A photovoltaic panel cleaning machine that combines full-section horizontal cleaning with localized deep cleaning

Abstract

This invention belongs to the field of photovoltaic panel cleaning technology, specifically relating to a photovoltaic panel cleaning machine that combines full-section horizontal sweeping with localized deep cleaning. It includes two moving trolleys and a cleaning roller connected between the trolleys. The cleaning roller comprises two retainers and a flexible sleeve connected between the retainers. The retainers are circular rings, and the two ends of the flexible sleeve are fixedly fitted onto the outside of the retainers. The two retainers straighten the flexible sleeve, maintaining its cylindrical shape. Bristles are distributed on the outside of the flexible sleeve. This invention improves upon conventional cleaning rollers by replacing them with a soft cleaning roller. The flexible sleeve of the cleaning roller can deform to a certain extent at any position. A pressure plate that can move along its axial direction is located in the middle of the cleaning roller. After the pressure plate expands, it applies pressure to the flexible sleeve, enhancing the cleaning force of the flexible sleeve at the location of the pressure plate on the photovoltaic panel and effectively removing stubborn stains.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic panel cleaning technology, specifically relating to a photovoltaic panel cleaning machine that combines full-section horizontal sweeping with local deep cleaning. Background Technology

[0002] With the continuous growth of photovoltaic installations, the demand for photovoltaic cleaning is also increasing, which provides a broad development space for the photovoltaic panel cleaning robot market.

[0003] On the one hand, the application of photovoltaic panel cleaning robots can significantly improve the operating efficiency and power generation benefits of photovoltaic power plants, and reduce operation and maintenance costs, thus having broad application prospects in the field of photovoltaic power plant operation and maintenance. On the other hand, with the continuous improvement and advancement of robot technology and core components, and the gradual maturation of the market, the photovoltaic panel cleaning robot industry will usher in more development opportunities.

[0004] Currently, domestic manufacturers of photovoltaic panel cleaning robots are emerging in large numbers, and various styles and forms of photovoltaic cleaning robots are appearing in various photovoltaic scenarios like mushrooms after rain. There are wheeled ones, tracked ones, self-propelled ones, remote-controlled ones, ones with water spraying capabilities, and ones that can dry sweep without water spraying capabilities.

[0005] Based on their functions and product form, current photovoltaic cleaning robots can be divided into the following categories:

[0006] Rail-mounted photovoltaic cleaning robot: A type of robot that mainly relies on the frame of photovoltaic panels and is mounted on the photovoltaic panels to clean the entire row. It is mainly used in centralized photovoltaic power plants.

[0007] Tracked photovoltaic cleaning robots: These robots all adopt a tracked chassis structure and are equipped with single or double-headed roller brushes. They clean photovoltaic panels autonomously or remotely and are mainly used in distributed photovoltaic power stations.

[0008] "Drone" type cleaning robot: As the name suggests, this is a type of photovoltaic cleaning robot that uses drones as the main carrier. Some drones carry water tanks for cleaning, some drones carry high-pressure water hoses for cleaning, and some use drones to transport tracked robots to the photovoltaic panels for cleaning.

[0009] Rail-mounted cleaning robots are among the oldest types of automated cleaning equipment used in photovoltaic systems. This type of cleaning robot has been present and used since the construction of centralized photovoltaic power plants began. Therefore, this cleaning structure, suspended from the frame of the photovoltaic panels as its mobile base, is currently the most widely used form.

[0010] The main body of the rail-mounted cleaning robot moves in a straight line based on the frame of the photovoltaic panel. Generally, drive motors are installed at both the top and bottom. While moving, the roller brush rotates outward to clean the photovoltaic panel.

[0011] In practical use, the dirt on the surface of photovoltaic panels is not evenly distributed. Most areas consist of dust that has been soaked by rainwater, while some areas have more stubborn stains such as bird droppings, oil stains, airborne metal particles, and water scale. Dust can be removed by spraying it with water and wiping gently, but stubborn stains require repeated scrubbing and increased cleaning intensity. The cleaning force of the rail-mounted photovoltaic cleaning robot is fixed when it sweeps over the photovoltaic panels, leaving stubborn stains after each wash. Increasing the overall cleaning intensity can easily scratch the photovoltaic panels. Therefore, the current rail-mounted cleaning robot needs to be improved to achieve deep cleaning of stubborn stains without reducing its cleaning efficiency. Summary of the Invention

[0012] To address the technical problems existing in the current photovoltaic panel cleaning robots, this invention provides a photovoltaic panel cleaning machine that combines full-section horizontal sweeping with localized deep cleaning.

