Multi-mode switching intelligent photovoltaic panel cleaning device and method

Abstract

The invention discloses a multi-mode switching intelligent photovoltaic panel cleaning device and method, and relates to the technical field of photovoltaic panel cleaning, and the multi-mode switching intelligent photovoltaic panel cleaning device comprises a vehicle body, a cleaner, a camera, a central system and a mobile device. After the cleaning robot receives an instruction, the environment is scanned in an all-dimensional mode through a camera device, the central system analyzes the pollution degree and plans a cleaning route, then the robot is controlled to move to a polluted area, a targeted cleaning device is started to complete cleaning, and the effect is rechecked. The camera device scans an image and comprises the steps of image preprocessing and the like. The cleaning system comprises a water-free cleaning module and a water cleaning module, is intelligently started according to the types of pollutants, and adjusts the cleaning strength according to the pollution degree and the characteristics of the photovoltaic panel. Particularly, the water cleaning device is composed of a plurality of independent modules, the starting number is intelligently selected, and independent force adjustment is achieved. The multi-mode switching cleaning method and device are adopted, it is ensured that the photovoltaic panel is accurately and efficiently cleaned, and the overall cleaning efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, and in particular to a multi-mode switching intelligent photovoltaic panel cleaning device and method. Background Technology

[0002] With the continuous development and popularization of photovoltaic technology, the cleaning and maintenance of photovoltaic panels, as key components of solar power generation, has become increasingly important. Traditional manual cleaning methods are not only inefficient but also pose safety hazards, especially in large-scale photovoltaic power plants. Therefore, there is an urgent need in the market for a solution that can efficiently and intelligently clean photovoltaic panels.

[0003] However, existing photovoltaic panel cleaning equipment and technologies still have many shortcomings. On the one hand, some equipment can only use a single cleaning mode, failing to precisely clean different types of pollutants, resulting in poor cleaning effects. On the other hand, while some equipment has multiple cleaning modes, it lacks intelligent selection and adjustment mechanisms, failing to adaptively adjust according to the actual pollution level and material characteristics of the photovoltaic panels, thus affecting cleaning efficiency and equipment lifespan.

[0004] Furthermore, existing cleaning equipment often lacks comprehensive environmental perception and intelligent planning capabilities during the cleaning process, resulting in unreasonable cleaning routes and low cleaning efficiency. Additionally, some equipment lacks an effective re-inspection mechanism after cleaning, failing to ensure that the cleaning effect meets expected standards.

[0005] In view of this, the present invention proposes a multi-mode switching intelligent cleaning photovoltaic panel method and device to overcome the deficiencies of the prior art. Summary of the Invention

[0006] To overcome the shortcomings of the prior art, the present invention discloses a multi-mode switching intelligent photovoltaic panel cleaning device and method.

[0007] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0008] A multi-mode switching intelligent photovoltaic panel cleaning device and method, comprising:

[0009] body;

[0010] The cleaning device consists of two parts: a waterless cleaning device and a water-based cleaning device, which are installed at both ends of the vehicle body, respectively.

[0011] The mobile device consists of four units, which are respectively installed at the four corners of the bottom of the vehicle body; it is used to drive the vehicle body to move and steer.

[0012] The central system unit is mounted on the top of the vehicle body;

[0013] The camera device is installed on top of the central system device.

[0014] Preferably, the waterless cleaning device includes:

[0015] The front protective shell is securely connected to the vehicle body;

[0016] The vertical sliding mechanism consists of two components located on both sides inside the front protective shell; the vertical sliding mechanism includes:

[0017] Linear servo, mounted on the inner wall of the front protective housing;

[0018] The slider is installed on the telescopic end of the linear servo, and the slider is slidably connected to the inner wall of the front protective shell;

[0019] A soft-bristled brush, with its two ends rotatably connected to two sliders;

[0020] The first motor, mounted on one of the sliders, is used to drive the soft brush to rotate;

[0021] The water-based cleaning device includes:

[0022] The rear protective shell is securely connected to the vehicle body;

[0023] Stiff-bristled brushes are installed inside one side of the rear protective cover, and there are multiple of them arranged side by side;

[0024] The nozzles are installed on the other side inside the rear protective shell, and their number corresponds to the number of hard bristle brushes.

