Solar power photovoltaic panel surface dust cleaning device and method

Abstract

The present application relates to the technical field of cleaning device, especially to a solar power generation photovoltaic panel surface dust cleaning device and method, comprising: a mounting frame fixedly connected in a frame shell; a mounting cylinder rotatably connected to the mounting frame, the mounting cylinder being filled with fluid, and a control assembly being arranged in the mounting cylinder; a mounting interface fixedly connected to the mounting cylinder, the mounting interface being arranged on the side wall of the mounting cylinder in a circumferential array form; and bristles fixedly connected to the mounting interface, the bristles being communicated with the mounting cylinder through the mounting interface. The present application fills the bristles with fluid, adjusts the fluid pressure to realize dynamic adjustment of the rigidity of the bristles, and synchronously adjusts the rotating speed of the bristles, so that different cleaning intensities can be adopted in different areas: gentle cleaning is implemented in a light pollution area to reduce energy consumption and abrasion; and cleaning intensity is strengthened in a heavy pollution area to improve the use effect of the present application.

Description

Technical Field

[0001] This invention relates to the field of cleaning device technology, and in particular to a dust removal device and method for the surface of photovoltaic panels used in solar power generation. Background Technology

[0002] With the development of automated cleaning technology, various cleaning devices have been widely used in industrial and civil fields. These cleaning devices improve cleaning efficiency through mechanized operations, provide more stable and thorough cleaning results, and at the same time reduce labor intensity, shorten operation cycles, and effectively reduce labor costs.

[0003] In the field of solar power generation, dust accumulation on the surface of photovoltaic panels directly affects the light energy conversion efficiency, thus requiring regular cleaning and maintenance. However, traditional manual cleaning methods are insufficient to meet the operation and maintenance needs of large-scale photovoltaic power plants, making automated cleaning devices capable of efficiently performing cleaning operations a focus of industry attention. Using automated cleaning equipment for regular maintenance of photovoltaic panels will improve the overall economic efficiency of the power plant.

[0004] However, most mainstream photovoltaic (PV) cleaning devices currently employ a reciprocating cleaning mode. Their paths are fixed, and parameters such as cleaning speed and pressure are preset, making it impossible to dynamically adjust based on the actual contamination level of the PV panel surface. This results in ineffective cleaning strokes. Furthermore, the thickness of dust accumulation varies across different areas of the PV panel. This single-mode cleaning method leads to over-cleaning in lightly contaminated areas, causing accelerated brush bristle wear, while in heavily contaminated areas, insufficient cleaning results in dust residue, affecting light transmittance recovery. In addition, increased ineffective cleaning strokes also lead to energy waste and equipment wear, further limiting the overall performance improvement of the cleaning device. Summary of the Invention

[0005] In view of the technical deficiencies mentioned above, the present invention provides a dust removal device and method for solar photovoltaic panels capable of adjusting cleaning parameters.

[0006] The technical solution of the present invention is as follows: a dust removal device and method for photovoltaic panels used in solar power generation, comprising: a frame; a movable wheel rotatably connected to the bottom of the frame; a first driving component disposed inside the frame and connected to the movable wheel; a cleaning component disposed inside the frame; a second driving component disposed inside the frame and connected to the cleaning component; and a control component disposed on the cleaning component.

[0007] The cleaning assembly includes: a mounting bracket fixedly connected to the frame; a mounting cylinder rotatably connected to the mounting bracket, the mounting cylinder being filled with fluid, and a control component disposed inside the mounting cylinder; a mounting interface fixedly connected to the mounting cylinder, the mounting interfaces being arranged in a circumferential array on the side wall of the mounting cylinder; and bristles fixedly connected to the mounting interface, the bristles being connected to the mounting cylinder through the mounting interface.

[0008] As a preferred embodiment of the present invention, the control component includes: a control cylinder fixedly connected inside the mounting cylinder; a sealing plate slidably connected inside the control cylinder, the control cylinder communicating with the mounting cylinder; a lead screw rotatably connected inside the mounting cylinder, the lead screw being threadedly connected to the sealing plate; and a servo motor fixedly connected to the mounting cylinder, the output end of the servo motor being fixed to the lead screw.

[0009] As a preferred embodiment of the present invention, the cleaning device further includes: a pad rod fixedly connected to the mounting interface, the pad rod being disposed at the connection between the brush bristles and the mounting interface.

[0010] As a preferred embodiment of the present invention, the bristles are configured as a near-circular arc shape; the cleaning device further includes: raised textures provided on the sidewall surface of the bristles.

[0011] As a preferred embodiment of the present invention, the cleaning device further includes: a mounting block fixedly connected to the mounting frame; a bracket slidably connected to the mounting block, the bracket being inserted between the bristles; a reciprocating screw rotatably connected to the mounting frame, the reciprocating screw being threadedly connected to the bracket; and a transmission assembly disposed between the reciprocating screw and the mounting cylinder.