[0013] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0014] A photovoltaic panel cleaning machine that combines full-section horizontal sweeping with local deep cleaning includes two mobile trolleys and a cleaning roller connected between the two mobile trolleys.

[0015] The cleaning roller includes two retainers and a flexible sleeve connected between the retainers. The retainers are circular rings. The two ends of the flexible sleeve are fixedly sleeved outside the retainers. The two retainers straighten the flexible sleeve and keep it in a cylindrical shape. The flexible sleeve is covered with bristles. The flexible sleeve is made of rubber or cloth.

[0016] The cleaning roller is connected to the moving trolley via retainers at both ends. The retainers are provided with annular grooves, and the moving trolley is provided with annular shaft seats. The retainers are connected to the annular shaft seats via bearings. A gear ring is provided on the outer ring of the retainers. A roller drive mechanism is provided on the moving trolley, and a drive gear is provided on the roller drive mechanism. The drive gear of the roller drive mechanism extends from inside the moving trolley and meshes with the gear ring on the retainers.

[0017] The cleaning roller has a support shaft in the middle, and the two sides of the support shaft are connected to the retainer of the cleaning roller by crosses. The support shaft and the cleaning roller rotate synchronously. A continuous key is provided on the support shaft, and a pressure plate that can slide freely is fitted on the support shaft.

[0018] The pressure plate includes a sliding sleeve, a support plate, and a ring frame. The sliding sleeve is slidably connected to the support shaft. The sliding sleeve is provided with a keyway that mates with the key on the support shaft, so that the pressure plate and the support shaft rotate synchronously. A telescopic frame is evenly distributed around the circumference of the ring frame. The telescopic frame extends and retracts radially along the pressure plate. The telescopic end of the telescopic frame is connected to a ring plate. The concave surface of the ring plate is connected to the telescopic frame, and the convex surface of the ring plate is fitted into the inner wall of the flexible sleeve.

[0019] The telescopic frame includes an X-shaped hinge frame, a lower slider, a lower slide rail, an upper slider, and an upper slide rail. The lower slide rail is fixed on the ring frame and is parallel to the support shaft. The lower slider is slidably mounted on the lower slide rail. The upper slide rail is fixed on the ring plate and is parallel to the support shaft. The upper slider is slidably mounted on the upper slide rail. The X-shaped hinge frame includes a first arm and a second arm. The lower end of the first arm is hinged to the ring frame, and the upper end is hinged to the upper slider. The lower end of the second arm is hinged to the lower slider, and the upper end is hinged to the ring plate.

[0020] The telescopic frame on the pressure plate is telescopically extended and retracted through a synchronous frame. The synchronous frame is annular and connected to the lower slider of the telescopic frame. A pull ring is also slidably sleeved on the support shaft. The pull ring is connected to the synchronous frame through a connecting rod. A spring sleeve is connected between the pull ring and the sliding sleeve of the pressure plate. The spring sleeves are evenly arranged around the sliding sleeve.

[0021] The movement of the pressure plate on the support shaft is controlled by a rope wheel mechanism, which includes a driven rope wheel, a rope wheel drive mechanism, a driving rope wheel, and a traction rope. Both ends of the support shaft extend beyond the flexible sleeve, and a first mounting seat and a second mounting seat are respectively provided at both ends of the support shaft. The driving rope wheel is mounted on the first mounting seat at one end of the support shaft, and the rope wheel drive mechanism is mounted on the first mounting seat, with its output shaft connected to the driving rope wheel. The driven rope wheel is mounted on the second mounting seat at the other end of the support shaft. The second mounting seat has an elongated hole parallel to the support shaft, and the driven rope wheel is movably fitted into the elongated hole. An electric push rod is mounted on the second mounting seat, and the driven rope wheel is connected to the electric push rod.

[0022] The traction rope is wound between the driving rope wheel and the driven rope wheel. The traction rope is broken in the middle. The front end of the broken rope passes through the notch on the support plate and connects to the sliding sleeve. The rear end of the broken rope passes through the notch on the support plate and connects to the pull ring.