[0025] The water tank, mounted on the top of the vehicle, has a ring-shaped structure and is used to supply water to the nozzles;

[0026] The stiff-bristled brush includes:

[0027] The housing is securely connected to the rear protective shell;

[0028] The second motor is movably connected through the housing, and a double-rod telescopic cylinder for driving the movement of the second motor is installed inside the housing;

[0029] A connecting shaft, one end of which is securely connected to the output shaft of the second motor;

[0030] The brush head is securely connected to the other end of the connecting shaft.

[0031] Preferably, the mobile device includes:

[0032] Connecting seat, which is securely connected to the bottom of the vehicle body;

[0033] The drive wheels are provided in two and are mounted on the connecting seat;

[0034] There are two driven wheels, located on either side of the two drive wheels;

[0035] A dual-output motor is mounted on a connector and is driven by two drive wheels via two right-angle transmission boxes.

[0036] Tracks are wrapped around the drive wheels and driven wheels.

[0037] Preferably, the camera device includes:

[0038] The camera base is mounted on top of the central system device and is driven by a motor to rotate 360 ​​degrees.

[0039] The camera is located above the camera base;

[0040] The connecting rod is installed between the camera and the camera base, and the camera base drives the camera to rotate through the connecting rod.

[0041] A method for using a multi-mode switching intelligent photovoltaic panel cleaning device, characterized by comprising the following steps:

[0042] S1. When the cleaning robot receives a cleaning operation command, it controls the camera device to perform a full-range scan of the surrounding environment; the central system analyzes the scan results and determines whether the contamination level of the photovoltaic panels meets the preset cleaning conditions.

[0043] S2. When the contamination level of the photovoltaic panel meets the cleaning conditions, the central system plans a cleaning route for the photovoltaic panel based on the analysis of the scanning results, and further analyzes the types of pollutants along the cleaning route; then, it controls the moving device to move according to the planned cleaning route.

[0044] S3. Based on the information of the specific types of pollutants under the cleaning route, when the cleaning robot reaches the corresponding polluted area, the cleaning system activates the corresponding cleaning device to clean the photovoltaic panels in a targeted manner.

[0045] S4. When the cleaning device completes its cleaning task, the camera device is controlled again to re-inspect the photovoltaic panel.

[0046] Preferably, the cleaning conditions in step S1 include a visual pollution index and a thickness parameter; the visual pollution index is based on image data of the photovoltaic panel surface collected by a camera, and the polluted area is analyzed by pixel analysis through image processing algorithms to calculate the percentage of the polluted area to the total area of ​​the photovoltaic panel; the thickness parameter is based on structured light scanning technology to detect the accumulation thickness of pollutants on the photovoltaic panel surface; when the visual pollution index is ≥15% and the dust thickness is ≥2mm, the cleaning conditions are determined to be met.

[0047] Preferably, the cleaning system in step S3 further includes a force adjustment module, which automatically adjusts the output power, brush head pressure, or water spray flow rate parameters of the waterless cleaning module and the water-based cleaning module according to the identified pollutant type, pollution level, and the material and surface condition of the photovoltaic panel.

[0048] Preferably, the central system in step S1 further includes a communication component and a cloud-to-grid transmission component; the communication component is used to establish a Bluetooth communication connection with the user equipment; the cloud-to-grid transmission component transmits image information to the cloud and applies the image-processed command information to the photovoltaic panel cleaning device.

