recognition module collects the surface image of the photovoltaic panel through the high-definition camera, and the image recognition chip identifies the type and concentration of the stain, and the main control module adjusts the parameters according to the recognition results.

[0034] In the case implementation, a solar power supply system is set above the controller 6. The solar power supply system includes a power supply module and a solar panel. The power supply module uses a storage lithium battery. The power supply module is electrically connected to the intelligent control system through a wire. The solar panel is installed obliquely on the top of the controller 6 with a power of 50-100W. Combined with a 12V / 50Ah storage lithium battery, it can support the robot to work continuously for 4-6 hours, and automatically switch to lithium battery power supply on cloudy days.

[0035] In the case implementation, the wireless communication module supports 4G / 5G or LoRa protocols and can communicate with the remote monitoring platform to achieve real-time upload of the robot's working status and remote control.

[0036] In the case implementation, the surfaces of the upper auxiliary roller 501, the lower auxiliary roller 502 and the walking wheel 5035 are all provided with rubber anti-slip textures with a depth of 2-5mm, which can effectively improve the stability of the equipment during movement.

[0037] During implementation, follow these steps:

[0038] 1) First, the controller 6 receives the start signal, the light power supply system 7 supplies power, the positioning and navigation module determines the cleaning area, and the obstacle avoidance module performs a self-check;

[0039] 2) The walking mechanism 5 then drives the robot to move, and the stain recognition module detects the surface of the photovoltaic panel in real time. If heavy stains are encountered, the controller 6 adjusts the walking speed and marks the key cleaning locations;

[0040] 3) The efficient cleaning mechanism operates to cause the microporous spray assembly 3 to spray a mist of air-water mixture to moisten the surface of the photovoltaic panel. The front flexible brush roller 203 rotates to clean and remove stains. The negative pressure adsorption assembly 4 works synchronously to absorb dust and sewage. The rear flexible brush roller 203 cleans a second time to reduce residual water marks.

[0041] 4) After the cleaning is finally completed, the robot returns to the starting position, and issues a prompt when the dust box 401 is full. At the same time, the cleaning data is uploaded to the remote monitoring platform and the robot enters the standby state.

[0042] In summary, the photovoltaic operation and maintenance cleaning robot is provided with an efficient cleaning mechanism. When the robot starts cleaning, the microporous spray assembly 3 works first, the air-water mixing device 301 fully mixes water and air, and the mixed air-water mixture is transported to the multiple microporous nozzles 303 distributed in front of the cleaning area through the diversion pipe 302, and the microporous nozzles 303 spray the mixture in the form of extremely fine mist onto the surface of the photovoltaic panel to be cleaned, and then the front soft sprayer in the double-rod cleaning assembly 2 is turned on. The flexible brush roller 203 starts to rotate at high speed under the drive of the front servo motor 202. At this time, the flexible bristles of the roller contact and rub the wet surface of the photovoltaic panel, loosening, peeling and sweeping the moistened and softened dust and dirt from the panel surface. While the dust is sprayed and the front brush roller loosens the dirt, the negative pressure adsorption component 4 is started, and the negative pressure pump 402 generates a strong negative pressure in the dust box 401. This suction force is transmitted to the dust nozzle 404 located in the cleaning area through the dust transport pipe 403. The dust nozzle 404 The dust, dirt particles and some residual water stains swept up by the front brush roller and wrapped in water mist are immediately and efficiently sucked into the ash transport pipe 403 and collected in the dust box 401. Then the rear flexible brush roller 203 in the double-pole cleaning component 2 starts working under the drive of the rear servo motor 202. The cleaning roller is responsible for further sweeping away and spreading the residual water stains or impurities that have not been completely absorbed by the front brush roller and the negative pressure adsorption, and cooperates with negative pressure adsorption or natural evaporation to significantly reduce or even eliminate the water marks left on the board surface after cleaning. In summary, the mechanism can greatly improve the cleaning efficiency and quality, while also effectively suppressing secondary pollution and significantly reducing water consumption. It better meets the requirements of photovoltaic power station automated operation and maintenance for high efficiency, cleanliness and water saving. It is highly practical and solves the problems of high cost and low efficiency of manual cleaning, which is difficult to adapt to the needs of large power stations, and poor cleaning effect of traditional mechanical cleaning equipment, which is easy to cause secondary pollution and consumes a lot of water and is not suitable for water-scarce areas.

