Amphibious photovoltaic panel cleaning device and method of driving

Abstract

The patent discloses an amphibious photovoltaic panel cleaning device and its driving method, aiming to solve the problem that the existing cleaning equipment cannot independently cross between photovoltaic panel groups. The device is composed of eight parts: a flight module, a transmission module, a cleaning module, a walking module, a shell, a solar panel, a battery, and a scanning camera. The flight module adopts a threaded screw transmission mechanism, which can universally adjust the angle of the rotor, synchronize the angle change of adjacent rotors, and ensure the stability of take-off and landing and crossing, realizing non-equilibrium state control under heavy load conditions. The walking module adopts independent left and right driving to realize differential steering, which can stably adapt to the surface of photovoltaic panels with different inclination angles. The transmission module divides the power through bevel gears, synchronously drives the rotating brush for cleaning, and drives the plunger pump type water sprayer to realize high-pressure water spraying cleaning. Through structural design and driving principle innovation, the invention effectively improves the autonomous crossing and full-scene operation capability of the photovoltaic cleaning device.

Description

Technical Field

[0001] This invention relates to an amphibious photovoltaic panel cleaning device and driving control method, belonging to the technical field of photovoltaic panel cluster cleaning. Background Technology

[0002] Photovoltaic panels are key components that directly convert solar energy into electricity using the photovoltaic effect. They can be deployed on a large scale in sunny areas such as sandy land and deserts. The emergence of photovoltaic power generation has solved the problem of how to generate and consume electricity in remote areas in a green and reliable manner, and the technology is constantly being improved and promoted. However, over long periods of operation, photovoltaic panels accumulate dust, dirt, bird droppings, and other pollutants, leading to a decrease in the light transmittance and power generation efficiency of the power generation components. Therefore, how to effectively and cost-effectively clean photovoltaic panels has become a substantial challenge.

[0003] The existing methods for cleaning photovoltaic panels mainly include: (1) manual cleaning, which has a good cleaning effect and can check for potential faults and hidden dangers, such as minor cracks and damage. However, the safety factor of operators is not high, the labor intensity is high, and the cleaning efficiency is low. It is suitable for small-scale household photovoltaic panel cleaning, but not suitable for the cleaning and maintenance of large-scale photovoltaic panel groups. (2) using photovoltaic cleaning robots. Patent CN120171657A reduces the labor intensity of photovoltaic panels by using robot cleaning, but human cooperation and assistance are still required for crossing between photovoltaic panels. In essence, it is still a semi-self-service cleaning. Secondly, patent CN220942072U uses anti-static brushes to adsorb dust in photovoltaic panels under waterless conditions. However, it is still difficult to thoroughly clean adhesive pollutants such as bird droppings and a certain thickness of accumulated sand and dust.

[0004] Currently, using cleaning machines to clean photovoltaic panel clusters still requires auxiliary means of moving the machines from one panel to another. Depending on the model, common photovoltaic panel cleaning machines weigh approximately 30-60 kg, resulting in significant time and labor costs for transportation. On the other hand, using commercially available drones for photovoltaic panel cleaning lacks effective cleaning and mobility capabilities. Furthermore, unlike typical drone takeoff and landing scenarios, photovoltaic panels are arranged at a certain angle on a horizontal plane. For takeoff and landing under significant weight, the optimal solution would require the device's rotors to have a certain angle adjustment capability, which remains a key unresolved issue in the current cleaning technology field. Summary of the Invention

[0005] This invention overcomes the limitation of existing photovoltaic panels that cannot autonomously cross between each other, proposing an amphibious photovoltaic panel cleaning device and its driving and control method. Using this invention, the cleaning device can autonomously cross between groups of photovoltaic panels. During the cleaning process, the tracked walking module can fully adapt to photovoltaic panels at various tilt angles. The drive module for the tracked drive is independently controlled on both sides, satisfying the problem of differential speed reversal for the entire device within a small range. Simultaneously, the transmission module of this invention outputs some power in the form of bevel gears, driving the rotating brush to sweep away contaminants of a certain thickness and also driving the plunger pump to spray water for thorough cleaning of the photovoltaic panels. An innovative adjustable rotor flight mechanism is designed, overcoming the problem of unbalanced driving and control of UAVs under heavy loads in tilted scenarios.

[0006] This invention innovates upon existing photovoltaic panel cleaning devices and control methods in terms of principle. The basic idea is to overcome the limitations of conventional cleaning machines that focus primarily on walking and cleaning, and the reliance of UAVs' heavy-load vertical flight control functions on speed regulation of motors on each rotor. To achieve autonomous traversal capabilities for photovoltaic panel cleaning devices, this invention proposes a flight module based on a screw-nut driven omnidirectional rotor with adjustable angles. Adjacent rotors are synchronously variable in angle, breaking away from the fixed mindset of UAVs relying on differential rotor speed control for tilting traversal. This allows the device to take off and land in various tilting attitudes. Furthermore, to endow the photovoltaic panel surface with functions of brushing, washing, walking, steering, sensing, and sustained flight, this invention features deep integration in structural design and innovative principles in its control methods.

[0007] The present invention adopts the following technical solution:

[0008] An amphibious photovoltaic panel cleaning device and driving control method consists of eight parts: flight module, transmission module, cleaning module, walking module, shell, solar panel, battery, and scanning camera.

[0009] The outer shell is the frame of the entire device. A solar panel is installed at the top center of the outer shell, which can convert solar energy into electrical energy and store the electrical energy in the battery, thereby reducing the charging time of the entire device, improving working efficiency and increasing the device's battery life.

[0010] Two sets of flight modules are installed at the four corners of the upper shell surface of the outer shell. The flight modules can adjust the flight rotor angle of the device of the present invention. Each flight module can drive two sets of rotors, and a total of four sets of rotors provide upward lift for the device of the present invention to achieve autonomous crossing between photovoltaic panels.