[0049] By employing the technical solution described above, the present invention has the following beneficial effects:

[0050] 1. This invention integrates a waterless cleaning module and a water-based cleaning module, and intelligently selects the cleaning mode by combining the identification of pollutant types (such as dust, oil, snow, etc.) and the analysis of the degree of pollution. For example, a waterless soft brush is used to clean light dust, while high-pressure water spray and a hard brush are used in conjunction to clean stubborn stains. Compared with traditional single-mode equipment, this method significantly improves the targeting and efficiency of cleaning, while avoiding damage to the photovoltaic panel surface caused by improper cleaning methods.

[0051] 2. Through the pressure adjustment module, the system can adjust the brush head pressure, water flow rate, or output power of the cleaning module in real time according to the thickness and distribution density of pollutants and the material of the photovoltaic panel (such as glass, coating characteristics). For example, it automatically increases the water spray pressure for highly adhesive pollutants, while reducing the brush head pressure for fragile photovoltaic panel surfaces, achieving a balance between cleaning power and protective performance. Furthermore, the water-based cleaning device consists of multiple independent modules, activating only the corresponding number of modules for the contaminated area, effectively reducing water and energy waste.

[0052] 3. Based on comprehensive environmental scanning and contamination analysis using camera devices and a central control system, the robot can plan the optimal cleaning path, avoiding repeated or missed cleaning areas. After cleaning is completed, a re-inspection mechanism verifies the cleaning effect a second time, ensuring that residual contamination is below a preset threshold, thereby improving the reliability of cleaning quality.

[0053] 4. Through the built-in communication components and cloud-based data transfer module, users can monitor cleaning progress in real time, receive cleaning reports, and remotely adjust cleaning strategies (such as emergency stop and mode switching). The cloud platform can also analyze historical cleaning data to optimize cleaning cycles and parameter settings, further improving the level of intelligent operation and maintenance.

[0054] 5. The modular structure of the cleaning device (such as detachable soft brushes and independent water tanks) simplifies the maintenance process; damaged modules can be replaced individually, reducing equipment maintenance costs. Meanwhile, the water tank layout design optimizes the vehicle's center of gravity distribution while ensuring sufficient water storage, improving the stability of cleaning operations. Attached Figure Description

[0055] Figure 1 This is a flowchart illustrating the execution steps of a multi-mode switching intelligent cleaning photovoltaic panel provided by the present invention;

[0056] Figure 2 This is a schematic diagram of a scanning analysis process provided by the present invention;

[0057] Figure 3 This is a schematic diagram of the front structure provided by the present invention;

[0058] Figure 4 This is a schematic diagram of the side structure provided by the present invention;

[0059] Figure 5 This is a schematic diagram of the structure of the soft brush track provided by the present invention;

[0060] Figure 6 This is a schematic diagram of the structure of the hard-bristled brush provided by the present invention;

[0061] Figure 7 This is a schematic diagram of the camera device provided by the present invention.

[0062] In the diagram: 1. Vehicle body; 2. Camera device; 21. Camera; 22. Connecting rod; 23. Camera base; 3. Central system device; 4. Moving device; 41. Drive wheel; 42. Driven wheel; 43. Track; 44. Dual output motor; 45. Connecting seat; 5. Waterless cleaning device; 51. Front protective shell; 52. Linear servo; 53. Slider; 54. First motor; 55. Soft brush; 6. Wet cleaning device; 61. Rear protective shell; 62. Hard brush; 621. Brush head; 622. Connecting shaft; 623. Second motor; 624. Housing; 63. Nozzle; 64. Water tank. Detailed Implementation

[0063] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0064] In the description of this invention, it should be noted that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only used to facilitate the description of this invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0065] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0066] Example 1:

[0067] Combined with appendix Figures 1-7 A multi-mode switching intelligent photovoltaic panel cleaning device and method includes a vehicle body 1, a cleaning device, a camera device 2, a central system device 3, and a mobile device 4.