[0043] Moreover, by setting up the walking mechanism 5, first the servo motor 2 5031 is started and the rotational power is output, and the power is transmitted to the transmission rod 5034 through the transmission structure 5036. At this time, the transmission rod 5034 rotates stably under the support of the bearing 2 5033, and the walking wheel 5035 installed on the transmission rod 5034 will also rotate accordingly. Then the rotating walking wheel 5035 drives the entire robot forward or backward along the guide direction of the slide groove 101 through the friction force generated by the surface of the photovoltaic panel. At the same time, since the entire walking mechanism 5 is embedded in the slide groove 101 at the bottom of the walking chassis 1, the slide groove 101 acts as a guide rail, strictly limiting the walking mechanism to move only along the length direction of the slide groove, and the upper auxiliary roller 501 and the lower auxiliary roller 502 gently press against the edge of the photovoltaic panel assembly from the top and bottom respectively. This design Offset the gravity component, especially the lateral force generated on the inclined plate surface and movement, provide stable support, and prevent side slip and deviation. In summary, the key design of the walking mechanism is to solve the problem of stable walking of the robot caused by the inclined surface of the photovoltaic panel through the rigid guidance of the sliding groove 101 and the clamping and anti-skid of the upper and lower auxiliary rollers. At the same time, the modular servo drive component 503 ensures the accuracy, reliability and easy maintenance of the power output. This design not only ensures that the robot can complete the walking task safely, stably and accurately in the harsh photovoltaic power station environment, covering the entire cleaning area, but also provides the necessary hardware support for the intelligent control and long-term reliable operation of the robot, and solves the problem that traditional equipment has poor stability when walking on the photovoltaic panels due to the inclined installation, is prone to slipping and deviation, has a low degree of intelligence, and cannot meet the needs of automated and precise operation and maintenance.

[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0045] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic operation and maintenance cleaning robot, comprising a walking chassis (1), characterized in that: The walking chassis (1) is provided with a high-efficiency cleaning mechanism, and sliding grooves (101) are provided on both sides of the bottom of the walking chassis (1), and a walking mechanism (5) is provided inside the two sliding grooves (101), and a controller (6) is provided on the top of the walking chassis (1). The high-efficiency cleaning mechanism comprises a double-rod cleaning assembly (2), a microporous spray assembly (3) and a negative pressure adsorption assembly (4); the double-rod cleaning assembly (2) comprises two sets of bearings (201), two servo motors (202) and two flexible brush rollers (203); the inner bottom of the walking chassis (1) is fixedly mounted with two sets of bearings (201) and two servo motors (202); the inner ring of each set of bearings (201) is fixedly connected to a rotating shaft; the flexible brush rollers (203) are fixedly mounted with the inner ring of each set of bearings (201) and the inner ring of each set of flexible brush rollers (203); the inner ring of each set of bearings (201) is fixedly connected to a rotating shaft; the inner ring of each set of flexible brush rollers (203) is fixedly mounted with the inner ring of each set of bearings (201) and the inner ring of each set of flexible brush The roller (203) is fixedly mounted on the rotating shaft. The left ends of the rotating shafts of the two flexible brush rollers (203) are fixedly connected to the output ends of the two servo motors (202) through couplings. The microporous spray assembly (3) includes an air-water mixing device (301), a diversion pipe (302) and a microporous nozzle (303). The air-water mixing device (301) is fixedly mounted on the top of the walking chassis (1). The interior of the walking chassis (1) is provided with a gas-water mixing device (301). 01) connected to the shunt pipe (302), the bottom of the walking chassis (1) and located in front of the two flexible brush rollers (203) are provided with a plurality of micro-porous nozzles (303), and the top of each micro-porous nozzle (303) is connected to the inside of the shunt pipe (302), the negative pressure adsorption component (4) includes a dust collecting box (401), a negative pressure pump (402), an ash transport pipe (403) and a dust suction nozzle (404), the top of the walking chassis (1) and located in the air-water mixing A dust collecting box (401) and a negative pressure pump (402) are fixedly installed on the left side of the device (301); an ash transport pipe (403) connected to the input end of the negative pressure pump (402) is provided inside the walking chassis (1) and at the rear side of the diversion pipe (302); a plurality of dust suction nozzles (404) are provided at the bottom of the walking chassis (1) and at the rear of the front flexible brush roller (203); and the top of each dust suction nozzle (404) is connected to the inside of the ash transport pipe (403). The walking mechanism (5) comprises an upper auxiliary roller (501), a lower auxiliary roller (502) and a driving assembly (503). Two upper auxiliary rollers (501) are provided on the inner top wall of the sliding groove (101), two lower auxiliary rollers (502) are provided on the inner bottom wall of the sliding groove (101), and a driving assembly (503) is provided on the inner wall of the sliding groove (101). The driving assembly (503) comprises a second servo motor (5031), a fixing plate (5032), a second bearing (5033), a transmission rod (5034), a walking wheel (5035) and a transmission structure (5036). The left and right sides of the walking chassis (1) are provided with a plurality of auxiliary rollers (501). The outer wall is fixedly mounted with a servo motor 2 (5031), the inner wall of the sliding groove (101) is fixedly mounted with two fixed plates (5032), the opposite surfaces of the two fixed plates (5032) are fixedly mounted with bearing 2 (5033), the inner walls of the two bearings 2 (5033) on the same side are fixedly connected with a transmission rod (5034) extending to the outside of the lower fixed plate (5032), a walking wheel (5035) is provided on the transmission rod (5034), and one end of the transmission rod (5034) extending downward from the lower fixed plate (5032) is connected to the output shaft of the corresponding servo motor 2 (5031) through a transmission structure (5036).