[0023] It also includes an adapter cylinder, which is coaxial with the support shaft. The inner wall of the adapter cylinder is provided with conductive rings. There are three conductive rings, which are spaced apart. Each of the three conductive rings is connected to an electric wire. The three electric wires of the electric push rod are supported by a lead rod. The three electric wires are respectively in contact with the three conductive rings of the adapter cylinder through carbon brushes. A metal spring is provided between the carbon brush and the lead rod.

[0024] Two mobile trolleys are connected as a whole by a crossbeam. The mobile trolleys are equipped with side support wheels and rollers, which roll on the side beams of the photovoltaic panel frame. Nozzles and cameras are installed on the crossbeam, and the nozzles are arranged at intervals on the crossbeam.

[0025] A cleaning method for a photovoltaic panel cleaning machine that combines full-section horizontal scanning with localized deep cleaning includes the following steps:

[0026] Step 1: The photovoltaic panel cleaning machine moves forward one step, while the camera captures images of the photovoltaic panels and uploads them to the host computer via the 5G network;

[0027] Step 2: The host computer program preprocesses the image obtained in Step 1;

[0028] The specific steps of image preprocessing in step 2 are as follows:

[0029] Step 2.1: Convert the image of the photovoltaic panel captured by the camera to grayscale. The calculation formula is as follows: In the formula, R, G, B represent the red, green and blue colors of the image, respectively, (i,j) are the coordinates of each pixel, and f is the value of each pixel after grayscale conversion;

[0030] Step 2.2: Use the neighborhood averaging method to denoise the grayscale image. The calculation formula is as follows: In the formula, A represents the set of all neighborhood points centered at (i,j), D is the total number of all pixels in A, M is the total number of pixels in each column of the image, N is the total number of pixels in each row of the image, f is the value of each pixel after grayscale conversion, and g is the value of each pixel after noise reduction.

[0031] Step 2.3: Sharpen the denoised image using the Laplacian operator. The calculation formula is as follows: In the formula, g is the value of each pixel after noise reduction, and h is the value of each pixel after sharpening;

[0032] Step 3: Identify and record the stains. The specific steps are as follows:

[0033] Step 3.1: Use the pre-processed clean photovoltaic panel image as a template, where h0 is the value of each pixel in the template;

[0034] Step 3.2: Calculate the average absolute difference Δh between all pixels in each row of the image to be detected and the template. The calculation formula is as follows: In the formula, h and h0 are the values ​​of each pixel in the image to be detected and the template after preprocessing, respectively; N is the total number of pixels in each row of the image; and M is the total number of pixels in each column of the image.

[0035] Step 3.3: Set the threshold to 0.3. If Δh / 255 < 0.3, it is determined that there are no stubborn stains; otherwise, it is determined that there are stubborn stains and deep cleaning is required. At the same time, the judgment result and the row information i where the stubborn stains are located are transmitted to the photovoltaic panel cleaning machine and the SQL database.

[0036] Step 4: After the rope wheel drive mechanism moves the pressure plate to the location of the stubborn stain, the electric push rod drives the telescopic frame to extend, and the ring plate supports the flexible sleeve; the flexible sleeve increases the cleaning force at the location of the stubborn stain.

[0037] Compared with the prior art, the beneficial effects of this invention are:

[0038] This invention discloses a photovoltaic panel cleaning machine that combines full-section horizontal sweeping with localized deep cleaning. It improves upon traditional cleaning rollers by replacing them with soft cleaning drums. The flexible sleeves of these drums can deform at any point. A pressure plate, movable axially, is located in the center of the drum. As the pressure plate expands, it applies pressure to the flexible sleeves, enhancing the cleaning force on the photovoltaic panel at the pressure plate location, effectively removing stubborn stains. Meanwhile, the flexible sleeves at other locations maintain a lighter wiping motion, preventing scratches on the photovoltaic panel surface. By incorporating machine vision technology, a camera captures the location of stubborn stains on the photovoltaic panel surface and sends this information to a rope pulley drive mechanism, causing the pressure plate to automatically move to the location of the stubborn stains, thus achieving automated operation. Attached Figure Description

[0039] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0040] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the cleaning roller of the present invention;

[0043] Figure 3 This is a structural schematic diagram of the cleaning roller of the present invention from another angle;

[0044] Figure 4 This is a schematic diagram of the pressure plate of the present invention;

[0045] Figure 5 This is a schematic diagram of the rope wheel mechanism controlling the movement of the pressure plate in this invention;

[0046] Figure 6 This is a schematic diagram showing the connection between the cleaning roller and the mobile trolley of the present invention;

[0047] Figure 7 This is a schematic diagram of the structure of the adapter tube of the present invention.