[0012] As a preferred embodiment of the present invention, the cleaning device further includes: a collection frame fixedly connected within the housing; a suction device fixedly connected to the collection frame, the suction device leading to the collection frame and the suction port of the suction device facing the cleaning assembly; an electric push rod fixedly connected to one side of the collection frame; a push plate slidably connected within the collection frame, the end of the electric push rod being fixed to the push plate; a guide ramp disposed on the other side of the collection frame; a frame opening fixedly connected to the collection frame, the guide ramp guiding the accumulated dust to the frame opening; a closing plate rotatably connected to the frame opening; a telescopic frame rotatably connected between the frame opening and the closing plate; and a first spring fixedly connected between the two ends of the telescopic frame, the first spring causing the closing plate to tightly close the frame opening.

[0013] As a preferred embodiment of the present invention, the cleaning device further includes: a control center fixedly connected to the frame, the control center having a control module, the control module being electrically connected to a first drive component, a second drive component, and a servo motor, the control center integrating a path planning module and a multimodal perception module, the sensing units of the path planning module and the multimodal perception module being deployed within a data acquisition device, wherein the sensing unit of the path planning module includes a lidar and a binocular vision system integrating a binocular camera, the sensing unit of the multimodal perception module includes a vision subsystem and a transmittance sensor, and a friction coefficient detection wheel is provided at the bottom of the frame; a telescopic seat rotatably connected to the top of the frame; and a data acquisition device fixedly connected to the telescopic seat, the data acquisition device being electrically connected to the control center.

[0014] As a preferred embodiment of the present invention, the cleaning device further includes: a baffle slidably connected to the bottom of the frame; and a second spring fixedly connected between the baffle and the frame.

[0015] As a preferred embodiment of the present invention, the present invention provides a method for using a dust removal device for the surface of photovoltaic panels used in solar power generation, the specific steps of which are as follows:

[0016] S1. Place the cleaning device on the surface of the photovoltaic panel and control the telescopic seat to raise the acquisition device to the working height; the path planning module collects the three-dimensional coordinate data and reflection intensity information of the environment through the lidar to construct a three-dimensional environmental model; the binocular vision system simultaneously acquires the left and right views and RGB images of the photovoltaic panel to be cleaned, generates a disparity map based on the stereo matching of the left and right views and calculates the depth information, and extracts the edge contour data of the photovoltaic panel to be cleaned based on the texture features of the RGB images; spatial registration is performed based on the three-dimensional environmental model, the depth information and the edge contour data to obtain the effective cleaning area of ​​the photovoltaic panel to be cleaned, and the shortest path within the effective cleaning area is obtained using the A* algorithm with cleaning efficiency as the optimization objective as the planning trajectory, driving the cleaning device to move along the planned trajectory; the installation cylinder is rotated simultaneously to initialize the brush stiffness reference value. Compared with the speed reference value And start the suction device to perform dust collection;

[0017] S2. During the movement of the cleaning device, the vision subsystem of the multimodal perception module in the control center collects grayscale distribution features. The transmittance sensor collects the transmittance attenuation coefficient (1-T), and the friction coefficient detection wheel collects the surface friction coefficient. The comprehensive pollution index is calculated based on a weighted algorithm. and the preset heavy pollution threshold Light pollution threshold Row-level comparison:

[0018] If the pollution index At Within the specified range, it is determined to be moderately polluted, and the bristles maintain the baseline stiffness value. Compared with the speed reference value Run; if Greater than The pollution level was determined to be severe, and the servo motor was controlled to output a positive incremental value. Dynamically improve bristle stiffness At the same time, according to the pollution deviation amount Increase speed Perform pressurized and intensified cleaning; if Less than The pollution level was determined to be light, and the reverse adjustment formula was applied. Reduce bristle stiffness and by Reduce the rotation speed to soften the cleaning intensity of the brush bristles;

[0019] S3. After completing the path coverage, rotate to open the closing plate and operate the push plate to discharge the accumulated dust. Finally, stop rotating the installation cylinder, the collection device, and turn off the suction device in sequence to stop the cleaning device from running.

[0020] Compared with existing technologies, this invention has the following advantages: This invention controls the fluid filling of the bristles and dynamically adjusts the bristle stiffness by regulating the fluid pressure. Combined with synchronous adjustment of the bristle rotation speed, differentiated cleaning intensities can be applied to different areas: gentle cleaning is implemented in lightly polluted areas to reduce energy consumption and wear; while the cleaning intensity is increased in heavily polluted areas, improving the effectiveness of the invention. This invention uses a holder to handle accumulated dust adhering to the bristles to maintain their cleaning function; the holder can move back and forth, and its movement direction is offset from the bristle direction, thereby improving the cleaning efficiency of the bristles. This invention uses a suction device that can collect accumulated dust, which can efficiently remove the detached dust to prevent the dust from remaining in place and causing re-contamination. This invention is equipped with a collection device to perform a full-area scan of the dust accumulation on the photovoltaic panel surface and adjusts the cleaning intensity in real time according to the dust thickness; as the equipment moves, the control center continuously and dynamically adjusts the cleaning parameters of this invention to achieve fully automated operation and further optimize the cleaning process. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the overall structure of the present invention from the perspective of the lower part of the image.