[0011] A set of scanning cameras is installed at the middle position of the front and rear sides of the outer casing. The scanning cameras provide the device with the specific position on the photovoltaic panel by collecting visual images. The transmission module is installed inside the outer casing and mainly provides sufficient kinetic energy and cleaning lines for the walking module and cleaning module.

[0012] A walking module is installed on each of the left and right sides of the outer casing, which mainly completes the function of the device moving on the photovoltaic panel. The walking module is connected to the transmission module through the transmission shaft three.

[0013] The cleaning module is symmetrically installed on the left and right sides below the outer casing and is connected to the transmission module through a transmission shaft. It mainly performs the cleaning work of the photovoltaic panel.

[0014] The battery is installed on one side inside the casing to store the electrical energy converted by the solar panel;

[0015] The flight module consists of a rotor motor, a transmission gear pair, a threaded screw support, a threaded screw transmission mechanism, a flight rotor, a flight motor, a motor spherical support, a universal joint, a universal joint support rod, a slider, a guide rail, and a base.

[0016] The rotor motor, threaded screw support, universal joint support rod and base are mounted on the outer shell. The rotor motor drives the transmission gear pair to rotate through a flat key connection. The transmission gear pair is a set of gear pairs that reduce speed and increase torque. It is mounted on the threaded screw support. The output end of the transmission gear pair is connected to the threaded screw transmission mechanism. The threaded screw transmission mechanism rotates around the screw axis and drives the screw to move back and forth through the meshing of the internal thread of the nut and the external thread of the screw.

[0017] The guide rail is mounted on the base, and the slider is mounted on the guide rail and connected to the lead screw of the screw drive mechanism. The forward and backward movement of the lead screw further drives the slider to move forward and backward.

[0018] The motor ball bearing is mounted on the slider through a universal joint. The forward and backward movement of the slider drives the motor ball bearing to move forward and backward. The universal joint is fixed above the slider by a universal joint support rod. The flight motor is mounted on the motor ball bearing, and the flight rotor is mounted on the flight motor. The forward and backward movement of the motor ball bearing drives the flight rotor to tilt forward and backward, thereby enabling the device to fly under conditions such as tilting and heavy load.

[0019] The transmission module consists of a transmission motor, flange 1, flange 2, flange 3, flange 4, flange 5, bearing 1, bearing 1, bearing 3, bearing 4, bearing 5, transmission shaft 1, transmission shaft 2, transmission shaft 3, transmission shaft 4, transmission shaft 5, half coupling 1, half coupling 2, transmission bevel gear 1, transmission bevel gear 2, transmission bevel gear 3, transmission bevel gear 4, transmission bevel gear 5, transmission bevel gear 6, transmission spur gear 1, and transmission spur gear 2.

[0020] The drive motor is fixedly installed inside the housing and is connected to the first half-coupling via a flat key. The other end of the first half-coupling is connected to the first drive shaft via a flat key. The rotation of the drive motor is transmitted to the rotation of the first drive shaft through the connection of the flat key.

[0021] The flange one, bearing one, transmission bevel gear one, transmission spur gear one, bearing two, and flange two are sequentially mounted on transmission shaft one from right to left. The rotation of transmission shaft one drives transmission bevel gear one and transmission spur gear one to rotate. Transmission bevel gear two meshes with transmission bevel gear one. Transmission bevel gear two is mounted at the front end of transmission shaft two. Transmission bevel gear one transmits rotation to transmission bevel gear two through meshing, further driving transmission shaft two to rotate.

[0022] The transmission bevel gear three is installed at the end of the transmission shaft two and rotates with the transmission shaft two. The transmission bevel gear four is connected to the transmission bevel gear three through meshing and is installed at the upper end of the transmission shaft three. The rotation of the transmission bevel gear three transmits power to the transmission bevel gear four, thereby causing the transmission shaft three to rotate, and finally completing the output of power to the cleaning module.

[0023] The first transmission spur gear transmits rotation to the second transmission spur gear through meshing connection. The third flange, the third bearing, the second half coupling, the fourth flange, the fourth bearing, the fifth transmission bevel gear, the second transmission spur gear, the fifth bearing, and the fifth flange are installed on the fourth transmission shaft in sequence from right to left. The second transmission spur gear transmits rotation to the fourth transmission shaft through a flat key connection, further causing the fifth transmission bevel gear installed on the fourth transmission shaft to rotate.

[0024] The transmission bevel gear four is mounted on the transmission shaft five and meshes with the transmission bevel gear five. The transmission bevel gear five transmits the rotation to the transmission bevel gear six, which in turn drives the rotation of the transmission shaft five, thereby providing sufficient kinetic energy to the walking module.

[0025] The cleaning module consists of a plunger pump water sprayer, water pipes, brushes, a water tank support, and a water tank.

[0026] The bucket support is fixedly installed inside the outer shell, the bucket is installed on the bucket support, one end of the water pipe is led out from the bucket, and the other end is connected to the plunger pump type water sprayer. The plunger pump type water sprayer is connected to the end of the drive shaft five. The bucket provides water to the plunger pump type water sprayer through the water pipe, and the plunger pump type water sprayer discharges water at high pressure through the power source brought by the drive shaft five.

[0027] The brush is made of nylon bristles and is connected to the end of the drive shaft. The drive shaft transmits rotation to the brush, thereby achieving the cleaning function of the photovoltaic panel.

[0028] The plunger pump type water sprayer consists of a swashplate, a plunger, an inlet, an outlet, and a cylinder.

[0029] The swashplate is connected to the drive shaft five, the plunger is installed on the swashplate, and the water inlet is connected to the water pipe. The drive shaft five will rotate to drive the swashplate, which in turn drives the plunger to reciprocate in the cylinder. When the plunger moves downward, the cylinder volume increases to form a negative pressure, and water is drawn into the cylinder through the water inlet. When the plunger moves upward, it closes the water inlet and increases the pressure inside the cylinder by compressing the water. When the pressure reaches the opening pressure of the outlet valve, the high-pressure water is discharged from the outlet. The plunger continues to move upward to the top dead center. The remaining high-pressure water can flow back through the pressure relief channel, the water supply is terminated, and preparation is made for the next high-pressure water spray.