[0068] The cleaning device consists of a waterless cleaning device 5 and a water-based cleaning device 6, which are installed at both ends of the vehicle body 1. During the cleaning operation, the vehicle body 1 is responsible for moving the waterless cleaning device 5 and the water-based cleaning device 6 along the surface of the photovoltaic panel, thereby completing the comprehensive cleaning of the photovoltaic panel.

[0069] Specifically, as shown in the appendix Figure 4 and 5 As shown, the waterless cleaning device 5 mainly consists of a front protective shell 51 and a soft brush 55. The front protective shell 51 is fastened to the vehicle body 1 to ensure the stability of the device during cleaning. Vertical sliding mechanisms are provided on both inner side walls of the front protective shell 51. These mechanisms consist of a linear servo motor 52 and a slider 45. The linear servo motor 52 is mounted on the inner wall of the front protective shell 51, and the slider 45 is mounted on the telescopic end of the linear servo motor 52, maintaining a sliding connection with the inner wall of the front protective shell 51. The linear servo motor 52 can drive the slider 45 to slide vertically and achieve precise positioning. The soft brush 55 is rotatably connected between the two sliders 45, and a first motor 54 for driving the soft brush 55 to rotate is mounted on one of the sliders 45. When cleaning is required, the linear servo motor 52 can adjust the height of the soft brush 55, thereby adjusting the downward pressure of the soft brush 55 on the photovoltaic panel and achieving precise control of the cleaning force.

[0070] As attached Figure 4and 6 As shown, the water-based cleaning device 6 consists of a rear protective shell 61, stiff brushes 62, and a nozzle 63. The rear protective shell 61 is also securely connected to the vehicle body 1 to ensure the stability of the device during operation. Inside the rear protective shell 61, multiple stiff brushes 62 are arranged side-by-side. Each stiff brush 62 consists of a housing 624, a second motor 623, and a brush head 621. The housing 624 is securely connected to the rear protective shell 61, and the second motor 623 moves through the housing 624. Inside the housing 624, a double-rod telescopic cylinder is provided to drive the movement of the second motor 623. The double-rod telescopic cylinder not only adjusts the height of the second motor 623 but also provides effective support for the second motor 623, preventing its housing from rotating arbitrarily. The brush head 621 is securely connected to the output shaft of the second motor 623 via a connecting shaft 622, thereby enabling the second motor 623 to drive the brush head 621 to rotate via the connecting shaft 622 for cleaning the photovoltaic panels. Meanwhile, by adjusting the height of the second motor 623 through the double-bar telescopic cylinder, the downward pressure of the brush head 621 can be adjusted, thereby achieving precise control of the cleaning power of the brush head 621.

[0071] Inside the rear protective shell 61, opposite the hard brush 62, there are multiple nozzles 63, the number of which corresponds to the number of hard brushes 62, i.e., each nozzle 63 corresponds to one hard brush 62, providing the water source required for cleaning the hard brushes 62. On the top of the vehicle body 1, a water tank 64 is installed to provide water to the nozzles 63. The water tank 64 adopts a ring structure design, which can ensure the stability of the water supply and effectively avoid interference with the central system device 3 and the camera device 2.

[0072] This multi-mode switching intelligent cleaning method for photovoltaic panels cleverly combines waterless and wet cleaning modules. In practical applications, the device can automatically select the most suitable cleaning mode based on the type of contaminants identified. Furthermore, the intensity adjustment module allows for intelligent adjustment of cleaning parameters, such as output power, brush head pressure, or water flow rate. In addition, the wet cleaning device consists of multiple independently operating cleaning modules, and the system can intelligently select and activate the appropriate number of modules according to the actual needs of the cleaning operation. Each module is equipped with an independent intensity adjustment device, thus better adapting to different levels of contamination and varying conditions of the photovoltaic panel surface. This innovative cleaning method not only significantly improves cleaning efficiency and effectiveness but also achieves optimized resource allocation and intelligent management, effectively reducing wear and tear on the photovoltaic panels caused by cleaning operations, thereby extending the lifespan of the photovoltaic panels.