[0023] Figure 3 This is a cross-sectional view of the connection structure of the cleaning component in this invention.

[0024] Figure 4This is a cross-sectional view of the connection structure between the mounting cylinder and the brush bristles in this invention.

[0025] Figure 5 This is a cross-sectional view of the connection structure between the mounting cylinder and the control component in this invention.

[0026] Figure 6 This is a cross-sectional view of the connection structure of the control component in this invention.

[0027] Figure 7 This is a schematic diagram of the connection structure of the insert in this invention.

[0028] Figure 8 This is a schematic diagram showing the position and structure of the suction device and the cleaning assembly in this invention.

[0029] Figure 9 This is a cross-sectional view of the connection structure of the collection frame in this invention.

[0030] Figure 10 This is a schematic diagram of the connection structure of the closed plate in this invention.

[0031] Figure 11 This is a schematic diagram showing the position and structure of the acquisition device and the baffle in this invention.

[0032] The components in the diagram are labeled as follows: 101-Frame, 102-Moving wheel, 103-First drive assembly, 201-Mounting bracket, 202-Mounting cylinder, 203-Mounting interface, 204-Brush bristles, 205-Push rod, 206-Ribbon pattern, 207-Second drive assembly, 301-Control cylinder, 302-Sealing plate, 303-Passive opening, 304-Screw, 305-Servo motor, 401-Mounting block, 402-Installation bracket, 403-Reciprocating screw, 404-Transmission assembly, 501-Collection frame, 502-Suction device, 503-Electric push rod, 504-Push plate, 505-Guide slope, 506-Frame opening, 507-Closing plate, 508-Telescopic frame, 509-First spring, 601-Control center, 602-Telescopic seat, 603-Collection device, 701-Baffle, 702-Second spring. Detailed Implementation

[0033] Although the invention may be described with respect to specific applications or industries, those skilled in the art will recognize its broader applicability. Those skilled in the art will understand that terms such as "above," "below," "upward," "downward," etc., are used to describe the drawings and not to indicate a limitation on the scope of the invention as defined by the appended claims. Any numerical designations such as "first" or "second" are merely illustrative and not intended to limit the scope of the invention in any way.

[0034] Example: A dust removal device for the surface of photovoltaic panels used in solar power generation, such as... Figures 1-3As shown, the device includes: a frame housing 101; two sets of movable wheels 102 rotatably mounted on the bottom of the frame housing 101. The first set of movable wheels 102 is directly rotatably mounted on the bottom of the frame housing 101, and the second set of movable wheels 102 is rotatably mounted on the bottom of the frame housing 101 via supports. The movable wheels 102 are made of high wear-resistant rubber or polyurethane material to ensure that they will not wear down the coating on the photovoltaic panel surface during long-term use. The movable wheels 102 are provided with anti-slip textures so that the cleaning device can move stably on the inclined photovoltaic panel surface; and a first drive assembly 103 disposed inside the frame housing 101. The first drive assembly 103 is connected to the movable wheels 102 and provides power output for the rotation of the movable wheels 102, that is, provides power output for the movement of the cleaning device. The first drive assembly 103 consists of a motor and a transmission pulley set. The motor is fixedly mounted inside the frame housing 101, and the transmission pulley set is disposed between the output end of the motor and the first set of movable wheels 102.

[0035] like Figure 1 , Figure 2 and Figure 11 As shown, this cleaning device also includes: a control center 601 fixedly installed on the frame 101, the control center 601 having a control module, the control module of the control center 601 being electrically connected to a motor, controlling the starting and stopping of the motor, and driving the moving wheels 102 through a transmission pulley set to control the speed of the cleaning device; the control module of the control center 601 being connected to the support of the second set of moving wheels 102 to control the rotation of the second set of moving wheels 102, thereby controlling the direction of travel of the cleaning device; a telescopic seat 602 rotatably installed on the top of the frame 101; and a data acquisition device 603 fixedly installed on the telescopic seat 602, the telescopic seat 602 controlling the up and down movement of the data acquisition device 603, the data acquisition device 603 being electrically connected to the control center 601.

[0036] The control center 601 integrates a path planning module and a multimodal perception module. The sensing units of the path planning module and the multimodal perception module are both deployed in the acquisition device 603. The sensing unit of the path planning module includes a lidar and a binocular vision system with an integrated binocular camera. The sensing unit of the multimodal perception module includes a vision subsystem and a transmittance sensor. Friction coefficient detection wheels are arranged at the bottom leading edge of the frame 101.

