Photovoltaic solar panel robot automatic cleaning device and cleaning method

Abstract

The invention discloses a photovoltaic solar panel robot automatic cleaning device and a cleaning method. The photovoltaic solar panel robot automatic cleaning device comprises a shell, a cleaning mechanism and a support. Autonomous moving mechanisms are arranged on the left side and the right side of the shell; the cleaning mechanism comprises connecting plates, supports, nylon brush rollers and a second motor, the connecting plates are fixedly connected to the front side and the rear side of the shell correspondingly, the supports are fixedly connected to the lower ends of the connecting plates correspondingly, rotating frames are fixedly connected to the left sides and the right sides of the supports correspondingly, and the nylon brush rollers are rotationally connected between the front ends of the right sides of the supports and the front ends of the adjacent rotating frames correspondingly; second motors are fixedly connected to the right side faces of the supports correspondingly, and output shafts of the second motors are fixedly connected with the right ends of the adjacent nylon brush rollers correspondingly; according to the robot automatic cleaning device and method for the photovoltaic solar panel, full-autonomous unmanned cleaning is achieved, the cleaning efficiency is remarkably improved, and the robot automatic cleaning device and method have the advantages of being water-saving, environmentally friendly, safe, efficient, high in environmental adaptability and the like.

Description

Technical Field

[0001] This invention relates to the field of automatic cleaning technology for photovoltaic panels, specifically to an automatic cleaning device and method for photovoltaic solar panels using a robot. Background Technology

[0002] Currently, during long-term outdoor use, photovoltaic solar panels easily accumulate pollutants such as dust, mud, leaves, and bird droppings on their surfaces. These pollutants block sunlight, leading to a significant decrease in the photoelectric conversion efficiency of the solar panels. Existing cleaning methods are mainly divided into two categories: manual cleaning and semi-automatic cleaning. Manual cleaning requires workers to carry tools to the photovoltaic power station site and operate by wiping and rinsing. This method is suitable for small photovoltaic arrays, but for large centralized photovoltaic power stations, it suffers from low efficiency, high labor costs, and significant safety risks associated with working at heights. Semi-automatic cleaning equipment usually requires manual assistance to install tracks or move equipment, limiting the cleaning range. It is also difficult to operate stably in severe weather (such as strong winds, rain, and snow), making fully autonomous and unmanned cleaning impossible. In addition, some cleaning equipment uses high-pressure water jets for washing, which wastes water resources and is not suitable for photovoltaic power stations in arid regions.

[0003] The shortcomings of existing technologies mainly stem from the design limitations of the technical solutions: manual cleaning relies on human operation and has not formed an automated work process, making it difficult to balance efficiency and cost; semi-automatic cleaning equipment lacks autonomous movement and environmental adaptability, requiring manual intervention or fixed tracks, and cannot flexibly cover large-area photovoltaic arrays; high-pressure water jet cleaning solutions do not consider the water resource conditions of different regions, do not adopt more water-saving cleaning methods, and have limited applicability. These technical characteristics mean that existing cleaning solutions cannot meet the needs of large-scale photovoltaic power plants for efficient, low-cost, fully autonomous, and water-saving cleaning. Therefore, we propose a robotic automatic cleaning device and method for photovoltaic solar panels. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a photovoltaic solar panel robot automatic cleaning device and cleaning method, which realizes fully autonomous unmanned cleaning, significantly improves cleaning efficiency, and has the advantages of water saving, environmental protection, safety, high efficiency and strong environmental adaptability, and can effectively solve the problems in the background technology.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic cleaning device for photovoltaic solar panels, comprising a housing, a cleaning mechanism, and a support;

[0006] Shell: Both its left and right sides are equipped with autonomous moving mechanisms;

[0007] Cleaning mechanism: It includes a connecting plate, a bracket, a nylon brush roller and a second motor. The connecting plate is fixedly connected to the front and rear sides of the housing. The lower end of the connecting plate is fixedly connected to the bracket. The left and right sides of the bracket are fixedly connected to the rotating frame. The front right side of the bracket and the front end of the adjacent rotating frame are rotatably connected to the nylon brush roller. The right side of the bracket is fixedly connected to the second motor. The output shaft of the second motor is fixedly connected to the right end of the adjacent nylon brush roller.

[0008] Support bracket: It is fixedly connected to the left and right sides of the upper surface of the front support bracket. A four-way water pipe is fixedly connected between the upper ends of the two supports, realizing fully autonomous and unmanned cleaning, significantly improving cleaning efficiency, and has the advantages of water saving, environmental protection, safety, high efficiency and strong environmental adaptability.

[0009] Furthermore, it also includes a microcontroller, which is fixedly connected to the upper surface of the housing. The input terminal of the second motor is electrically connected to the output terminal of the microcontroller to control electrical appliances.

[0010] Furthermore, the autonomous movement mechanism includes track wheels, silicone tracks, synchronous pulleys, a first motor, and a motor base. Track wheels are rotatably connected to both sides of the housing via shafts, and the track wheels on the same side are connected by silicone track transmission. Motor bases are fixedly connected to the inner walls of both sides of the housing. A first motor is fixedly connected to the opposite inner sides of the two motor bases. Synchronous pulleys are fixedly fitted onto the opposite inner sides of the shafts of the two track wheels at opposite outer ends and rear ends of the output shafts of the two first motors. The two synchronous pulleys on the same side are connected by synchronous belt transmission. The input end of the first motor is electrically connected to the output end of a microcontroller, thus enabling the movement of the housing.