[0030] The walking module consists of tracks, a third spur gear, a fourth spur gear, a first walking wheel, a second walking wheel, a first connecting shaft, a second connecting shaft, a compression spring, and a shock-absorbing spring.

[0031] The transmission spur gear three is connected to the end of the transmission shaft four. The transmission spur gear three and the transmission spur gear four are respectively installed at the upper left and right corners of the track. The walking wheel one and the walking wheel two are respectively installed at the lower left and right corners of the track. The transmission shaft four provides a power source to drive the transmission spur gear three to rotate, which in turn drives the transmission of the track, thereby causing the walking wheel one and the walking wheel two to roll.

[0032] The first connecting shaft and the second connecting shaft are respectively installed between the first walking wheel, the second walking wheel and the compression spring. The shock-absorbing spring and the compression spring are installed coaxially, that is, the shock-absorbing spring is precisely fitted into the inner cavity of the compression spring, and the axes of the two springs are completely coincident, which provides a shock-absorbing and stable effect for the walking module, thereby realizing the function of moving on the photovoltaic panel.

[0033] The aforementioned amphibious photovoltaic panel cleaning device has a corresponding drive and control method, which is implemented according to the following steps:

[0034] Step 1: After the device is replenished with water and electricity at the base station, the flight module is activated, and the device flies to the designated initial photovoltaic panel.

[0035] Step 2: The device is smoothly placed on the high point of the photovoltaic panel, and the transmission module is started. The transmission module is independently controlled by two sets of drive control devices, which transfer kinetic energy to the cleaning module and the walking module respectively.

[0036] Step 3: After receiving kinetic energy, the cleaning module uses a plunger pump-type water sprayer to spray water at high pressure, while the brushes begin to rotate at high speed for cleaning.

[0037] Step 4: The walking module moves from high to low along a prescribed W-shaped path based on the visual images transmitted by the scanning camera. When the device is at the edge of the photovoltaic panel, it can turn by the speed difference between the left and right wheels to ensure efficient cleaning of all parts of the photovoltaic panel.

[0038] Step 5: By scanning the visual images transmitted by the camera, determine whether the photovoltaic panel is clean. If it is not clean, repeat the cleaning process. At the same time, determine whether the water tank has enough water. If not, fly back to the base station to get water.

[0039] Step Six: Once the initial photovoltaic panel has been cleaned, the two sets of adjustable flight rotors in the flight module are finely adjusted forward and backward through a screw drive mechanism to ensure the stability of the device under heavy load and unbalanced drive control in tilted scenarios. When the device flies over the next photovoltaic panel, the two sets of flight rotors are adjusted again through the screw drive mechanism to ensure that the device lands smoothly on the photovoltaic panel. This cycle continues until all photovoltaic panels have been cleaned.

[0040] The beneficial effects of this invention are:

[0041] 1. This invention combines an amphibious motion device that can fly and walk, which can efficiently clean photovoltaic panels and solves the problem that photovoltaic cleaning devices cannot cross between photovoltaic panels, thus improving the cleaning efficiency of photovoltaic cleaning devices.

[0042] 2. The flight module of this invention adopts an adjustable rotor mechanism, which improves the stability of the device on the tilted photovoltaic panel and solves the problem that the device with a large self-weight load cannot take off and land normally on the tilted panel.

[0043] 3. This invention adopts a mechanism that combines a transmission module and a cleaning module. While the device moves on the photovoltaic panel, it drives the cleaning module to clean the photovoltaic panel. This ensures cleaning efficiency, saves energy consumption, and increases machine operating time.

[0044] 4. The cleaning module of this invention uses a plunger pump type water sprayer device, which can quickly pressurize and spray water during the cleaning process to achieve a highly efficient cleaning effect and effectively save water resources.

[0045] 5. The transmission of this invention adopts a tracked walking mode with independent left and right drive, which enables the device to walk more stably on the photovoltaic panel and ensures that it can perform operations such as turning on the photovoltaic panel, thus ensuring the cleanliness of the device on the photovoltaic panel. Attached Figure Description

[0046] Figure 1 A frontal overall view of an amphibious photovoltaic panel cleaning device and driving control method;

[0047] Figure 2 A side view of an amphibious photovoltaic panel cleaning device and its driving and control method;

[0048] Figure 3Flight module structure diagram;

[0049] Figure 4 Exploded view of the flight module;

[0050] Figure 5 Transmission module structure diagram;

[0051] Figure 6 Cleaning module structure diagram;

[0052] Figure 7 Structural diagram of a plunger pump type water sprayer;

[0053] Figure 8 Walking module structure diagram;

[0054] Figure 9 Flowchart of device implementation steps;

