Photovoltaic module cleaning device

Abstract

The invention belongs to the technical field of photovoltaic module cleaning, and provides a photovoltaic module cleaning device which comprises a moving platform, a mechanical arm mechanism and a cleaning mechanism. The mechanical arm mechanism is installed on the moving platform, and the sweeping mechanism is installed at the executing end of the mechanical arm mechanism. The sweeping mechanism comprises a sweeping brush, a sweeping brush driving piece, a dust cover and a dust collection assembly. The two ends of the sweeping brush are rotatably connected with the inner side of the dust cover, the dust cover is provided with an opening, and the sweeping brush is located at the opening of the dust cover. The dust cover is provided with the sweeping brush driving piece, and the sweeping brush driving piece is connected with the sweeping brush and used for driving the sweeping brush to rotate. The sweeping brush driving piece is connected with a dust collection assembly, and the dust collection assembly is used for collecting dust in the dustproof cover; through collaborative design of the moving platform, the mechanical arm mechanism and the sweeping mechanism, automatic sweeping operation of the photovoltaic module is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of photovoltaic module cleaning, and specifically relates to a photovoltaic module cleaning device. Background Art

[0002] With the rapid development of the global photovoltaic industry, the scale and number of installed PV panels are constantly increasing. Cleaning and maintenance are particularly important in large-scale distributed PV power plants. Prolonged exposure to sunlight can easily lead to the accumulation of dust, bird droppings, and other contaminants on PV panels, resulting in surface contamination. This can significantly affect the panels' power generation efficiency and even shorten the lifespan of the cells. Therefore, cleaning and maintenance of PV panels is a crucial component of PV power plant operations and management.

[0003] Traditional methods for cleaning photovoltaic panels rely on manual operation or the use of traditional mechanized equipment. However, these methods present the following problems: While manual cleaning can clean photovoltaic panels to a certain extent, it is time-consuming and labor-intensive. Labor costs are high in large-scale photovoltaic power plants, and manual cleaning can scratch the surface of photovoltaic panels, affecting their power generation efficiency. While traditional mechanized cleaning improves efficiency, it often consumes large amounts of water, especially in arid areas, where water supply becomes a major issue. Furthermore, since large distributed power plants are typically installed directly on the ground, which is not perfectly flat due to its inherent topographical features, the movement of robots on such surfaces inevitably causes the robotic arm to swing, resulting in the cleaning device angle being inconsistent with the installation angle of the photovoltaic panels, with one side being higher than the other, which can easily damage the photovoltaic panels and the cleaning device. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a photovoltaic module cleaning device to solve the problems in the prior art. The technical solution adopted by the present invention is: A photovoltaic module cleaning device comprises a mobile platform, a mechanical arm mechanism and a cleaning mechanism; The robotic arm mechanism is installed on the mobile platform, and the executing end of the robotic arm mechanism is installed with the cleaning mechanism; the cleaning mechanism includes a cleaning brush, a cleaning brush driving component, a dust cover and a dust suction component; both ends of the cleaning brush are rotatably connected to the inner side of the dust cover, the dust cover is provided with an opening, and the cleaning brush is located at the opening; the cleaning brush driving component is installed on the dust cover, and the cleaning brush driving component is connected to the cleaning brush for driving the cleaning brush to rotate; the cleaning brush driving component is connected to the dust suction component, and the dust suction component is used to absorb dust in the dust cover.

[0005] Furthermore, the dust collection assembly includes an upper shell, a filter, an absorption cylinder and a fan; The top of the dust cover is fixedly connected to the upper shell, the upper shell is provided with an inner chamber, the top of the dust cover is provided with a vent, the filter is provided on the vent, and the absorption cylinder is installed in the inner chamber; one end of the absorption cylinder is an air inlet end, and the other end is an air outlet end, the air inlet end of the absorption cylinder is located above the filter, and the air outlet end of the absorption cylinder faces the fan; the fan is used to exhaust air and form a negative pressure at the air outlet end of the absorption cylinder to make the air in the dust cover flow through the absorption cylinder; a filter filler is provided in the absorption cylinder; The fan is connected to the cleaning brush driving component.