[0048] Wherein: 1 is a moving trolley, 2 is a cleaning roller, 2.1 is a gear ring, 2.2 is a flexible sleeve, 2.3 is a retainer, 3 is a brush bristle, 4 is a camera, 5 is a crossbeam, 6 is a nozzle, 7 is a drive gear, 8 is a support shaft, 9 is a second mounting base, 9.1 is an elongated hole, 10 is an electric push rod, 11 is a driven sheave, 12 is a cross, 13 is a sheave drive mechanism, 14 is a first mounting base, 15 is a driving sheave, 16 is a sliding sleeve, 17 is a support plate, 18 is a... 19 is the ring frame, 19 is the traction rope, 19.1 is the rear end point, 19.2 is the front end point, 20 is the pull ring, 21 is the ring plate, 22 is the spring sleeve, 23 is the connecting rod, 24 is the synchronous frame, 25 is the lower slider, 26 is the second support arm, 27 is the lower slide rail, 28 is the first support arm, 29 is the upper slider, 30 is the upper slide rail, 31 is the annular shaft seat, 32 is the bearing, 33 is the adapter cylinder, 34 is the lead rod, 35 is the conductive ring, 36 is the side support wheel, and 37 is the roller. Detailed Implementation

[0049] To make the objectives, 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. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. These descriptions are only for further illustrating the features and advantages of the present invention, and not for limiting the claims of the present invention. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0051] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0052] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] This embodiment provides a rail-mounted cleaning robot that performs preliminary cleaning of the entire cross-section of a photovoltaic panel while simultaneously performing deep cleaning of specific areas.

[0054] A photovoltaic panel cleaning machine that combines full-section horizontal cleaning with localized deep cleaning, such as... Figure 1 , Figure 2 As shown, it includes two mobile carts 1 and a cleaning roller 2 connected between the mobile carts 1;

[0055] The cleaning roller 2 includes two retainers 2.3 and a flexible sleeve 2.2 connected between the retainers 2.3. The retainers 2.3 are annular, and the two ends of the flexible sleeve 2.2 are fixedly sleeved on the outside of the retainers 2.3. The two retainers 2.3 straighten the flexible sleeve 2.2, maintaining its cylindrical shape. Brush bristles 3 are distributed on the outside of the flexible sleeve 2.2. The flexible sleeve 2.2 is made of rubber or cloth.

[0056] like Figure 6As shown, the cleaning roller 2 is connected to the moving trolley 1 via retainers 2.3 at both ends. Specifically, the retainer 2.3 has an annular groove, and the moving trolley 1 is equipped with an annular shaft seat 31. A bearing 32 is installed between the retainer 2.3 and the annular shaft seat 31. The inner ring of the bearing 32 is fitted onto the annular shaft seat 31, and the outer ring of the bearing 32 is embedded in the annular groove of the retainer 2.3. A gear ring 2.1 is provided on the outer ring of the retainer 2.3. The moving trolley 1 is equipped with a roller drive mechanism, and the drive gear 7 of the roller drive mechanism extends from the moving trolley 1 and meshes with the gear ring 2.1 on the retainer 2.3. When the roller drive mechanism on the moving trolley 1 rotates, it drives the retainer 2.3 to rotate, causing the flexible sleeve 2.2 to rotate, thereby cleaning the surface of the photovoltaic panel.