[0055] The labels in the diagram are as follows: 1-Flight module, 2-Transmission module, 3-Cleaning module, 4-Walking module, 5-Outer shell, 6-Solar energy, 7-Battery, 8-Scanning camera, 1.1-Rotor motor, 1.2-Transmission gear pair, 1.3-Threaded screw support, 1.4-Threaded screw transmission mechanism, 1.5-Flight rotor, 1.6-Flight motor, 1.7-Motor spherical support, 1.8-Universal shaft, 1.9-Universal shaft support rod, 1.10 - Slider, 1.11- Guide rail, 1.12- Base, 2.1- Drive motor, 2.2Ⅰ- Flange 1, 2.2Ⅱ- Flange 2, 2.2Ⅲ- Flange 3, 2.2Ⅳ- Flange 4, 2.2Ⅴ- Flange 5, 2.3Ⅰ- Bearing 1, 2.3Ⅱ- Bearing 2, 2.3Ⅲ- Bearing 3, 2.3Ⅳ- Bearing 4, 2.3Ⅴ- Bearing 5, 2.4Ⅰ- Drive shaft 1, 2.4Ⅱ- Drive shaft 2, 2.4Ⅲ- Drive shaft 3, 2 2.4Ⅳ-Drive shaft four, 2.4Ⅴ-Drive shaft five, 2.5Ⅰ-Half coupling one, 2.5Ⅱ-Half coupling two, 2.6Ⅰ-Drive bevel gear one, 2.6Ⅱ-Drive bevel gear two, 2.6Ⅲ-Drive bevel gear three, 2.6Ⅳ-Drive bevel gear four, 2.6Ⅴ-Drive bevel gear five, 2.6Ⅵ-Drive bevel gear six, 2.7Ⅰ-Drive spur gear one, 2.7Ⅱ-Drive spur gear two, 3.1-Plunger pump type water sprayer, 3.1Ⅰ-Inclined 3.1Ⅱ-Plunger, 3.1Ⅲ-Inlet, 3.1Ⅳ-Outlet, 3.1Ⅴ-Cylinder, 3.2-Water pipe, 3.3-Brush, 3.4-Water bucket support, 3.5-Water bucket, 4.1-Track, 4.2Ⅰ-Transmission spur gear three, 4.2Ⅱ-Transmission spur gear four, 4.3Ⅰ-Walking wheel one, 4.3Ⅱ-Walking wheel two, 4.4Ⅰ-Connecting shaft one, 4.4Ⅱ-Connecting shaft two, 4.5-Compression spring, 4.6-Shock-absorbing spring. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings and specific embodiments;

[0057] Example 1: As Figure 1 and 2 As shown, an amphibious photovoltaic panel cleaning device and driving control method consists of eight parts: flight module 1, transmission module 2, cleaning module 3, walking module 4, shell 5, solar panel 6, battery 7, and scanning camera 8.

[0058] The outer shell 5 is the frame shell of the entire device. A solar panel 6 is installed at the top center of the outer shell 5, which can convert solar energy into electrical energy and store the electrical energy in the battery 7, thereby reducing the charging time of the entire device, improving working efficiency and increasing the device's endurance.

[0059] Two sets of flight modules 1 are installed at the four corners of the upper shell surface of the outer shell 5. The flight modules 1 can adjust the angle of the flight rotors 1.5 of the device of the present invention. Each set of flight modules 1 can drive two sets of flight rotors 1.5, and a total of four sets of flight rotors 1.5 provide the upward lift of the device of the present invention to achieve autonomous crossing between photovoltaic panels.

[0060] A set of scanning cameras 8 are installed at the middle positions of the front and rear sides of the outer casing 5. The scanning cameras 8 provide the device with the specific location on the photovoltaic panel and the cleaning line by acquiring visual images.

[0061] A walking module 4 is installed on each of the left and right sides of the outer shell 5. It mainly completes the function of the photovoltaic robot walking on the photovoltaic panel. The walking module 4 is connected to the transmission module 2 through the transmission shaft 2.4Ⅲ. The transmission module 2 is installed inside the outer shell 5 and mainly provides sufficient kinetic energy to the walking module 4 and the cleaning module 3.

[0062] The cleaning module 3 is symmetrically installed on the left and right sides below the outer casing 5 and is connected to the transmission module 2 through the transmission shaft 2.4Ⅲ. It mainly completes the cleaning work of the photovoltaic panel.

[0063] The battery 7 is installed on one side inside the casing 5 to store the electrical energy converted by the solar panel 6.

[0064] like Figure 3 and 4 As shown, the flight module 1 consists of a rotor motor 1.1, a transmission gear pair 1.2, a threaded screw support 1.3, a threaded screw transmission mechanism 1.4, a flight rotor 1.5, a flight motor 1.6, a motor spherical support 1.7, a universal joint 1.8, a universal joint support rod 1.9, a slider 1.10, a guide rail 1.11, and a base 1.12;

[0065] The rotor motor 1.1, the threaded screw support 1.3, the universal joint support rod 1.9, and the base 1.12 are mounted on the outer casing 5. The rotor motor 1.1 drives the transmission gear pair 1.2 to rotate via a key connection. The transmission gear pair 1.2 is a set of gear pairs that reduce speed and increase torque. It is mounted on the threaded screw support 1.3. The output end of the transmission gear pair 1.2 is connected to the threaded screw transmission mechanism 1.4. The threaded screw transmission mechanism 1.4 rotates around the screw axis and drives the screw to move back and forth through the meshing of the internal thread of the nut and the external thread of the screw.

[0066] The guide rail 1.11 is mounted on the base 1.12, and the slider 1.10 is mounted on the guide rail 1.11 and connected to the lead screw of the screw transmission mechanism 1.4. The forward and backward movement of the lead screw further drives the slider 1.10 to move forward and backward.

[0067] The motor spherical support 1.7 is mounted on the slider 1.10 through the universal joint 1.8. The forward and backward movement of the slider 1.10 drives the motor spherical support 1.7 to move forward and backward. The universal joint 1.8 is fixed above the slider 1.10 by the universal joint support rod 1.9. The flight motor 1.6 is mounted on the motor spherical support 1.7, and the flight rotor 1.5 is mounted on the flight motor 1.6. The forward and backward movement of the motor spherical support 1.7 drives the flight rotor 1.5 to tilt forward and backward, thereby enabling the device to fly under conditions such as tilting and heavy load.