[0073] Mobility devices 4 are installed at the four corners of the bottom of the vehicle body 1. These devices 4 have both synchronous and independent operation modes, enabling flexible driving of the vehicle body 1 for straight-line movement and turning. Specifically, the mobility device 4 includes drive wheels 41, driven wheels 42, and a connecting seat 45. The connecting seat 45 is securely connected to the bottom of the vehicle body 1. Two drive wheels 41 are rotatably connected to the center of the connecting seat 45. A dual-output motor 44 is installed on one side of the connecting seat 45, driving the two drive wheels 41 through two right-angle transmission boxes. Driven wheels 42 are located on both sides of the two drive wheels 41, rotatably connected to the corresponding ends of the connecting seat 45. Tracks 43 for movement are wrapped around the two drive wheels 41 and the two driven wheels 42. Track 43 is made of rubber-Kevlar composite material with a width of 120mm. Its large-area contact design can evenly distribute the pressure of the vehicle body to the surface of the photovoltaic panel, which not only enhances the adhesion on the inclined plate surface, but also effectively reduces the risk of friction damage between hard parts and the surface of the photovoltaic panel through the flexible contact surface.

[0074] The central system device 3 is installed on the top of the vehicle body 1. In addition to controlling the mobile device 4, the waterless cleaning device 5, and the water-based cleaning device 6, this device also includes a communication component and a cloud-based data transfer component. The communication component is mainly used to establish a Bluetooth communication connection with user equipment, enabling rapid data transmission and interaction. The cloud-based data transfer component is responsible for uploading image information to the cloud server and feeding back the command information generated after image processing to the photovoltaic panel cleaning device, thereby achieving remote intelligent control and management of the cleaning operation.

[0075] Camera device 2 is mounted on top of central system device 3, as shown in the attached image. Figure 7 As shown, its core function is to photograph the photovoltaic panel surface and transmit the collected image data to the central system device 3 in a timely manner. Subsequently, the central system device 3 analyzes and judges the images to provide a basis for decision-making in cleaning operations.

[0076] In practical applications, the method for cleaning photovoltaic panels using the aforementioned multi-mode switching intelligent photovoltaic panel cleaning device mainly includes the following steps:

[0077] S1. When the cleaning robot receives a cleaning operation command, it immediately controls the camera device to perform a comprehensive scan of the surrounding environment. Subsequently, the central system performs in-depth analysis of the scan results and determines whether the contamination level of the photovoltaic panels meets the preset cleaning conditions.

[0078] S2. If the contamination level of the photovoltaic panels meets the cleaning conditions, the central system will plan the optimal cleaning route for the photovoltaic panels based on the analysis data of the scanning results. Simultaneously, it will further analyze the types of pollutants along this cleaning route. Then, the control unit will precisely move along the planned cleaning route.

[0079] S3. Based on the specific types of pollutants in the cleaning route, when the cleaning robot arrives directly above the corresponding polluted area, the cleaning system will activate the corresponding cleaning device to perform targeted cleaning operations on the photovoltaic panels.

[0080] S4. After the cleaning device completes the cleaning task, the system will control the camera device again to re-inspect the photovoltaic panel to ensure that the cleaning effect meets the requirements.

[0081] The camera device is positioned above the photovoltaic cleaning robot. The specific steps of its scanning and analysis are as follows:

[0082] S101, Image Preprocessing Stage: A series of preprocessing operations are performed on the acquired images, including image enhancement, noise reduction, and filtering, to improve image quality and the accuracy of subsequent analysis.

[0083] S102, Feature Extraction Stage: Extract feature information related to pollutants from the preprocessed image, covering multiple dimensions such as the color, shape, size, texture, and thickness of the pollutants.

[0084] S103, Classification and Identification Stage: Using advanced classification algorithms and intelligent image comparison technology, the extracted pollutant features are classified and identified to determine the specific type of pollutant.