[0006] Furthermore, a large gear is rotatably provided at one end of the dust cover, and a small gear is rotatably provided at one end of the upper shell, the small gear engages with the large gear, the large gear is connected to the output end of the cleaning brush drive, and the small gear is connected to the fan through a shaft.

[0007] Furthermore, the cleaning brush driving component is a motor.

[0008] Furthermore, the mobile platform includes a chassis assembly, a slewing support, a dust collection port and a dust collection box; Tracks are provided on both sides of the chassis assembly, the slewing support and the dust collection box are fixedly provided on the top of the chassis assembly, the robotic arm mechanism is installed on the slewing support, the dust collection box is provided with the dust collection port, and the dust collection port is connected to the inner chamber of the upper shell through a pipeline.

[0009] Furthermore, the robotic arm mechanism includes a first sub-arm, a second sub-arm, a third sub-arm, a fourth sub-arm, a first connecting rod, a second connecting rod, a connecting plate, a first telescopic member, a second telescopic member, a third telescopic member and a fourth telescopic member; The bottom of the first sub-arm is mounted on the mobile platform, the top of the first sub-arm is rotatably connected to the bottom of the second sub-arm, the top of the second sub-arm is rotatably connected to one end of the third sub-arm, the other end of the third sub-arm is slidably connected to the fourth sub-arm, and the end of the fourth sub-arm is rotatably connected to the connecting plate, on which the cleaning mechanism is mounted; The first telescopic member has two ends rotatably connected to the first sub-arm and the second sub-arm, respectively, for driving the second sub-arm to rotate; the second telescopic member has two ends rotatably connected to the second sub-arm and the third sub-arm, respectively, for driving the third sub-arm to rotate; the third telescopic member has two ends connected to the third sub-arm and the fourth sub-arm, respectively, for driving the fourth sub-arm to slide; The opposite ends of the first connecting rod and the second connecting rod are rotatably connected to the output ends of the four telescopic parts, and the opposite ends of the first connecting rod and the second connecting rod are rotatably connected to the four sub-arms and the connecting plate respectively. The four telescopic parts are installed on the four sub-arms and are used to drive the connecting plate to rotate.

[0010] Furthermore, it also includes a GNSS positioning device, an RTK positioning device, a binocular camera, a tilt sensor and a distance sensor; The GNSS positioning device and the RTK positioning device are installed on the mobile platform, the binocular camera is installed on the mechanical arm mechanism, and the inclination sensor and the distance sensor are installed on the cleaning mechanism.