[0068] like Figure 5 As shown, the transmission module 2 consists of a transmission motor 2.1, flange 1 2.2Ⅰ, flange 2 2.2Ⅱ, flange 3 2.2Ⅲ, flange 4 2.2Ⅳ, flange 5 2.2Ⅴ, bearing 1 2.3Ⅰ, bearing 1 2.3Ⅱ, bearing 3 2.3Ⅲ, bearing 4 2.3Ⅳ, bearing 5 2.3Ⅴ, transmission shaft 1 2.4Ⅰ, transmission shaft 2 2.4Ⅱ, transmission shaft 3 2.4Ⅲ, transmission shaft 4 2.4Ⅳ, transmission shaft 5 2.4Ⅴ, half coupling 1 2.5Ⅰ, half coupling 2 2.5Ⅱ, transmission bevel gear 1 2.6Ⅰ, transmission bevel gear 2 2.6Ⅱ, transmission bevel gear 3 2.6Ⅲ, transmission bevel gear 4 2.6Ⅳ, transmission bevel gear 5 2.6Ⅴ, transmission bevel gear 6 2.6Ⅵ, transmission spur gear 1 2.7Ⅰ, and transmission spur gear 2 2.7Ⅱ.

[0069] The drive motor 2.1 is fixedly installed inside the housing 5 and is connected to the half coupling 2.5Ⅰ via a flat key. The other end of the half coupling 2.5Ⅰ is connected to the drive shaft 2.4Ⅰ via a flat key. The rotation of the drive motor 2.1 is transmitted to the rotation of the drive shaft 2.4Ⅰ through the connection of the flat key.

[0070] The flange 2.2Ⅰ, bearing 2.3Ⅰ, transmission bevel gear 2.6Ⅰ, transmission spur gear 2.7Ⅰ, bearing 2.3Ⅱ, and flange 2.2Ⅱ are sequentially mounted on transmission shaft 2.4Ⅰ from right to left. The rotation of transmission shaft 2.4Ⅰ drives transmission bevel gear 2.6Ⅰ and transmission spur gear 2.7Ⅰ to rotate. Transmission bevel gear 2.6Ⅱ is meshed with transmission bevel gear 2.6Ⅰ and is mounted at the front end of transmission shaft 2.4Ⅱ. Transmission bevel gear 2.6Ⅰ transmits rotation to transmission bevel gear 2.6Ⅱ through meshing, further driving transmission shaft 2.4Ⅱ to rotate.

[0071] The transmission bevel gear 2.6Ⅲ is installed at the end of the transmission shaft 2.4Ⅱ and rotates with the transmission shaft 2.4Ⅱ. The transmission bevel gear 2.6Ⅳ is connected to the transmission bevel gear 2.6Ⅲ through meshing and is installed at the upper end of the transmission shaft 2.4Ⅲ. The rotation of the transmission bevel gear 2.6Ⅲ transmits power to the transmission bevel gear 2.6Ⅳ, thereby causing the transmission shaft 2.4Ⅲ to rotate, and finally outputs power to the cleaning module 3.

[0072] The transmission spur gear 2.7Ⅰ transmits rotation to the transmission spur gear 2.7Ⅱ through a meshing connection. The flange 2.2Ⅲ, bearing 2.3Ⅲ, half coupling 2.5Ⅱ, flange 2.2Ⅳ, bearing 2.3Ⅳ, transmission bevel gear 2.6Ⅴ, transmission spur gear 2.7Ⅱ, bearing 2.3Ⅴ, and flange 2.2Ⅴ are installed on the transmission shaft 2.4Ⅳ from right to left. The transmission spur gear 2.7Ⅱ transmits rotation to the transmission shaft 2.4Ⅳ through a flat key connection, further causing the transmission bevel gear 2.6Ⅴ installed on the transmission shaft 2.4Ⅳ to rotate.

[0073] The transmission bevel gear 2.6VI is mounted on the transmission shaft 2.4V and meshes with the transmission bevel gear 2.6V. The transmission bevel gear 2.6V transmits rotation to the transmission bevel gear 2.6VI, which in turn drives the transmission shaft 2.4V to rotate, thereby providing sufficient kinetic energy to the walking module 4.

[0074] like Figure 6 As shown, the cleaning module 3 consists of a plunger pump type water sprayer 3.1, a water pipe 3.2, a brush 3.3, a water bucket support 3.4, and a water bucket 3.5;

[0075] The bucket support 3.4 is fixedly installed inside the outer casing 5. The bucket 3.5 is installed on the bucket support 3.4. One end of the water pipe 3.2 is led out from the bucket 3.5, and the other end is connected to the plunger pump type water sprayer 3.1. The plunger pump type water sprayer 3.1 is connected to the end of the drive shaft 2.4. The bucket 3.5 provides water to the plunger pump type water sprayer 3.1 through the water pipe 3.2. The plunger pump type water sprayer 3.1 discharges water at high pressure through the power source brought by the drive shaft 2.4.

[0076] The brush 3.3 is composed of nylon bristles and is connected to the end of the drive shaft 2.4Ⅲ. The drive shaft 2.4Ⅲ transmits rotation to the brush 3.3, thereby realizing the cleaning function of the photovoltaic panel.

[0077] like Figure 7 As shown, the plunger pump type water sprayer 3.1 consists of a swashplate 3.1Ⅰ, a plunger 3.1Ⅱ, a water inlet 3.1Ⅲ, a water outlet 3.1Ⅳ, and a cylinder 3.1Ⅴ;

[0078] The swashplate 3.1Ⅰ is connected to the drive shaft 2.4Ⅴ, the plunger 3.1Ⅱ is mounted on the swashplate 3.1Ⅰ, and the inlet 3.1Ⅲ is connected to the water pipe 3.2. The drive shaft 2.4Ⅴ rotates, driving the swashplate 3.1Ⅰ to move, which in turn drives the plunger 3.1Ⅱ to reciprocate within the cylinder 3.1Ⅴ. When the plunger 3.1Ⅱ moves downward, the volume of the cylinder 3.1Ⅴ increases, creating a negative pressure. Water is drawn into the cylinder 3.1Ⅴ through the inlet 3.1Ⅲ. When the plunger 3.1Ⅱ moves upward, it closes the inlet 3.1Ⅲ. By compressing the water, the pressure inside the cylinder 3.1Ⅴ increases. When the pressure reaches the opening pressure of the outlet valve, high-pressure water is discharged from the outlet 3.1Ⅳ. The plunger 3.1Ⅱ continues to move upward to the top dead center. The remaining high-pressure water can flow back through the pressure relief channel, the water supply stops, and preparation is made for the next high-pressure water spray.