[0037] The path planning module in control center 601 uses a lidar to rotate and emit a laser beam, and employs the time-of-flight method to measure the time difference between the beam's emission and return. Combined with the speed of light Calculate target distance Simultaneously record the azimuth angle of the laser beam. With pitch angle Generate environmental data in polar coordinates. Finally, the polar coordinates are converted to Cartesian coordinates. The lidar simultaneously measures the reflection intensity in the environment and establishes a material classification model by analyzing the reflectivity differences of different materials (such as photovoltaic glass and metal supports) (photovoltaic panels have a reflectivity of about 5%-15%, while metal supports have a reflectivity of about 30%-60%). Based on the LOAM algorithm, the discrete point cloud is converted into a continuous three-dimensional mesh model by feature point extraction (edge ​​points and planar points) and scanning matching. This model contains topological information about the spatial position and tilt angle of the photovoltaic array, and finally generates a globally consistent three-dimensional environmental model of the photovoltaic panels to be cleaned.

[0038] The binocular vision system uses a binocular camera to capture left and right views, and simultaneously captures RGB images of the left and right views. It extracts feature points from the left and right views using SIFT or SURF algorithms, and performs feature matching using epipolar constraints to generate a disparity map. Subsequently, based on the disparity map and camera calibration parameters (focal length f and baseline B), it calculates depth information Z=fB / d using triangulation principles, where d is the disparity value. By fusing the depth information with the RGB images, it distinguishes the photovoltaic panel edges from the background (such as supports and shadows), avoiding false detections caused by changes in lighting or texture repetition. Finally, it extracts the photovoltaic panel edge contours using Canny edge detection and morphological operations, generating two-dimensional contour data of the photovoltaic panel containing texture details. Furthermore, the control center 601 uses sub-pixel interpolation algorithms (such as gradient-based bilinear interpolation) to improve the pixel-level accuracy of disparity, and combines this with optical flow methods (Lucas-Kanade algorithm) to track feature points in dynamic scenes, ensuring the accuracy of photovoltaic panel boundary positioning.

[0039] The 3D point cloud of the LiDAR is projected onto the imaging plane of the binocular camera to form a 2D projected point cloud. The projected point cloud is then spatially registered with the 2D contour data to remove invalid areas, including shadows, dust, and bracket obstructions. In other words, a clean area without redundancy is generated through the fusion of the above multimodal information.

[0040] Based on the fused data, the Shoelace formula is used to calculate the area of ​​the outline polygon of each photovoltaic panel. Combined with 3D topology information, the shading situation (such as the overlapping area of ​​the projection of adjacent photovoltaic panels) is judged. The shading area is eliminated by ray casting method. Finally, the areas of all unshaded photovoltaic panels are accumulated to generate the effective cleaning area. Finally, based on the effective cleaning area, the A* algorithm is used to generate the shortest path covering all effective cleaning areas with cleaning efficiency as the optimization objective. The path resolution reaches 1cm and the turning radius is optimized to 0.5m to ensure the feasibility of the movement of this cleaning equipment.

[0041] In summary, LiDAR provides globally consistent 3D structural information, while binocular vision supplements it with high-resolution texture details. For example, when there are local shadows in the photovoltaic array (such as cloud cover), LiDAR can detect the continuity of the physical plane, and the vision system identifies the actual photovoltaic panel boundaries through texture analysis. After the two are fused, the shadowed areas are removed, and the final output is the true and effective cleaning area, providing accurate input for path planning and improving cleaning efficiency and equipment operation safety.

[0042] The multimodal perception module of the control center 601 achieves graded assessment of photovoltaic panel pollution through the fusion of three-source data: the vision subsystem extracts the gray-scale distribution feature values ​​of the photovoltaic panel surface in real time. The transmittance sensor simultaneously acquires the measured value of the material's transmittance. The friction coefficient detection wheel dynamically collects the surface friction coefficient. The multimodal sensing module uses a weighted fusion algorithm to construct a comprehensive pollution index model, the expression of which is: The weighting coefficient Normalization calibration is performed based on the physical meaning and dimensional differences of each parameter.

[0043] The pollution level determination adopts a dual-threshold stratification mechanism, with a preset heavy pollution threshold. With light pollution threshold This constitutes a three-level decision boundary. Taking a typical case as an example, when the grayscale feature... >180, light transmittance <85%, coefficient of friction When the index is greater than 0.45, the surface of the photovoltaic panel is judged to be heavily polluted. At this point, the comprehensive index is determined by weight allocation. Will break through Threshold; when In the 120-180 range Between 85% and 92%, When the concentration falls within the range of 0.35-0.45, it is judged as moderate pollution, and the corresponding result is... The value will be located at Transition zone; when <120, >92%, If the concentration is less than 0.35, it is classified as slightly polluted. Value lower than Threshold; therefore, by calibrating the mapping relationship between the weighting coefficients and the threshold parameter, the calculated threshold value is displayed in real time. By comparing the value with a preset threshold, this cleaning device can collect environmental data in real time and output pollution level decision signals.

[0044] like Figures 1-5As shown, this cleaning device also includes: a cleaning assembly disposed within the frame 101, which will contact the surface of the photovoltaic panel when the cleaning device is placed on the photovoltaic panel; two sets of cleaning assemblies are disposed on the left and right sides of the frame 101 respectively to improve the cleaning effect; and a second drive assembly 207 disposed within the frame 101, which is connected between the two sets of cleaning assemblies to provide power output for the operation of the cleaning assemblies.