[0057] like Figure 2 , Figure 3 , Figure 4 As shown, the cleaning roller 2 has a support shaft 8 in the middle. The two sides of the support shaft 8 are connected to the retainer 2.3 of the cleaning roller 2 via crosses 12. The support shaft 8 and the cleaning roller 2 rotate synchronously. A continuous key is provided on the support shaft 8, and a pressure plate that can slide freely is fitted on the support shaft 8. The pressure plate includes a sliding sleeve 16, a support plate 17, and a ring frame 18 from the inside out. The sliding sleeve 16 is slidably fitted with the support shaft 8, and a keyway is provided on the sliding sleeve 16 to cooperate with the key on the support shaft 8, so that the pressure plate and the support shaft 8 rotate synchronously. A telescopic frame is evenly distributed around the circumference of the ring frame 18. The telescopic frame extends and retracts radially along the pressure plate. The telescopic end of the telescopic frame is connected to a ring plate 21. The concave surface of the ring plate 21 is connected to the telescopic frame, and the convex surface of the ring plate 21 fits with the inner wall of the flexible sleeve 2.2. The pressure plate slides along the support shaft 8, allowing it to move to any position along the axial direction of the flexible sleeve 2.2. When the telescopic frame on the pressure plate extends synchronously, the ring plate 21 comes into close contact with the flexible sleeve 2.2. As the telescopic frame continues to expand, pressure is applied to the flexible sleeve 2.2 through the ring plate 21, increasing the local cleaning power of the flexible sleeve 2.2 and enhancing the cleaning power for stubborn stains in certain areas.

[0058] To reduce the resistance when the pressure plate moves on the support shaft 8, the sliding sleeve 16 is inlaid with balls.

[0059] Specifically, the telescopic frame includes an X-shaped hinge frame, a lower slider 25, a lower slide rail 27, an upper slider 29, and an upper slide rail 30. The lower slide rail 27 is fixed to the ring frame 18 and is parallel to the support shaft 8. The lower slider 25 is slidably mounted on the lower slide rail 27. The upper slide rail 30 is fixed to the ring plate 21 and is parallel to the support shaft 8. The upper slider 29 is slidably mounted on the upper slide rail 30. The lower end of the first arm 28 of the X-shaped hinge frame is hinged to the ring frame 18, and the upper end is hinged to the upper slider 29. The lower end of the second arm 26 of the X-shaped hinge frame is hinged to the lower slider 25, and the upper end is hinged to the ring plate 21. When the lower slider 25 is pushed or pulled, the X-shaped hinge frame deforms, and the ring plate 21 moves radially along the pressure plate.

[0060] The telescopic frame on the pressure plate achieves synchronous telescopic movement via a synchronous frame 24. The synchronous frame 24 is annular and connected to the lower slider 25 of the telescopic frame. A pull ring 20 is also slidably sleeved on the support shaft 8. The pull ring 20 is connected to the synchronous frame 24 via a connecting rod 23. When the pull ring 20 is pulled, the force is transmitted to the synchronous frame 24 through the connecting rod 23. A spring sleeve 22 is connected between the pull ring 20 and the sliding sleeve 16 of the pressure plate. The spring sleeves 22 are evenly distributed around the sliding sleeve 16. The spring sleeves 22 push the pull ring 20 outward, giving the pull ring 20 a tendency to move away from the sliding sleeve 16, causing the synchronous frame 24 to control the telescopic frame to retract, and the ring plate 21 to move away from the flexible sleeve 2.2.

[0061] like Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the movement of the pressure plate on the support shaft 8 is controlled by a rope wheel mechanism, which also controls the extension and retraction of the telescopic frame. The rope wheel mechanism includes a driven rope wheel 11, a rope wheel drive mechanism 13, a driving rope wheel 15, and a traction rope 19. Both ends of the support shaft 8 extend out of the flexible sleeve 2.2. The driving rope wheel 15 is mounted on a first mounting seat 14 at one end of the support shaft 8, and the rope wheel drive mechanism 13 is also mounted on the first mounting seat 14. The output shaft of the rope wheel drive mechanism 13 is connected to the driving rope wheel 15. The driven rope wheel 11 is mounted on a second mounting seat 9 at the other end of the support shaft 8. The second mounting seat 9 has an elongated hole 9.1 parallel to the support shaft 8. The driven rope wheel 11 is movably fitted into the elongated hole 9.1. An electric push rod 10 is also mounted on the second mounting seat 9, and the driven rope wheel 11 is connected to the electric push rod 10. The traction rope 19 is wound between the driving sheave 15 and the driven sheave 11. The traction rope 19 is broken in the middle. The front end 19.2 of the broken rope passes through the notch on the support plate 17 and connects to the sliding sleeve 16. The rear end 19.1 of the broken rope passes through the notch on the support plate 17 and connects to the pull ring 20. When the driving sheave 15 drives the traction rope 19 to rotate, the traction rope 19 pulls the pressure plate to move on the support shaft 8 through its two ends. When the pressure plate moves to the target position, the driving pulley 15 stops rotating, and the driven pulley 11 moves within the elongated hole 9.1 of the second mounting base 9 under the pulling force of the electric push rod 10. At this time, the traction rope 19 tends to be stretched. Since the traction rope 19 has no elasticity, it cannot be stretched on its own. Therefore, the tension of the traction rope 19 acts on the pull ring 20 and the sliding sleeve 16 through the two ends of the break. The pull ring 20 overcomes the elastic force of the spring sleeve 22 and moves towards the sliding sleeve 16. The pull ring 20 pushes the telescopic frame through the synchronous frame 24. The telescopic frame unfolds, and the ring plate 21 supports the flexible sleeve 2.2. The force of the flexible sleeve 2.2 at the position of the pressure plate on the photovoltaic panel increases, the cleaning power is enhanced, and the decontamination ability is improved, while the force of the flexible sleeve 2.2 at other positions on the photovoltaic panel remains unchanged, achieving targeted deep cleaning.