[0079] like Figure 8 As shown, the walking module 4 consists of a track 4.1, a transmission spur gear three 4.2Ⅰ, a transmission spur gear four 4.2Ⅱ, a walking wheel one 4.3Ⅰ, a walking wheel two 4.3Ⅱ, a connecting shaft one 4.4Ⅰ, a connecting shaft two 4.4Ⅱ, a compression spring 4.5, and a shock-absorbing spring 4.6;

[0080] The transmission spur gear 3 4.2Ⅰ is connected to the end of the transmission shaft 4 2.4Ⅳ. The transmission spur gear 3 4.2Ⅰ and the transmission spur gear 4.2Ⅱ are respectively installed at the upper left and right corners of the track 4.1. The traveling wheel 1 4.3Ⅰ and the traveling wheel 2 4.3Ⅱ are respectively installed at the lower left and right corners of the track 4.1. The transmission shaft 4 2.4Ⅳ provides the power source to drive the transmission spur gear 3 4.2Ⅰ to rotate, which in turn drives the transmission of the track 4.1, thereby causing the traveling wheel 1 4.3Ⅰ and the traveling wheel 2 4.3Ⅱ to roll.

[0081] The connecting shaft 4.4Ⅰ and the connecting shaft 4.4Ⅱ are respectively installed between the traveling wheel 4.3Ⅰ, the traveling wheel 4.3Ⅱ and the compression spring 4.5. The shock-absorbing spring 4.6 and the compression spring 4.5 are installed coaxially, that is, the shock-absorbing spring 4.6 is precisely fitted into the inner cavity of the compression spring 4.5, and the axes of the two springs are completely coincident, which provides a shock-absorbing and stable effect for the traveling module 4, thereby realizing the function of moving on the photovoltaic panel;

[0082] The complete process of this device is as follows: Figure 9 As shown:

[0083] Step 1: After the device is replenished with water and electricity at the base station, the flight module 1 is activated, and the device flies to the designated initial photovoltaic panel.

[0084] Specifically, after the device is replenished with water and electricity, the flight motor 1.6 is started to provide an upward lift for the device to fly smoothly. When the device flies above the photovoltaic panel, the rotor motor 1.1 is started to adjust the angle of the flight rotor 1.5 so that the device can land smoothly on the photovoltaic panel.

[0085] Step 2: The device is smoothly placed on the high point of the photovoltaic panel, and the transmission module 2 is started. The transmission module 2 is independently controlled by two sets of drive control devices, which transmit kinetic energy to the cleaning module 3 and the walking module 4 respectively.

[0086] Step 3: After receiving kinetic energy, the plunger pump type water sprayer 3.1 sprays water at high pressure, while the brush 3.3 starts to rotate and clean at high speed.

[0087] Specifically, the rotation of drive shaft 2.4V transmits kinetic energy to plunger pump type water sprayer 3.1, enabling it to spray water at high pressure. At the same time, the rotation of drive shaft 2.4III transmits kinetic energy to brush 3.3, enabling it to rotate and clean at high speed.

[0088] Step 4: The walking module 4 moves from high to low along a prescribed W-shaped path based on the visual image transmitted by the scanning camera 8. When the device is at the edge of the photovoltaic panel, it can turn by the difference in speed between the left and right wheels to ensure efficient cleaning of all parts of the photovoltaic panel.

[0089] Step 5: Using the visual image transmitted by the scanning camera 8, determine whether the photovoltaic panel is clean. If it is not clean, repeat the cleaning process. At the same time, determine whether the water tank has enough water. If not, fly back to the base station to get water.

[0090] Step Six: Once the initial photovoltaic panel has completed its cleaning process, the two sets of adjustable flight rotors 1.5 in flight module 1 are finely adjusted forward and backward via the screw drive mechanism 1.4 to ensure the stability of the device under heavy load and unbalanced drive control in tilted scenarios. When the device flies over the next photovoltaic panel, the two sets of flight rotors 1.5 are adjusted again via the screw drive mechanism 1.4 to ensure the device lands smoothly on the photovoltaic panel. This cycle continues until all photovoltaic panels have completed their cleaning process.