[0011] The present invention has the following beneficial effects: It integrates cleaning and dust collection functions, preventing dust contamination through the coordinated operation of the dust cover and brush; the dual-filtration structure effectively intercepts dust, meeting environmental emission requirements and reducing secondary deposition; the mechanical linkage design eliminates the need for an independent fan drive, integrating power through gear transmission, simplifying the structure and reducing equipment complexity; the tracked mobile platform, coupled with a slewing support, enables stable travel on complex terrain and precise 360-degree steering of the robotic arm; the four-degree-of-freedom robotic arm, adjusted through a multi-link mechanism, can adapt to the inclination and position of photovoltaic panels of varying sizes, ensuring that the brush remains in close contact with the panel surface. GNSS and RTK positioning, combined with binocular vision and multiple sensors, support autonomous cruise cleaning, providing real-time feedback to adjust the robotic arm's posture and prevent damage to the photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the overall structure of a photovoltaic module cleaning device of the present invention; Figure 2 Schematic diagram of the mobile platform; Figure 3 Schematic diagram of the robotic arm mechanism; Figure 4 Indicates the cleaning agency Figure 1 ; Figure 5 Indicates the cleaning agency Figure 2 ; Figure 6 Indicates the cleaning agency Figure 3 ; Figure 7 Schematic diagram of the relationship between the joint space and the driving space of the fourth sub-arm; Figure 8 Schematic diagram of the relationship between the joint space and the driving space of the first sub-arm; Figure 9 Schematic diagram of the relationship between the second sub-arm joint space and the drive space; Accessory markings: mobile platform 1, chassis assembly 11, slewing bearing 12, dust collection port 13, dust collection box 14, GNSS positioning device 15, RTK positioning device 16, robotic arm mechanism 2, first sub-arm 21, second sub-arm 22, third sub-arm 23, fourth sub-arm 24, binocular camera 25, first connecting rod 26, second connecting rod 27, connecting plate 28, first telescopic member 211, second telescopic member 221, third telescopic member 231, fourth telescopic member 241, cleaning mechanism 3, cleaning brush driving member 31, upper shell 32, cleaning brush 33, absorption cylinder 34, filter 35, dust cover 36, cover plate 37, fan protection filter 38, small gear 39, large gear 40, fan 41, first telescopic member 211, second telescopic member 221, third telescopic member 231, fourth telescopic member 241. DETAILED DESCRIPTION

[0013] The following is a combination of the embodiments of the present invention Figures 1-9 , the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0014] A photovoltaic module cleaning device includes a mobile platform 1, a robotic arm mechanism 2 and a cleaning mechanism 3; the robotic arm mechanism 2 is installed on the mobile platform 1, and the cleaning mechanism 3 is installed on the execution end of the robotic arm mechanism 2; the cleaning mechanism 3 includes a cleaning brush 33, a cleaning brush driving component 31, a dust cover 36 and a dust suction component; the two ends of the cleaning brush 33 are rotatably connected to the inner side of the dust cover 36, the dust cover 36 is provided with an opening, and the cleaning brush 33 is located at its opening; the cleaning brush driving component 31 is installed on the dust cover 36, the cleaning brush driving component 31 is connected to the cleaning brush 33, and is used to drive the cleaning brush 33 to rotate; the cleaning brush driving component 31 is connected to the dust suction component, and the dust suction component is used to absorb dust in the dust cover 36.

[0015] In practical application, the mobile platform 1, equipped with the robotic arm mechanism 2, travels above the photovoltaic panel. The robotic arm mechanism 2 adjusts the position of the cleaning mechanism 3 so that the opening of the dust cover 36 faces the photovoltaic panel surface, and the cleaning brush 33 is in contact with the panel surface. When the cleaning brush driver 31 is energized, it drives the cleaning brush 33 to rotate at high speed. The cleaning brush 33 rubs against the photovoltaic panel surface to remove dirt, bird droppings, and other stains. Simultaneously, the dust collection assembly is activated, using negative pressure to draw dust raised during cleaning into the dust cover 36, preventing dust from spreading and contaminating the surrounding environment. The present invention achieves integrated cleaning and dust collection through the coordinated operation of the cleaning brush 33 and the dust collection assembly, improving cleaning efficiency compared to traditional manual cleaning and effectively collecting dust. The opening of the dust cover 36 is designed to fit tightly against the photovoltaic panel surface, effectively preventing dust from escaping, ensuring a clean working environment, and preventing dust accumulation from affecting the photovoltaic panel's power generation efficiency. The robotic arm mechanism 2 of the present invention can be adjusted to various angles, allowing the cleaning mechanism 3 to adapt to photovoltaic panels at different angles.