[0045] The cleaning assembly includes: a mounting bracket 201 fixedly installed inside the frame housing 101; a mounting cylinder 202 rotatably installed on the mounting bracket 201, the mounting cylinder 202 being filled with fluid, which in this embodiment is compressed air; a mounting interface 203 fixedly installed on the mounting cylinder 202, the mounting interfaces 203 being arranged in a circumferential array on the side wall surface of the mounting cylinder 202; bristles 204 fixedly installed at the mounting interface 203, the bristles 204 being made of soft rubber, the bristles 204 being connected to the mounting cylinder 202 through the mounting interface 203, the stiffness value of the bristles 204 being dynamically controlled by adjusting the internal fluid pressure, the bristles 204 being set in a near-arc shape; a pad rod 205 fixedly installed at the mounting interface 203, the pad rod 205 being disposed at the connection between the bristles 204 and the mounting interface 203; and raised textures 206 disposed on the side wall surface of the bristles 204 to increase the coefficient of friction.

[0046] The second drive assembly 207 consists of a second motor, a second transmission pulley set, and two rotating shafts. The second motor is fixedly mounted on the mounting bracket 201 on the left side. The two rotating shafts are rotatably mounted on the two mounting brackets 201 respectively. The output end of the second motor is fixed to the rotating shaft on the left side. The second transmission pulley set has three sets. One set is located between the two rotating shafts, and the other two sets are located between the rotating shaft on the left side and the mounting cylinder 202 on the left side, and between the rotating shaft on the right side and the mounting cylinder 202 on the right side, respectively. The control module of the control center 601 is electrically connected to the second motor.

[0047] When motor 2 starts, it controls the rotation of mounting cylinder 202 via transmission pulley group 2. The rotating mounting cylinder 202 drives the bristles 204 to contact the surface of the photovoltaic panel. The rotational motion of the bristles 204 sweeps the accumulated dust off the photovoltaic panel, completing the dust removal operation. The bristles 204 adopt an arc-shaped arrangement design, which can effectively extend their contact time with the accumulated dust. Combined with the raised texture 206 structure on the surface, it can effectively improve the dust removal effect of the bristles 204. The pad rod 205 set between the bristles 204 and the mounting interface 203 is used to adjust the deformation position of the bristles 204, so as to avoid the bristles 204 from folding and deforming at the connection with the mounting interface 203 during rotation, thereby preventing the decrease in connection stability and sealing failure caused by repeated bending.

[0048] like Figures 5-6As shown, this cleaning device also includes a control component disposed inside the mounting cylinder 202, which is used to adjust the pressure value of the compressed air inside the mounting cylinder 202.

[0049] The control components include: a control cylinder 301 fixedly installed inside the mounting cylinder 202; a sealing plate 302 slidably installed inside the control cylinder 301, which divides the space inside the control cylinder 301 into two spaces, named the first space and the second space respectively; a port 303 provided on the control cylinder 301, through which the first space of the control cylinder 301 communicates with the mounting cylinder 202, i.e., compressed air will fill the first space of the control cylinder 301, the mounting cylinder 202, and the bristles 204; a lead screw 304 rotatably installed inside the mounting cylinder 202, and a mounting part provided on the sealing plate 302, which is located in the second space of the control cylinder 301, with the lead screw 304 threadedly installed with the mounting part of the sealing plate 302; a servo motor 305 fixedly installed on the mounting cylinder 202, with the output end of the servo motor 305 fixedly installed with the lead screw 304, and the control module of the control center 601 electrically connected to the servo motor 305.

[0050] The multimodal sensing module in control center 601 generates a comprehensive pollution index. Then, control center 601, based on the preset pollution level threshold... Make decisions and judgments:

[0051] when > When the area is classified as heavily polluted: the control center 601 controls the servo motor 305 to drive the lead screw 304 to move the sealing plate 302, compressing the volume of compressed gas between the control cylinder 301 and the mounting cylinder 202, thus generating a pressure increase. Using the pressure-stiffness conversion formula Increase the stiffness of the 204 brush bristles, including: This is the stiffness reference value, corresponding to the initial gas pressure state. The stiffness-pressure conversion efficiency coefficient calibrated for the system. Dynamic values ​​are determined by pollution level deviations. Generate proportionally;

[0052] when < When classified as a lightly polluted area: follow the reverse adjustment formula. Reduce bristle stiffness and by Reducing the rotation speed makes the brush bristles more flexible, thereby reducing wear on the photovoltaic panel, where η is the rotation speed-pressure adjustment coefficient;

[0053] when When classified as a moderately polluted area, the bristles maintain the baseline stiffness value. Compared with the speed reference value run;

[0054] In addition, pressure fluctuations will be monitored in real time through closed-loop control. Deviation rate with rotational speed When the limit is exceeded, an emergency pressure relief mechanism is triggered to ensure the stability of this cleaning device when the pollution level changes abruptly.