2. A photovoltaic operation and maintenance cleaning robot according to claim 1, characterized in that: The flexible brush roller is made of ShoreA 40-60 degree silica gel, and micro-hairs with a length of 0.5-1 mm are distributed on the surface of the brush body.

3. A photovoltaic operation and maintenance cleaning robot according to claim 1, characterized in that: The interior of the gas-water mixing device (301) is connected to the interior of the diversion pipe (302) via a pipe, and the output end of the negative pressure pump (402) is connected to the interior of the dust collecting box (401) via a pipe. The gas-water mixing device (301) adopts a Venturi tube structure to achieve gas-water mixing.

4. A photovoltaic operation and maintenance cleaning robot according to claim 1, characterized in that: The transmission structure (5036) is composed of two transmission gears and a transmission belt, and the sliding groove (101) is a closed guide rail structure.

5. The photovoltaic operation and maintenance cleaning robot according to claim 1, characterized in that: An intelligent control system is provided inside the controller (6), and the intelligent control system includes a main control module, a wireless communication module, an obstacle avoidance module, a positioning and navigation module, and a stain recognition module. The main control module and the positioning and navigation module are both provided inside the controller (6), and the stain recognition module and the obstacle avoidance module are both provided on the front side wall of the walking chassis (1).

6. A photovoltaic operation and maintenance cleaning robot according to claim 5, characterized in that: The main control module adopts an STM32H743 single-chip microcomputer, the obstacle avoidance module includes a laser radar, the positioning and navigation module includes a GPS module and a gyroscope, and the stain recognition module includes a high-definition camera and an image recognition chip.

7. The photovoltaic operation and maintenance cleaning robot according to claim 1, characterized in that: A light power supply system is provided above the controller (6), the light power supply system comprising a power supply module and a solar power generation panel, the power supply module adopts an energy storage lithium battery, and the power supply module is electrically connected to the intelligent control system via a wire.

8. The photovoltaic operation and maintenance cleaning robot according to claim 5, characterized in that: The wireless communication module supports 4G / 5G or LoRa protocol and can communicate with the remote monitoring platform.

9. The photovoltaic operation and maintenance cleaning robot according to claim 1, characterized in that: The surfaces of the upper auxiliary roller (501), the lower auxiliary roller (502) and the walking wheel (5035) are all provided with rubber anti-skid patterns, and the pattern depth is 2-5 mm.

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