[0062] like Figure 6 , Figure 7 As shown, the support shaft 8 and the cleaning roller 2 rotate synchronously, and the rope wheel drive mechanism 13 and the electric push rod 10 also rotate. To power the rope wheel drive mechanism 13 and the electric push rod 10, an adapter cylinder 33 is designed in the circuit. The adapter cylinder 33 is coaxial with the support shaft 8, and the inner wall of the adapter cylinder 33 is provided with conductive rings 35. Generally, three conductive rings 35 are provided, which are spaced apart. Each of the three conductive rings 35 is connected to a wire. Taking the electric push rod 10 as an example, the three wires of the electric push rod 10 are supported by the lead rod 34 and respectively contact the three conductive rings 35 of the adapter cylinder 33 through carbon brushes, so that the circuit is connected when the electric push rod 10 rotates with the support shaft 8. A metal spring is provided between the carbon brush and the lead rod 34 to ensure stable contact between the carbon brush and the conductive ring 35.

[0063] The two mobile carts 1 are connected as a whole by a crossbeam 5. The rollers 37 and side support wheels 36 on the mobile cart 1 roll on the side beam of the photovoltaic panel frame. The structure of the mobile cart 1 is the same as that of the existing rail-mounted photovoltaic cleaning robot.

[0064] A nozzle 6 and a camera 4 are installed on the crossbeam 5 in front of the direction of travel of the mobile trolley 1. The nozzles 6 are arranged at intervals on the crossbeam 5 and are connected to the spraying mechanism inside the mobile trolley 1. Water is sprayed onto the surface of the photovoltaic panel through the nozzles 6 to wet the stains.

[0065] Camera 4 is used to capture images of the photovoltaic panel surface within a 0.5-1 meter length and the entire width range in front of the photovoltaic panel cleaning machine. Based on the captured images, stubborn stains are identified, and the pressure plate moves a corresponding distance on the support shaft 8 according to the location of the stubborn stains. The location of stubborn stains is determined through the following cleaning method.

[0066] A cleaning method for photovoltaic panel cleaning machines that combines full-section horizontal scanning with localized deep cleaning, the specific steps of which are as follows:

[0067] Step 1: The photovoltaic panel cleaning machine moves forward one step, while the camera captures images of the photovoltaic panels and uploads them to the host computer via the 5G network.

[0068] Step 2: The host computer program preprocesses the image obtained in Step 1.

[0069] The specific steps of image preprocessing in step 2 are as follows:

[0070] Step 2.1: Convert the image of the photovoltaic panel captured by the camera to grayscale. The calculation formula is as follows: In the formula, R, G, B represent the red, green, and blue colors of the image, respectively, (i,j) are the coordinates of each pixel, and f is the value of each pixel after grayscale conversion.

[0071] Step 2.2: Use the neighborhood averaging method to denoise the grayscale image. The calculation formula is as follows: In the formula, A represents the set of all neighborhood points centered at (i,j), D is the total number of all pixels in A, M is the total number of pixels in each column of the image, N is the total number of pixels in each row of the image, f is the value of each pixel after grayscale conversion, and g is the value of each pixel after noise reduction.

[0072] Step 2.3: Sharpen the denoised image using the Laplacian operator. The calculation formula is as follows: In the formula, g is the value of each pixel after noise reduction, and h is the value of each pixel after sharpening.