[0055] like Figure 7 As shown, this cleaning device also includes: a mounting block 401 fixedly installed on the top of the mounting frame 201; a bracket 402 slidably installed on the mounting block 401, the bracket 402 being inserted between the bristles 204; a reciprocating screw 403 rotatably installed on the mounting frame 201, the reciprocating screw 403 being threadedly installed with the bracket 402; and a transmission assembly 404 disposed between the reciprocating screw 403 and the mounting cylinder 202, the transmission assembly 404 consisting of a transmission wheel and a transmission belt, the two transmission wheels being fixed on the shaft of the reciprocating screw 403 and the shaft of the mounting cylinder 202 respectively, and the two transmission wheels having a dimensional difference, so that the mounting cylinder 202 can accelerate the rotation of the reciprocating screw 403.

[0056] The insert 402 is used to remove residual dust between the bristles 204, especially dust with a certain degree of moisture, to prevent it from depositing on the surface of the bristles 204, thereby ensuring that the bristles 204 maintain optimal working condition. When the mounting cylinder 202 rotates, the transmission assembly 404 drives the reciprocating screw 403 to rotate, driving the insert 402 to make reciprocating linear motion. The direction of reciprocating motion is staggered with the direction of rotation of the bristles 204, thereby improving the comprehensiveness of cleaning by the insert 402. In addition, the accelerated motion of the insert 402 can generate greater force, enabling the dynamically operating insert 402 to obtain better cleaning performance, thereby enhancing the cleaning effect on the bristles 204.

[0057] like Figure 1 , Figure 2 , Figure 8 , Figure 9 and Figure 10As shown, this cleaning device also includes: a collection frame 501 fixedly installed inside the housing 101; two suction devices 502 fixedly installed at the lower part of the collection frame 501, the collection frame 501 being provided with an exhaust port, and a filter screen (not shown in the figure) being provided on the exhaust port, the suction devices 502 leading to the collection frame 501, the suction inlets of the two suction devices 502 respectively facing the two sets of cleaning components, so as to suck up the dust cleaned by the two sets of cleaning components and collect it in the collection frame 501; an electric push rod 503 fixedly installed on the left side of the collection frame 501, the rod end of the electric push rod 503 having multi-stage telescopic extension; and a push plate 504 slidably installed inside the collection frame 501, the rod end of the electric push rod 503 being... Fixed to the push plate 504; a guide slope 505 is set on the bottom right side of the collection frame 501, the guide slope 505 is inclined forward; a frame opening 506 is fixedly installed on the right front side of the collection frame 501, the frame opening 506 is located in front of the guide slope 505; a closing plate 507 is rotatably installed on the frame opening 506, the rotation of the closing plate 507 controls the opening and closing of the frame opening 506; a telescopic frame 508 is rotatably installed between the frame opening 506 and the closing plate 507; a first spring 509 is sleeved on the telescopic frame 508, the two ends of the first spring 509 are respectively fixed to the two sub-ends of the telescopic frame 508, the first spring 509 causes the closing plate 507 to tightly close the frame opening 506.

[0058] While the brush 204 cleans the accumulated dust, the suction device 502 is activated, collecting the cleaned dust into the collection frame 501. When it is necessary to remove the accumulated dust from the collection frame 501, the electric push rod 503 is activated, controlling the push plate 504 to move to the right, thereby pushing the collected dust to the right. At the same time, the closing plate 507 is rotated to open the frame opening 506, the telescopic frame 508 retracts, the first spring 509 is compressed, and the dust pushed to the right will be pushed out of the frame opening 506 under the action of the guide slope 505, thus achieving unified treatment of the accumulated dust. After the dust cleaning is completed, the push plate 504 is controlled to return to its left position, and the closing plate 507 is released. The first spring 509 returns to its original position, the telescopic frame 508 extends, and the closing plate 507 is controlled to close the frame opening 506.

[0059] like Figure 1 , Figure 2 and Figure 11 As shown, this cleaning device also includes: a baffle 701 slidably mounted on the bottom of the frame 101; and a second spring 702 fixedly mounted between the baffle 701 and the frame 101, the second spring 702 being sleeved on the sliding shaft of the baffle 701. The baffle 701 is used to close the assembly gap between the frame 101 and the photovoltaic panel, effectively preventing the rotating bristles 204 from carrying dust out of the gap, thereby improving the dust removal rate; based on the characteristic that the bristles 204 have a fixed rotation direction, the baffle 701 only needs to be set on one side of the frame 101; the second spring 702 provides elastic support for the baffle 701, keeping it in a movable state and avoiding rigid contact with the surface of the photovoltaic panel.