[0016] like Figure 4-Figure 6 The dust collection assembly includes an upper shell 32, a filter 35, an absorption cylinder 34 and a fan 41; the top of the dust cover 36 is fixedly connected to the upper shell 32, and an inner chamber is provided in the upper shell 32, a vent is opened at the top of the dust cover 36, the filter 35 is provided on the vent, and the absorption cylinder 34 is installed in the inner chamber; one end of the absorption cylinder 34 is an air inlet end, and the other end is an air outlet end. The air inlet end of the absorption cylinder 34 is located above the filter 35, and the air outlet end of the absorption cylinder 34 faces the fan 41; the fan 41 is used to exhaust air and form a negative pressure at the air outlet end of the absorption cylinder 34 to make the air in the dust cover 36 flow through the absorption cylinder 34; a filter filler is provided in the absorption cylinder 34; the fan 41 is connected to the cleaning brush driving member 31.

[0017] The dust cover 36 of the present invention is bolted to the upper housing 32, and the filter 35 at the vent is removably bolted. The purpose of the filter 35 is to filter large impurities, such as grass, sand, and gravel, to prevent them from entering the absorption tube 34 and causing clogging. The filter filler filled in the absorption tube 34 is a composite structure of multiple layers of activated carbon and HEPA filters, which can efficiently absorb PM2.5-level fine dust while maintaining a certain level of ventilation performance. When the fan 41 is activated synchronously with the cleaning brush drive 31, a continuous negative pressure is formed at the outlet of the absorption tube 34. The dust-laden air in the dust cover 36 passes through the filter 35 and the inlet of the absorption tube 34 in sequence. After multiple layers of filtration, the clean air is discharged by the fan 41, forming a closed-loop airflow cycle. The filter filler in the absorption tube 34 can be replaced with different materials according to the characteristics of the dust, providing strong adaptability. The negative pressure dust collection design avoids secondary pollution caused by dust flying in traditional cleaning methods, while also reducing the secondary deposition of dust on the surface of the photovoltaic panel, extending the cleaning cycle.

[0018] In addition, the top of the upper shell 32 is detachably connected to the cover plate 37 by bolts. The cover plate 37 is located directly above the absorption cylinder 34. The absorption cylinder 34 can be installed and removed by removing the cover plate 37, which is convenient for timely cleaning of the absorption cylinder 34.

[0019] Furthermore, a large gear 40 is rotatably provided at one end of the dust cover 36, and a small gear 39 is rotatably provided at one end of the upper shell 32. The small gear 39 engages with the large gear 40, and the large gear 40 is connected to the output end of the cleaning brush drive 31. The small gear 39 is connected to the fan 41 through a shaft.

[0020] The output shaft of the cleaning brush driver 31 is fixedly connected to the large gear 40. When the motor rotates, it drives the large gear 40 to rotate, and drives the small gear 39 to rotate synchronously through the gear meshing transmission. The small gear 39 is connected to the impeller shaft of the fan 41 through the shaft, thereby driving the fan 41 to operate. The gear transmission ratio can be designed according to actual needs so that the rotation speed of the fan 41 matches the rotation speed of the cleaning brush 33, ensuring that the dust collection efficiency and cleaning force are synchronized. The mechanical linkage design of the present invention does not require the additional installation of a fan drive motor, saving equipment cost and energy consumption. During specific implementation, a gear box can be fixedly connected to the end of the dust cover 36, and the cleaning brush driver 31 is fixedly mounted on the gear box, which covers the large gear 40 and the small gear 39.

[0021] Furthermore, the cleaning brush driving component 31 is a motor.

[0022] like Figure 2 The mobile platform 1 includes a chassis assembly 11, a slewing support 12, a dust collection port 13 and a dust collection box 14; tracks are provided on both sides of the chassis assembly 11, the slewing support 12 and the dust collection box 14 are fixedly provided on the top of the chassis assembly 11, the robotic arm mechanism 2 is installed on the slewing support 12, and the dust collection box 14 is provided with the dust collection port 13, and the dust collection port 13 is connected to the inner chamber of the upper shell 32 through a pipeline.