Claims

1. An amphibious photovoltaic panel cleaning device, characterized in that: The device consists of eight parts: a flight module (1), a transmission module (2), a cleaning module (3), a walking module (4), a housing (5), a solar panel (6), a battery (7), and a scanning camera (8). The housing (5) serves as the frame of the entire device. A solar panel (6) is installed at the top center of the housing (5) to convert solar energy into electrical energy and store it in the battery (7). The battery (7) is installed on one side inside the housing (5). Two sets of flight modules (1) are installed at the four corners of the upper surface of the housing (5). The flight modules (1) can adjust the angle of the flight rotors (1.5). Each flight module (1) can drive two sets of flight rotors (1.5), for a total of four sets of flight rotors (1). .5) Provides upward lift for the device. A set of scanning cameras (8) are installed at the middle of the front and rear sides of the outer shell (5). The scanning cameras (8) provide the device with the specific position on the photovoltaic panel and the cleaning line by collecting visual images. A set of walking modules (4) are installed on the left and right sides of the outer shell (5). The walking modules (4) are connected to the transmission module (2) through the transmission shaft three (2.4Ⅲ). The transmission module (2) is installed inside the outer shell (5). The transmission module (2) provides sufficient kinetic energy to the walking module (4) and the cleaning module (3). The cleaning module (3) is symmetrically installed on the left and right sides directly below the outer shell (5) and is connected to the transmission module (2) through the transmission shaft three (2.4Ⅲ). The flight module (1) consists of a rotor motor (1.1), a transmission gear pair (1.2), a threaded screw support (1.3), a threaded screw transmission mechanism (1.4), a flight rotor (1.5), a flight motor (1.6), a motor spherical support (1.7), a universal joint (1.8), a universal joint support rod (1.9), a slider (1.10), a guide rail (1.11), and a base (1.12). The rotor motor (1.1), the threaded screw support (1.3), the universal joint support rod (1.9), and the base (1.12) are mounted on the outer shell (5). The rotor motor (1.1) drives the transmission gear pair (1.2) to rotate via a key connection. The transmission gear pair (1.2) is mounted on the threaded screw support (1.3). The output end of the transmission gear pair (1.2) is connected to the threaded screw transmission mechanism (1.4). The threaded screw transmission mechanism (1.4) rotates around the screw axis and is connected to the screw via the internal thread of the nut. The external threads of the lead screw mesh with each other, driving the lead screw to move back and forth. The guide rail (1.11) is installed on the base (1.12), and the slider (1.10) is installed on the guide rail (1.11) and connected to the lead screw of the threaded lead screw transmission mechanism (1.4). The back and forth movement of the lead screw further drives the slider (1.10) to move back and forth. The motor ball support (1.7) is installed on the slider (1.10) through the universal joint (1.8). The back and forth movement of the slider (1.10) drives the motor ball support (1.7) to move back and forth. The universal joint (1.8) is fixed above the slider (1.10) through the universal joint support rod (1.9). The flight motor (1.6) is installed on the motor ball support (1.7), and the flight rotor (1.5) is installed on the flight motor (1.6). The back and forth movement of the motor ball support (1.7) drives the flight rotor (1.5) to tilt back and forth, thereby completing the flight operation of the device.

2. The amphibious photovoltaic panel cleaning device as described in claim 1, characterized in that: The transmission module (2) comprises a transmission motor (2.1), flange I (2.2), flange II (2.2II), flange III (2.2III), flange IV (2.2IV), flange V (2.2V), bearing I (2.3I), bearing II (2.3II), bearing III (2.3III), bearing IV (2.3IV), bearing V (2.3V), transmission shaft I (2.4I), transmission shaft II (2.4II), transmission shaft III (2.4III), transmission shaft IV (2.4IV), transmission shaft V (2.4V), half coupling I (2.5I), half coupling II (2.5II), transmission bevel gear I (2.6I), transmission bevel gear II (2.6II), transmission bevel gear III (2.6III), and transmission bevel gear The transmission consists of four (2.6Ⅳ), five (2.6Ⅴ), six (2.6Ⅵ), one (2.7Ⅰ), and two (2.7Ⅱ); the transmission motor (2.1) is fixedly installed inside the housing (5) and connected to half-coupling one (2.5Ⅰ) via a key. The other end of half-coupling one (2.5Ⅰ) is connected to transmission shaft one (2.4Ⅰ) via a key. The rotation of the transmission motor (2.1) is transmitted to the rotation of transmission shaft one (2.4Ⅰ) through the key connection. The flange one (2.2Ⅰ), bearing one (2.3Ⅰ), transmission bevel gear one (2.6Ⅰ), transmission spur gear one (2.7Ⅰ), bearing two (2.3Ⅱ), and flange two (2.2Ⅱ) are arranged from right to left. The transmission bevel gears are sequentially mounted on the first transmission shaft (2.4Ⅰ). The rotation of the first transmission shaft (2.4Ⅰ) drives the first transmission bevel gear (2.6Ⅰ) and the first transmission spur gear (2.7Ⅰ) to rotate. The second transmission bevel gear (2.6Ⅱ) meshes with the first transmission bevel gear (2.6Ⅰ). The second transmission bevel gear (2.6Ⅱ) is mounted at the front end of the second transmission shaft (2.4Ⅱ). The first transmission bevel gear (2.6Ⅰ) transmits rotation to the second transmission bevel gear (2.6Ⅱ) through meshing, further driving the second transmission shaft (2.4Ⅱ) to rotate. The third transmission bevel gear (2.6Ⅲ) is mounted at the end of the second transmission shaft (2.4Ⅱ) and rotates with it. The fourth transmission bevel gear (2.6Ⅳ) meshes with the third transmission bevel gear. (2.6Ⅲ) is connected and installed on the upper end of the transmission shaft three (2.4Ⅲ). The rotation of the transmission bevel gear three (2.6Ⅲ) transmits power to the transmission bevel gear four (2.6Ⅳ), thereby causing the transmission shaft three (2.4Ⅲ) to rotate and output power to the cleaning module (3). The transmission spur gear one (2.7Ⅰ) transmits rotation to the transmission spur gear two (2.7Ⅱ) through meshing connection. The flange three (2.2Ⅲ), bearing three (2.3Ⅲ), half coupling two (2.5Ⅱ), flange four (2.2Ⅳ), bearing four (2.3Ⅳ), transmission bevel gear five (2.6Ⅴ), transmission spur gear two (2.7Ⅱ), bearing five (2.3Ⅴ), and flange five (2.2Ⅴ) are installed on the transmission shaft four (2.6Ⅲ) from right to left.On drive shaft 4 (4Ⅳ), spur gear 2 (2.7Ⅱ) transmits rotation to drive shaft 4 (2.4Ⅳ) via a key connection, further causing drive bevel gear 5 (2.6Ⅴ) mounted on drive shaft 4 (2.4Ⅳ) to rotate. Drive bevel gear 6 (2.6Ⅵ) is mounted on drive shaft 5 (2.4Ⅴ) and meshes with drive bevel gear 5 (2.6Ⅴ). Drive bevel gear 5 (2.6Ⅴ) transmits rotation to drive bevel gear 6 (2.6Ⅵ), thereby driving drive shaft 5 (2.4Ⅴ) to rotate, providing sufficient kinetic energy for the walking module (4).