[0073] Step 3: Identify and record the stains. The specific steps are as follows:

[0074] Step 3.1: Use the pre-processed clean photovoltaic panel image as a template, where h0 is the value of each pixel in the template.

[0075] Step 3.2: Calculate the average absolute difference Δh between all pixels in each row of the image to be detected and the template. The calculation formula is: In the formula, h and h0 are the values ​​of each pixel in the image to be detected and the template after preprocessing, respectively; N is the total number of pixels in each row of the image; and M is the total number of pixels in each column of the image.

[0076] Step 3.3: Set the threshold to 0.3. If Δh / 255 < 0.3, it is determined that there are no stubborn stains. Otherwise, it is determined that there are stubborn stains and deep cleaning is required. At the same time, the judgment result and the row information i where the stubborn stain is located are transmitted to the photovoltaic panel cleaning machine and the SQL database.

[0077] Step 4: After the rope pulley drive mechanism moves the pressure plate to the location of the stubborn stain, the electric push rod drives the telescopic frame to extend, and the ring plate supports the flexible sleeve. The flexible sleeve increases the cleaning force on the location of the stubborn stain.

[0078] The above description only illustrates the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention, and all such changes should be included within the protection scope of the present invention.

Claims

1. A photovoltaic panel cleaning machine that combines full-section horizontal sweeping with localized deep cleaning, characterized in that: It includes two mobile carts and a cleaning roller connected between the two mobile carts; The cleaning roller includes two retainers and a flexible sleeve connected between the retainers. The retainers are circular rings. The two ends of the flexible sleeve are fixedly sleeved outside the retainers. The two retainers straighten the flexible sleeve and keep it in a cylindrical shape. The flexible sleeve is covered with bristles. The flexible sleeve is made of rubber or cloth. The cleaning roller is connected to the moving trolley via retainers at both ends. The retainers are provided with annular grooves, and the moving trolley is provided with annular shaft seats. The retainers are connected to the annular shaft seats via bearings. A gear ring is provided on the outer ring of the retainers. A roller drive mechanism is provided on the moving trolley, and a drive gear is provided on the roller drive mechanism. The drive gear of the roller drive mechanism extends from inside the moving trolley and meshes with the gear ring on the retainers. The cleaning roller has a support shaft in the middle, and the two sides of the support shaft are connected to the retainer of the cleaning roller by crosses. The support shaft and the cleaning roller rotate synchronously. A continuous key is provided on the support shaft, and a pressure plate that can slide freely is fitted on the support shaft. The pressure plate includes a sliding sleeve, a support plate, and a ring frame. The sliding sleeve is slidably connected to the support shaft. The sliding sleeve is provided with a keyway that mates with a key on the support shaft, so that the pressure plate and the support shaft rotate synchronously. A telescopic frame is evenly distributed around the circumference of the ring frame. The telescopic frame extends and retracts radially along the pressure plate. The telescopic end of the telescopic frame is connected to a ring plate. The concave surface of the ring plate is connected to the telescopic frame, and the convex surface of the ring plate is fitted into the inner wall of the flexible sleeve. The movement of the pressure plate on the support shaft is controlled by a rope wheel mechanism, which includes a driven rope wheel, a rope wheel drive mechanism, a driving rope wheel, and a traction rope. Both ends of the support shaft extend beyond the flexible sleeve, and a first mounting seat and a second mounting seat are respectively provided at both ends of the support shaft. The driving rope wheel is mounted on the first mounting seat at one end of the support shaft, and the rope wheel drive mechanism is mounted on the first mounting seat, with its output shaft connected to the driving rope wheel. The driven rope wheel is mounted on the second mounting seat at the other end of the support shaft. The second mounting seat has an elongated hole parallel to the support shaft, and the driven rope wheel is movably fitted into the elongated hole. An electric push rod is mounted on the second mounting seat, and the driven rope wheel is connected to the electric push rod. The traction rope is wound between the driving rope wheel and the driven rope wheel. The traction rope is broken in the middle. The front end of the broken rope passes through the notch on the support plate and connects to the sliding sleeve. The rear end of the broken rope passes through the notch on the support plate and connects to the pull ring.