[0023] The tracks on both sides of the chassis assembly 11 are driven by sprockets driven by a drive motor. The slewing support 12 is a cross-roller bearing structure, driven by a hydraulic motor, enabling 360° rotation of the robotic arm mechanism 2. Dust from the interior of the upper housing 32 is transported via a pipeline to the dust collection port 13, where it is stored in the dust collection box 14. The dust collection box 14 can be designed as a drawer, allowing manual removal and emptying when full. Furthermore, the dust collection port 13 is connected to the interior of the upper housing 32 via a pipeline, located behind the fan 41.

[0024] like Figure 3, the robotic arm mechanism 2 includes a first sub-arm 21, a second sub-arm 22, a third sub-arm 23, a fourth sub-arm 24, a first connecting rod 26, a second connecting rod 27, a connecting plate 28, a first telescopic member 211, a second telescopic member 221, a third telescopic member 231 and a fourth telescopic member 241; the bottom of the first sub-arm 21 is installed on the mobile platform 1, the top of the first sub-arm 21 is rotatably connected to the bottom of the second sub-arm 22, the top of the second sub-arm 22 is rotatably connected to one end of the third sub-arm 23, the other end of the third sub-arm 23 is slidably connected to the fourth sub-arm 24, the end of the fourth sub-arm 24 is rotatably connected to the connecting plate 28, and the cleaning mechanism 3 is installed on the connecting plate 28; the two ends of the first telescopic member 211 are rotatably connected The first sub-arm 21 and the second sub-arm 22 are connected to drive the second sub-arm 22 to rotate; the two ends of the second telescopic member 221 are rotatably connected to the second sub-arm 22 and the third sub-arm 23, respectively, for driving the third sub-arm 23 to rotate; the two ends of the third telescopic member 231 are respectively connected to the third sub-arm 23 and the fourth sub-arm 24, for driving the fourth sub-arm 24 to slide; the opposite ends of the first connecting rod 26 and the second connecting rod 27 are rotatably connected to the output end of the four telescopic members 241, and the opposite ends of the first connecting rod 26 and the second connecting rod 27 are rotatably connected to the four sub-arms 24 and the connecting plate 28, respectively. The four telescopic members 241 are installed on the four sub-arms 24, and are used to drive the connecting plate 28 to rotate.

[0025] The first telescopic member 211, the second telescopic member 221, the third telescopic member 231, and the fourth telescopic member 241 all utilize electric push rods or hydraulic cylinders. For example, when the first telescopic member 211 extends, it pushes the second sub-arm 22 to rotate upward about its hinge point with the first sub-arm 21, achieving the arm's pitch and roll motion. When the third telescopic member 231 extends and retracts, it drives the fourth sub-arm 24 to slide within the third sub-arm 23, adjusting the arm's horizontal extension. The fourth telescopic member 241, through a four-bar linkage consisting of a first connecting rod 26 and a second connecting rod 27, converts the linear motion of the push rod into the rotational motion of the connecting plate 28, ensuring that the dust cover 36 of the cleaning mechanism 3 remains parallel to the surface of the photovoltaic panel.

[0026] Furthermore, it also includes a GNSS positioning device 15, an RTK positioning device 16, a binocular camera 25, an inclination sensor and a distance sensor; the GNSS positioning device 15 and the RTK positioning device 16 are installed on the mobile platform 1, the binocular camera 25 is installed on the robotic arm mechanism 2, and the inclination sensor and the distance sensor are installed on the cleaning mechanism 3.

[0027] The present invention also relates to a control method for a cleaning device of a photovoltaic module intelligent cleaning robot, comprising the following steps: Step 1: Measure the installation angle and length of the photovoltaic module in advance, and select a cleaning brush 33 of appropriate length.

[0028] Step 2: Control the extension and contraction of the fourth telescopic member 241 according to the measured angle. Read the value of the inclination sensor in the software and compare it with the measured value. When the two values ​​are consistent, the extension and contraction of the fourth telescopic member 241 is no longer changed.