[0085] S104. Results Output Stage: Output the results obtained from the analysis in the form of numbers, images, or reports to provide accurate decision-making basis for the subsequent cleaning operations of the cleaning robot.

[0086] The cleaning conditions mainly include two aspects: visual pollution index and thickness parameters. The visual pollution index is based on image data of the photovoltaic panel surface captured by a camera. Professional image processing algorithms perform pixel-level analysis of the polluted area to calculate the percentage of the polluted area relative to the total area of ​​the photovoltaic panel. The thickness parameter, on the other hand, uses structured light scanning technology to accurately detect the thickness of the accumulated contaminants on the photovoltaic panel surface. Only when the visual pollution index reaches or exceeds 15%, and the dust thickness reaches or exceeds 2mm, will the system determine that the photovoltaic panel meets the cleaning conditions and initiate the cleaning process.

[0087] The cleaning system includes both waterless and wet cleaning modules. Based on the identified types of contaminants, the system intelligently activates the corresponding cleaning module for efficient and precise cleaning. Furthermore, the system is equipped with a power adjustment module. This module automatically adjusts relevant parameters of both the waterless and wet cleaning modules, such as output power, brush pressure, and water flow rate, based on factors such as the type and degree of contaminant, as well as the material and surface condition of the photovoltaic panels, to achieve optimal cleaning results.

[0088] The water-based cleaning system consists of multiple identical cleaning modules, each capable of independent operation. During the cleaning process, the system intelligently selects and activates the appropriate number of cleaning modules based on the area and distribution of contaminants. Each cleaning module is equipped with an independent intensity adjustment device. This allows the system to automatically adjust the cleaning intensity according to the thickness of different contaminants and the characteristics of the photovoltaic panel surface, achieving precise adaptation to varying contamination levels and further improving cleaning efficiency and quality.

[0089] The photovoltaic cleaning robot is also equipped with advanced communication devices that establish a stable remote communication link with user equipment via a wireless network. This link allows users to monitor the cleaning progress of the photovoltaic panels remotely in real time, and the communication device promptly sends and displays the cleaning results after the cleaning operation is completed, facilitating remote monitoring and management.

[0090] The parts of this invention not described in detail are prior art. It will be apparent to those skilled in the art that this invention is not limited to the details of the above exemplary embodiments, and that the invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and are intended to encompass all changes falling within the meaning and scope of equivalents within this invention.

Claims

1. A multi-mode switching intelligent photovoltaic panel cleaning device, characterized in that, include: Vehicle body (1); The cleaning device is divided into two parts: a waterless cleaning device (5) and a water-based cleaning device (6), which are installed at both ends of the vehicle body (1); The mobile device (4) has four parts, which are respectively installed at the four corners of the bottom of the vehicle body (1); used to drive the vehicle body (1) to move and turn; The central system device (3) is installed on the top of the vehicle body (1); The camera device (2) is installed on top of the central system device (3).

2. The multi-mode switching intelligent photovoltaic panel cleaning device as described in claim 1, characterized in that, The waterless cleaning device (5) includes: The front protective shell (51) is securely connected to the vehicle body (1); The vertical sliding mechanism consists of two parts located on both sides inside the front protective shell (51); the vertical sliding mechanism includes: Linear servo (52) is mounted on the inner wall of the front protective shell (51); The slider (53) is installed on the telescopic end of the linear servo (52), and the slider (53) is slidably connected to the inner wall of the front protective shell (51); A soft brush (55) has two ends that are rotatably connected to two sliders (53); The first motor (54) is mounted on one of the sliders (53) and is used to drive the soft brush (55) to rotate; The water-based cleaning device (6) includes: The rear protective shell (61) is securely connected to the vehicle body (1); A stiff-bristled brush (62) is installed inside one side of the rear protective shell (61), and there are multiple brushes arranged side by side; The nozzles (63) are installed on the other side inside the rear protective shell (61), and their number corresponds to the number of hard bristle brushes (62); A water tank (64) is installed on the top of the vehicle body (1). It has a ring structure and is used to provide water to the nozzles (63). The stiff-bristled brush (62) includes: The housing (624) is fastened to the rear protective housing (61); The second motor (623) is movable through the housing (624), and the housing (624) is provided with a double-rod telescopic cylinder for driving the second motor (623) to move; The connecting shaft (622) is fastened at one end to the output shaft of the second motor (623); The brush head (621) is fastened to the other end of the connecting shaft (622).