[0060] This cleaning device also provides instructions on how to use it, the specific steps of which are as follows:

[0061] S1. Place the cleaning device on the surface of the photovoltaic panel, and control the telescopic base 602 to raise the acquisition device 603 to the working height; the path planning module collects environmental three-dimensional coordinate data and reflection intensity information through lidar to construct an environmental three-dimensional model; the binocular vision system simultaneously acquires the left and right views and RGB images of the photovoltaic panel to be cleaned, generates a disparity map based on the stereo matching of the left and right views and calculates depth information, and extracts the edge contour data of the photovoltaic panel to be cleaned based on the texture features of the RGB images; spatial registration is performed based on the environmental three-dimensional model, the depth information and the edge contour data to obtain the effective cleaning area of ​​the photovoltaic panel to be cleaned, and the shortest path within the effective cleaning area is obtained using the A* algorithm with cleaning efficiency as the optimization objective as the planning trajectory, driving the cleaning device to move along the planned trajectory; the installation cylinder 202 is rotated simultaneously to initialize the brush stiffness reference value. Compared with the speed reference value And start the suction device 502 to perform dust collection;

[0062] S2. During the movement of the cleaning device, the multimodal perception module of the control center 601 fuses the grayscale distribution features acquired by the vision subsystem in real time. The transmittance sensor collects the transmittance attenuation coefficient (1-T), and the friction coefficient detection wheel collects the surface friction coefficient. The comprehensive pollution index is calculated based on a weighted algorithm. and the preset heavy pollution threshold Light pollution threshold Perform a hierarchical comparison:

[0063] If the pollution index At Within the specified range, it is determined to be moderately polluted, and the bristles maintain the baseline stiffness value. Compared with the speed reference value Run; if Greater than The pollution level was determined to be severe, and the servo motor (305) was controlled to output a positive incremental value. Dynamically improve bristle stiffness At the same time, according to the pollution deviation amount Increase speed Perform pressurized and intensified cleaning; if Less than The pollution level was determined to be light, and the reverse adjustment formula was applied. Reduce bristle stiffness and by Reduce the rotation speed to soften the cleaning intensity of the brush bristles;

[0064] S3. After completing the path coverage, rotate to open the closing plate 507 and operate the push plate 504 to discharge the accumulated dust. Finally, stop rotating the mounting cylinder 202, the collection device 603 and turn off the suction device 502 in sequence to stop the operation of the cleaning device.

Claims

1. A solar power photovoltaic panel surface dusting cleaning device comprising: Frame shell (101); Rotary connection in the frame shell (101) bottom mobile wheel (102); The first drive assembly (103) is arranged in the frame shell (101), the first drive assembly (103) is connected with the mobile wheel (102), to realize the autonomous movement of the cleaning device; the cleaning assembly for cleaning the surface dust of photovoltaic panel is arranged in the frame shell (101); the second drive assembly (207) is arranged in the frame shell (101), the second drive assembly (207) is connected with the cleaning assembly, and power output is provided for the operation of the cleaning assembly; the control assembly is arranged on the cleaning assembly; Its characterized in that, the cleaning assembly includes: fixedly connected in the frame shell (101) mounting bracket (201); Rotary connection in the mounting bracket (201) installation cylinder (202), the installation cylinder (202) is filled with fluid, the control assembly is arranged in the installation cylinder (202), for adjusting the pressure value of fluid; Fixedly connected in the installation cylinder (202) installation interface (203), installation interface (203) is arranged in the side wall of installation cylinder (202) in the form of circumferential array; Fixedly connected in the installation interface (203) bristles (204), the bristles (204) are hollow and communicated with the installation cylinder (202) through the installation interface (203), the stiffness value of the bristles (204) will be dynamically regulated by adjusting the internal fluid pressure, by controlling the fluid filling in the bristles (204), adjusting the fluid pressure realizes the dynamic adjustment of the stiffness of the bristles (204), combined with the synchronous adjustment of the rotating speed of the bristles (204), the differentiated cleaning intensity is used in different areas: gentle cleaning is implemented in light pollution area, and cleaning strength is enhanced in heavy pollution area.

2. The solar power photovoltaic panel surface dust cleaning device according to claim 1, characterized in that, The control assembly includes: fixedly connected in the installation cylinder (202) control cylinder (301); The sealing plate (302) is slidably connected in the control cylinder (301), the control cylinder (301) is communicated with the installation cylinder (202), and the sealing plate (302) moves to change the overall volume between the control cylinder (301), the installation cylinder (202) and the bristles (204); Rotary connection in the installation cylinder (202) screw rod (304), the screw rod (304) is threadedly connected with the sealing plate (302); Fixedly connected in the installation cylinder (202) servo motor (305), the output end of the servo motor (305) is fixed with the screw rod (304).

3. The solar power generating photovoltaic panel surface dust cleaning device according to claim 2, characterized in that, The cleaning device further includes: fixedly connected in the installation interface (203) pad rod (205), the pad rod (205) is arranged at the connection between the bristles (204) and the installation interface (203).

4. The solar power generating photovoltaic panel surface dust cleaning device according to claim 3, characterized in that, The bristles (204) are arranged in the form of circular arc line; The cleaning device further includes: the relief (206) is arranged on the side wall of the bristles (204) for increasing the friction coefficient.

5. The solar power photovoltaic panel surface dust cleaning device according to claim 4, characterized in that, The cleaning device further comprises: a mounting block (401) fixedly connected to the mounting frame (201); a plug-in frame (402) slidably connected to the mounting block (401), the plug-in frame (402) penetrating between the brush hairs (204); a reciprocating screw (403) rotatably connected to the mounting frame (201), the reciprocating screw (403) being threadedly connected with the plug-in frame (402); and a transmission assembly (404) arranged between the reciprocating screw (403) and the mounting cylinder (202).