[0029] Step 3: Move the robotic arm mechanism 2 to the starting point of the operation path, adjust the extension amount of the first telescopic member 211 and the second telescopic member 221 according to the distance between the cleaning mechanism 3 and the photovoltaic module, adjust the extension amount of the third telescopic member 231 according to the value of the distance sensor, and prepare for operation.

[0030] Step 4: Start the homework.

[0031] Step 5: The operation is completed and return to the starting point.

[0032] The overall control idea of ​​the present invention is as follows: in the initial state, the robotic arm mechanism 2 and the cleaning mechanism 3 are installed on the mobile platform 1 at an initial angle, and the specific angle is that the slewing support 12 is parallel to the forward direction of the mobile platform 1; when a cleaning operation instruction is received, it moves according to the path pre-set by the GNSS positioning device 15. During the movement, it is always judged whether the current robot position is reasonable (the vehicle body and the photovoltaic panel do not collide) according to the RTK positioning device 16. When it reaches the predetermined position, it stops moving, and the slewing support 12 drives the robotic arm mechanism 2 and the cleaning member 3 to rotate 90 degrees. During actual operation, it is determined whether to rotate counterclockwise or clockwise according to the position of the photovoltaic module. When the robotic arm mechanism 2 is perpendicular to the forward direction of the mobile platform 1, the first telescopic member 211, the second telescopic member 221, and the fourth telescopic member 241 are adjusted to make the cleaning mechanism 3 parallel to the photovoltaic module.

[0033] like Figure 9 As shown, in step 2, it is necessary to adjust the extension amount of the fourth telescopic member 241. Since the mechanism connecting the roller brush is a four-link mechanism, and , the geometric relationship changes with the change of the roller brush placement angle. The solution of needs to be discussed in different cases. When hour, Solve as follows: , when When , Solve as follows: , Therefore, the extension and contraction amount of the swing cylinder is: , In step three, the expansion and contraction amount of the first expansion member 211 needs to be adjusted. The calculation process is as follows: In △ABC, according to the cosine theorem, , There are the following angle conversion relationships: , Combining the two equations, we get , So the extension and contraction amount of the boom cylinder can be obtained as follows: , In step three, the expansion and contraction amount of the second expansion member 221 needs to be adjusted. The calculation process is as follows: In △DEG, the cosine theorem gives, , There are the following angle conversion relationships: , Combining the above two equations, we get: , The expansion and contraction amount of the second expansion member 221 is obtained as follows: , Finally, the third telescopic member 231 is adjusted to make the fourth sub-arm 24 move slowly in a straight line. When the error between the signal received from the distance sensor and the preset value is within the allowable range, the cleaning brush driving member 31 is started to drive the cleaning brush 33 to rotate.

[0034] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various deformations, modifications, and substitutions made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A photovoltaic module cleaning device, characterized in that: It includes a mobile platform (1), a robotic arm mechanism (2) and a cleaning mechanism (3); The mobile platform (1) is mounted with the robotic arm mechanism (2), and the execution end of the robotic arm mechanism (2) is mounted with the cleaning mechanism (3); the cleaning mechanism (3) comprises a cleaning brush (33), a cleaning brush driving member (31), a dust cover (36) and a dust suction assembly; both ends of the cleaning brush (33) are rotatably connected to the inner side of the dust cover (36), the dust cover (36) is provided with an opening, and the cleaning brush (33) is located at the opening; the cleaning brush driving member (31) is mounted on the dust cover (36), the cleaning brush driving member (31) is connected to the cleaning brush (33) and is used to drive the cleaning brush (33) to rotate; the cleaning brush driving member (31) is connected to the dust suction assembly, and the dust suction assembly is used to absorb dust in the dust cover (36).