3. The multi-mode switching intelligent photovoltaic panel cleaning device as described in claim 2, characterized in that, The mobile device (4) includes: The connecting seat (45) is fastened to the bottom of the vehicle body (1); Two drive wheels (41) are mounted on a connecting seat (45); Two driven wheels (42) are provided, located on either side of the two drive wheels (41); A dual-output motor (44) is mounted on a connecting base (45). The dual-output motor (44) is driven by two right-angle transmission boxes and two drive wheels (41). Tracks (43) are wrapped around drive wheels (41) and driven wheels (42).

4. The multi-mode switching intelligent photovoltaic panel cleaning device as described in claim 3, characterized in that, The camera device (2) includes: The camera base (23) is mounted on top of the central system device (3) and is driven by a motor to rotate 360 ​​degrees; The camera (21) is located above the camera base (23); A connecting rod (22) is installed between the camera (21) and the camera base (23). The camera base (23) drives the camera (21) to rotate through the connecting rod (22).

5. The method using the multi-mode switching intelligent photovoltaic panel cleaning device according to claim 4, characterized in that, Includes the following steps: S1. When the cleaning robot receives a cleaning operation command, it controls the camera device to perform a full-range scan of the surrounding environment; the central system analyzes the scan results and determines whether the contamination level of the photovoltaic panels meets the preset cleaning conditions. S2. When the contamination level of the photovoltaic panel meets the cleaning conditions, the central system plans a cleaning route for the photovoltaic panel based on the analysis of the scanning results, and further analyzes the types of pollutants along the cleaning route. Subsequently, the mobile device is controlled to move along the planned cleaning route; S3. Based on the information of the specific types of pollutants under the cleaning route, when the cleaning robot reaches the corresponding polluted area, the cleaning system activates the corresponding cleaning device to clean the photovoltaic panels in a targeted manner. S4. When the cleaning device completes its cleaning task, the camera device is controlled again to re-inspect the photovoltaic panel.

6. The method of the multi-mode switching intelligent photovoltaic panel cleaning device as described in claim 5, characterized in that: The cleaning conditions in step S1 include a visual pollution index and a thickness parameter. The visual pollution index is based on image data of the photovoltaic panel surface collected by a camera. The image processing algorithm is used to analyze the pixels of the polluted area and calculate the percentage of the polluted area to the total area of ​​the photovoltaic panel. The thickness parameter is based on structured light scanning technology to detect the accumulation thickness of pollutants on the photovoltaic panel surface. When the visual pollution index is ≥15% and the dust thickness is ≥2mm, the cleaning conditions are determined to be met.

7. The method of the multi-mode switching intelligent photovoltaic panel cleaning device as described in claim 5, characterized in that: The cleaning system in step S3 also includes a force adjustment module, which automatically adjusts the output power, brush head pressure, or water flow rate parameters of the waterless cleaning module and the water-based cleaning module according to the type and degree of pollutants identified, as well as the material and surface condition of the photovoltaic panel.

8. The method of the multi-mode switching intelligent photovoltaic panel cleaning device as described in claim 1, characterized in that: The central system in step S1 also includes a communication component and a cloud-to-grid transmission component; the communication component is used to establish a Bluetooth communication connection with the user equipment; the cloud-to-grid transmission component transmits image information to the cloud and applies the image-processed command information to the photovoltaic panel cleaning device.

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