6. The solar power generating photovoltaic panel surface dust cleaning device according to claim 5, characterized in that, The cleaning device further comprises: a collection frame (501) fixedly connected in the frame shell (101); a suction device (502) fixedly connected to the collection frame (501), the suction device (502) being open to the collection frame (501), and a suction inlet of the suction device (502) facing the cleaning assembly; an electric push rod (503) fixedly connected to one side of the collection frame (501); a push plate (504) slidably connected in the collection frame (501), a rod end of the electric push rod (503) being fixed to the push plate (504); a guide inclined surface (505) arranged at the other side of the collection frame (501); a frame opening (506) fixedly connected to the collection frame (501), the guide inclined surface (505) guiding dust to the frame opening (506); a closing plate (507) rotatably connected to the frame opening (506), the closing plate (507) being rotatable to control opening and closing of the frame opening (506); an extension frame (508) rotatably connected between the frame opening (506) and the closing plate (507); and a first spring (509) fixedly connected between two sub-ends of the extension frame (508), the first spring (509) enabling the closing plate (507) to tightly close the frame opening (506).

7. The solar power generating photovoltaic panel surface dust cleaning device according to claim 6, characterized in that, The cleaning device further comprises: a control center (601) fixedly connected to the frame shell (101), the control center (601) being provided with a control module, the control module being electrically connected with the first driving assembly (103), the second driving assembly (207) and the servo motor (305), the control center (601) being integrated with a path planning module and a multi-modal perception module, the sensing units of the path planning module and the multi-modal perception module being arranged in an acquisition device (603), wherein the sensing unit of the path planning module comprises a laser radar and a binocular vision system integrated with a binocular camera, the sensing unit of the multi-modal perception module comprises a visual subsystem and a light transmittance sensor, and a friction coefficient detection wheel is arranged at the bottom of the frame shell (101); a telescopic seat (602) rotatably connected to the top of the frame shell (101); and the acquisition device (603) fixedly connected to the telescopic seat (602), the acquisition device (603) being electrically connected with the control center (601).

8. The solar power generating photovoltaic panel surface dust cleaning device according to claim 7, characterized in that, The cleaning device further comprises: a baffle (701) slidably connected to the bottom of the frame shell (101); and a second spring (702) fixedly connected between the baffle (701) and the frame shell (101).

9. A method of using a solar power photovoltaic panel surface dust cleaning device according to any one of claims 7-8, characterized in that, The specific steps are as follows: S1, place the cleaning device on the surface of the photovoltaic panel, control the telescopic seat (602) to lift the collection device (603) to the working height; the path planning module collects environmental three-dimensional coordinate data and reflection intensity information through the laser radar, constructs an environmental three-dimensional model; the binocular vision system synchronously acquires left and right views and RGB images of the photovoltaic panel to be cleaned, generates a parallax map according to the left and right views and calculates depth information, extracts edge contour data of the photovoltaic panel to be cleaned according to the texture features of the RGB image; according to the environmental three-dimensional model and the depth information and the edge contour data, spatial registration is performed to acquire the effective cleaning area of the photovoltaic panel to be cleaned, the A-star algorithm is used to acquire the shortest path in the effective cleaning area as a planned trajectory with cleaning efficiency as an optimization target, and the cleaning device is driven to move along the planned trajectory; The rotation of the installation cylinder (202) is started synchronously, and a brush stiffness reference value is initialized with the rotation reference value , and the suction device (502) is started to perform dust collection S2, in the process of the cleaning device, the visual subsystem of the multi-modal perception module of the control center (601) collects the gray scale distribution characteristics , the light transmittance sensor collects the light transmittance attenuation coefficient (1-T), and the friction coefficient detection wheel collects the surface friction coefficient , and the comprehensive pollution index is calculated based on a weighting algorithm , wherein the weight coefficient According to the physical meaning and dimensional difference of each parameter, normalization calibration is performed, and a preset heavy pollution threshold , light pollution threshold are compared: If the pollution index At Within the specified range, it is determined to be moderately polluted, and the bristles maintain the baseline stiffness value. Compared with the speed reference value Run; if Greater than The pollution level was determined to be severe, and the servo motor (305) was controlled to output a positive incremental value. Dynamically improve bristle stiffness , The stiffness-pressure conversion efficiency coefficient calibrated for the system is simultaneously calculated based on the contamination deviation. Increase speed Perform pressurized and intensified cleaning; if Less than The pollution level was determined to be light, and the reverse adjustment formula was applied. Reduce bristle stiffness and by Reduce the rotation speed to soften the cleaning intensity of the bristles, where η is the rotation speed-pressure adjustment coefficient; S3, after completing path coverage, rotate to open the closing plate (507), control the push plate (504) to discharge dust, and finally stop rotating the installation cylinder (202), recover the collection device (603), and close the suction device (502) in turn, and stop running the cleaning device.

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