2. A photovoltaic module cleaning device according to claim 1, characterized in that: The dust collection assembly comprises an upper shell (32), a filter (35), an absorption cylinder (34) and a fan (41); The top of the dust cover (36) is fixedly connected to the upper shell (32), an inner chamber is provided in the upper shell (32), a vent is provided at the top of the dust cover (36), the filter (35) is provided on the vent, and the absorption tube (34) is installed in the inner chamber; one end of the absorption tube (34) is an air inlet end, and the other end is an air outlet end, the air inlet end of the absorption tube (34) is located above the filter (35), and the air outlet end of the absorption tube (34) faces the fan (41); the fan (41) is used to exhaust air and form a negative pressure at the air outlet end of the absorption tube (34) to make the air in the dust cover (36) flow through the absorption tube (34); a filter filler is provided in the absorption tube (34); The fan (41) is connected to the cleaning brush driving member (31).

3. A photovoltaic module cleaning device according to claim 2, characterized in that: A large gear (40) is rotatably provided at one end of the dust cover (36), and a small gear (39) is rotatably provided at one end of the upper shell (32). The small gear (39) engages with the large gear (40), and the large gear (40) is connected to the output end of the cleaning brush drive (31). The small gear (39) is connected to the fan (41) via a shaft.

4. A photovoltaic module cleaning device according to claim 3, characterized in that: The cleaning brush driving component (31) is a motor.

5. A photovoltaic module cleaning device according to claim 2, characterized in that: The mobile platform (1) comprises a chassis assembly (11), a slewing support (12), a dust collection port (13) and a dust collection box (14); Tracks are provided on both sides of the chassis assembly (11); the slewing support (12) and the dust collection box (14) are fixedly provided on the top of the chassis assembly (11); the robotic arm mechanism (2) is installed on the slewing support (12); the dust collection box (14) is provided with the dust collection port (13); and the dust collection port (13) is connected to the inner chamber of the upper shell (32) through a pipeline.

6. A photovoltaic module cleaning device according to claim 1, characterized in that: The robotic arm mechanism (2) comprises a first sub-arm (21), a second sub-arm (22), a third sub-arm (23), a fourth sub-arm (24), a first connecting rod (26), a second connecting rod (27), a connecting plate (28), a first telescopic member (211), a second telescopic member (221), a third telescopic member (231), and a fourth telescopic member (241); The bottom of the first sub-arm (21) is mounted on the mobile platform (1), the top of the first sub-arm (21) is rotatably connected to the bottom of the second sub-arm (22), the top of the second sub-arm (22) is rotatably connected to one end of the third sub-arm (23), the other end of the third sub-arm (23) is slidably connected to the fourth sub-arm (24), the end of the fourth sub-arm (24) is rotatably connected to the connecting plate (28), and the cleaning mechanism (3) is mounted on the connecting plate (28); The first telescopic member (211) has two ends rotatably connected to the first sub-arm (21) and the second sub-arm (22), respectively, for driving the second sub-arm (22) to rotate; the second telescopic member (221) has two ends rotatably connected to the second sub-arm (22) and the third sub-arm (23), respectively, for driving the third sub-arm (23) to rotate; the third telescopic member (231) has two ends connected to the third sub-arm (23) and the fourth sub-arm (24), respectively, for driving the fourth sub-arm (24) to slide; The opposite ends of the first connecting rod (26) and the second connecting rod (27) are rotatably connected to the output ends of the four telescopic members (241); the opposite ends of the first connecting rod (26) and the second connecting rod (27) are rotatably connected to the four sub-arms (24) and the connecting plate (28), respectively; the four telescopic members (241) are mounted on the four sub-arms (24) and are used to drive the connecting plate (28) to rotate.

7. A photovoltaic module cleaning device according to any one of claims 1 to 6, characterized in that: It also includes a GNSS positioning device (15), an RTK positioning device (16), a binocular camera (25), a tilt sensor and a distance sensor; The GNSS positioning device (15) and the RTK positioning device (16) are installed on the mobile platform (1), the binocular camera (25) is installed on the mechanical arm mechanism (2), and the tilt sensor and the distance sensor are installed on the cleaning mechanism (3).

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