2. The photovoltaic panel cleaning machine according to claim 1, characterized in that: The telescopic frame includes an X-shaped hinge frame, a lower slider, a lower slide rail, an upper slider, and an upper slide rail. The lower slide rail is fixed on the ring frame and is parallel to the support shaft. The lower slider is slidably mounted on the lower slide rail. The upper slide rail is fixed on the ring plate and is parallel to the support shaft. The upper slider is slidably mounted on the upper slide rail. The X-shaped hinge frame includes a first arm and a second arm. The lower end of the first arm is hinged to the ring frame, and the upper end is hinged to the upper slider. The lower end of the second arm is hinged to the lower slider, and the upper end is hinged to the ring plate.

3. The photovoltaic panel cleaning machine according to claim 2, which combines full-section horizontal sweeping with local deep cleaning, is characterized in that: The telescopic frame on the pressure plate is telescopically extended and retracted through a synchronous frame. The synchronous frame is annular and connected to the lower slider of the telescopic frame. A pull ring is also slidably sleeved on the support shaft. The pull ring is connected to the synchronous frame through a connecting rod. A spring sleeve is connected between the pull ring and the sliding sleeve of the pressure plate. The spring sleeves are evenly arranged around the sliding sleeve.

4. The photovoltaic panel cleaning machine according to claim 1, characterized in that: It also includes an adapter cylinder, which is coaxial with the support shaft. The inner wall of the adapter cylinder is provided with conductive rings. There are three conductive rings, which are spaced apart. Each of the three conductive rings is connected to an electric wire. The three electric wires of the electric push rod are supported by a lead rod. The three electric wires are respectively in contact with the three conductive rings of the adapter cylinder through carbon brushes. A metal spring is provided between the carbon brush and the lead rod.

5. A photovoltaic panel cleaning machine combining full-section horizontal sweeping and local deep cleaning according to claim 1, characterized in that: Two mobile trolleys are connected as a whole by a crossbeam. The mobile trolleys are equipped with side support wheels and rollers, which roll on the side beams of the photovoltaic panel frame. Nozzles and cameras are installed on the crossbeam, and the nozzles are arranged at intervals on the crossbeam.

6. The cleaning method of a photovoltaic panel cleaning machine combining full-section horizontal sweeping and local deep cleaning according to claim 5, characterized in that, Includes the following steps: Step 1: The photovoltaic panel cleaning machine moves forward one step, while the camera captures images of the photovoltaic panels and uploads them to the host computer via the 5G network; Step 2: The host computer program preprocesses the image obtained in Step 1; The specific steps of image preprocessing in step 2 are as follows: Step 2.1: Convert the image of the photovoltaic panel captured by the camera to grayscale. The calculation formula is as follows: In the formula, R, G, B represent the red, green and blue colors of the image, respectively, (i,j) are the coordinates of each pixel, and f is the value of each pixel after grayscale conversion; Step 2.2: Use the neighborhood averaging method to denoise the grayscale image. The calculation formula is as follows: In the formula, A represents the set of all neighborhood points centered at (i,j), D is the total number of all pixels in A, M is the total number of pixels in each column of the image, N is the total number of pixels in each row of the image, f is the value of each pixel after grayscale conversion, and g is the value of each pixel after noise reduction. Step 2.3: Sharpen the denoised image using the Laplacian operator. The calculation formula is as follows: In the formula, g is the value of each pixel after noise reduction, and h is the value of each pixel after sharpening; Step 3: Identify and record the stains. The specific steps are as follows: Step 3.1: Use the pre-processed clean photovoltaic panel image as a template, where h0 is the value of each pixel in the template; Step 3.2: Calculate the average absolute difference Δh between all pixels in each row of the image to be detected and the template. The calculation formula is as follows: In the formula, h and h0 are the values ​​of each pixel in the image to be detected and the template after preprocessing, respectively; N is the total number of pixels in each row of the image; and M is the total number of pixels in each column of the image. Step 3.3: Set the threshold to 0.

3. If Δh / 255 < 0.3, it is determined that there are no stubborn stains; otherwise, it is determined that there are stubborn stains and deep cleaning is required. At the same time, the judgment result and the row information i where the stubborn stains are located are transmitted to the photovoltaic panel cleaning machine and the SQL database. Step 4: After the rope wheel drive mechanism moves the pressure plate to the location of the stubborn stain, the electric push rod drives the telescopic frame to extend, and the ring plate supports the flexible sleeve; the flexible sleeve increases the cleaning force at the location of the stubborn stain.

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