3. The amphibious photovoltaic panel cleaning device as described in claim 1, characterized in that: The cleaning module (3) consists of a plunger pump water sprayer (3.1), a water pipe (3.2), a brush (3.3), a water bucket support (3.4), and a water bucket (3.5); the plunger pump water sprayer (3.1) consists of a swashplate (3.1Ⅰ), a plunger (3.1Ⅱ), a water inlet (3.1Ⅲ), a water outlet (3.1Ⅳ), and a cylinder (3.1Ⅴ); the walking module (4) consists of a track (4.1), a transmission spur gear three (4.2Ⅰ), a transmission spur gear four (4.2Ⅱ), a walking wheel one (4.3Ⅰ), a walking wheel two (4.3Ⅱ), a connecting shaft one (4.4Ⅰ), a connecting shaft two (4.4Ⅱ), a compression spring (4.5), and a shock-absorbing spring (4.6); the water bucket support (3.4) is fixedly installed. The water tank (3.5) is installed inside the outer casing (5) and mounted on the water tank support (3.4). One end of the water pipe (3.2) is led out from the water tank (3.5), and the other end is connected to the plunger pump type water sprayer (3.1). The plunger pump type water sprayer (3.1) is connected to the end of the drive shaft five (2.4Ⅴ). The water tank (3.5) provides water to the plunger pump type water sprayer (3.1) through the water pipe (3.2). The plunger pump type water sprayer (3.1) discharges water at high pressure through the power source provided by the drive shaft five (2.4Ⅴ). The brush (3.3) is composed of nylon bristles and is connected to the end of the drive shaft three (2.4Ⅲ). The drive shaft three (2.4Ⅲ) transmits rotation to the brush (3.3) to clean the photovoltaic panel. The swash plate (3.1Ⅰ) The piston (3.1Ⅱ) is connected to the drive shaft (2.4Ⅴ), and the plunger (3.1Ⅱ) is mounted on the swashplate (3.1Ⅰ). The inlet (3.1Ⅲ) is connected to the water pipe (3.2). The drive shaft (2.4Ⅴ) rotates, driving the swashplate (3.1Ⅰ) to move, which in turn drives the plunger (3.1Ⅱ) to reciprocate within the cylinder (3.1Ⅴ). When the plunger (3.1Ⅱ) moves downward, the volume of the cylinder (3.1Ⅴ) increases, creating a negative pressure. Water is drawn into the cylinder (3.1Ⅴ) through the inlet (3.1Ⅲ). When the plunger (3.1Ⅱ) moves upward, it closes the inlet (3.1Ⅲ). By compressing the water, the pressure inside the cylinder (3.1Ⅴ) increases. When the pressure reaches the opening pressure of the outlet valve, high-pressure water is discharged from the outlet (3.1Ⅳ). 3.1Ⅱ) Continue upwards to the upper stop point. The remaining high-pressure water can flow back through the pressure relief channel, the water supply ends, and preparation is made for the next high-pressure water spray; The transmission spur gear three (4.2Ⅰ) is connected to the end of the transmission shaft four (2.4Ⅳ). The transmission spur gear three (4.2Ⅰ) and the transmission spur gear four (4.2Ⅱ) are respectively installed on the upper left and right corners of the track (4.1). The traveling wheel one (4.3Ⅰ) and the traveling wheel two (4.3Ⅱ) are respectively installed on the lower left and right corners of the track (4.1). The transmission shaft four (2.4Ⅳ) provides the power source to drive the transmission spur gear three (4.2Ⅰ) to rotate, which further drives the transmission of the track (4.1), thereby causing the traveling wheel one (4.3Ⅰ) and the traveling wheel two (4.3Ⅱ) to roll, connecting the shaft one (4.2Ⅱ).4Ⅰ) Connecting shaft 2 (4.4Ⅱ) is installed between traveling wheel 1 (4.3Ⅰ), traveling wheel 2 (4.3Ⅱ), and compression spring (4.5), respectively. The shock-absorbing spring (4.6) and compression spring (4.5) are coaxially mounted, meaning the shock-absorbing spring (4.6) is precisely fitted inside the compression spring (4.5), and the axes of the two springs are completely aligned.

4. The driving and control method for an amphibious photovoltaic panel cleaning device as described in any one of claims 1-3, characterized in that: There is a set of flight and tracked walking drive and control methods; Step 1: After the device is replenished with water and electricity at the base station, the flight module (1) is started, and then the device flies to the designated initial photovoltaic panel; Step 2: The device lands smoothly at a high position on the photovoltaic panel and starts the transmission module (2). The transmission module (2) is independently controlled by two sets of drive and control devices, which transmit kinetic energy to the cleaning module (3) and the walking module (4) respectively; Step 3: After receiving the kinetic energy, the plunger pump type water sprayer (3.1) sprays water at high pressure, and at the same time the brush (3.3) starts to rotate and clean at high speed; Step 4: The walking module (4) moves from high to low according to the prescribed W-shaped line based on the visual image transmitted by the scanning camera (8). When the device is at the edge of the photovoltaic panel, it can turn by the difference in speed between the left and right wheels. Ensure efficient cleaning of all parts of the photovoltaic panel; Step 5: Use the visual image transmitted by the scanning camera (8) to determine whether the photovoltaic panel is clean. If it is not clean, repeat the cleaning process. At the same time, determine whether the water tank has enough water. If not, fly back to the base station to get water; Step 6: When the initial photovoltaic panel has completed the cleaning work, the two sets of adjustable flight rotors (1.5) in the flight module (1) are finely adjusted back and forth through the screw drive mechanism (1.4) to ensure the stability of the device under heavy load unbalanced drive control in the tilt scenario. When the device flies over the next photovoltaic panel, the two sets of flight rotors are adjusted again through the screw drive mechanism (1.4) to make the device land smoothly on the photovoltaic panel. This cycle continues until all photovoltaic panels have completed the cleaning work.

Images