[0011] Furthermore, the cleaning mechanism also includes a dust collection box and connecting columns. Connecting columns are provided on both the left and right sides of the bottom wall of the dust collection box. The dust collection box is inserted into the inside of the bracket. The upper end of the connecting column passes through the through hole at the upper end of the adjacent bracket and is threaded with a nut to achieve dust collection.

[0012] Furthermore, the cleaning mechanism also includes an exhaust vent, an air pump, and an air pump base. The exhaust vents are evenly distributed on the inner wall of the bracket near the housing. Air pump bases are fixedly connected to the outer wall of the bracket near the housing. Air pumps are evenly distributed inside the air pump bases. The air pump ports are inserted into the interior of adjacent exhaust vents. The input terminals of the air pumps are electrically connected to the output terminals of the microcontroller to achieve automatic dust suction.

[0013] Furthermore, a water tank is provided at the front end of the housing. The outlet of the water tank is located on the lower left side of the front side of the housing. Water level sensors are fixedly connected to both the upper and lower ends of the rear side of the water tank. A water pump is fixedly connected to the upper surface of the front connecting plate. The water pump is connected in series between the outlet of the water tank and the inlet of the 1-to-4 water pipe through a flexible hose. The water level sensors are all bidirectionally electrically connected to the microcontroller. The input end of the water pump is electrically connected to the output end of the microcontroller to realize water supply.

[0014] Furthermore, a negative pressure workstation is fixedly connected to the bottom wall of the housing, and a negative pressure suction cup is fixedly connected to the middle of the bottom wall of the housing. The lower end of the negative pressure suction cup has evenly distributed air holes, and a rubber sealing ring is snapped onto the lower surface edge of the negative pressure suction cup. A felt ring is fixedly connected to the lower surface of the housing, and the negative pressure suction cup is located inside the felt ring. The input end of the negative pressure workstation is electrically connected to the output end of the microcontroller to realize negative pressure adsorption.

[0015] Furthermore, a support frame is fixedly connected to the upper surface of the housing, and photovoltaic panels are fixedly connected to both the left and right sides of the upper end of the support frame. A storage battery, a solar controller, and an inverter are fixedly connected to the bottom wall of the housing. The output end of the photovoltaic panel is electrically connected to the input end of the solar controller. The storage battery is bidirectionally electrically connected to the solar controller. The output end of the storage battery is electrically connected to the input end of the inverter. The output end of the inverter is electrically connected to the input end of the microcontroller to realize power supply.

[0016] Furthermore, a lidar is fixedly connected to the upper end of the support frame, and a temperature and humidity sensor and a camera are fixedly connected to the front side of the upper surface of the housing, respectively. The lidar, temperature and humidity sensor and camera are all bidirectionally electrically connected to the microcontroller to realize the detection of external information.

[0017] An automated cleaning method for photovoltaic solar panels by a robot includes the following steps:

[0018] (S1: Start-up and self-test: This robot is powered by a battery. The microcontroller performs a self-test on the electrical components, checking whether the motor 1 of the autonomous movement mechanism and the negative pressure workstation are normal, whether the motor 2 of the cleaning mechanism, the air pump and the water pump are working properly, and whether the lidar, temperature and humidity sensor and camera can collect data normally. If the self-test passes, it enters the standby state and waits for the operation command.)

[0019] (S2: Path planning: The LiDAR scans the layout of the photovoltaic array to obtain information such as the arrangement, spacing, and tilt angle of the photovoltaic panels, and transmits it to the microcontroller; the microcontroller uses a path planning algorithm to generate the optimal cleaning path, ensuring that the robot starts from the starting position and covers each photovoltaic panel in turn, avoiding repeated cleaning or omissions;

[0020] (S3: Autonomous Movement and Cleaning: The robot moves along the planned path, and the track wheels drive the robot to move along the surface of the photovoltaic panel. The negative pressure suction cup maintains a negative pressure adsorption state to ensure stability. At the same time, the cleaning mechanism is activated: Motor 2 drives the nylon brush roller to rotate and remove surface pollutants. The air pump works to suck dust into the dust collection box. The camera identifies the type of stain in real time. If stubborn stains are detected, the control system starts the water pump. The atomizing nozzle of the one-to-four water pipe sprays a small amount of water to moisten the stains, which is then removed in conjunction with the nylon brush roller. The amount of spray is adjusted according to the area of ​​the stain to avoid wasting water resources.)

[0021] (S4: Environmental Adaptive Adjustment: Temperature and humidity sensors monitor environmental parameters in real time. If the detected temperature is ≤0℃, the spraying operation is suspended to prevent water from freezing and damaging the equipment. The operation and maintenance platform sends control commands according to the weather. If the wind speed is ≥10m / s, the microcontroller immediately controls the robot to stop moving and cleaning, and starts the enhanced mode of the adsorption component (increasing the negative pressure to -8kPa) to prevent the robot from being blown off by the wind. If the rainfall is ≥5mm / h, the robot is controlled to move to the rain shelter area at the edge of the photovoltaic array to stand by. After the rain stops, the camera detects whether there is residual rainwater on the surface of the photovoltaic panel. If the surface is dry, the cleaning operation is resumed.

[0022] (S5: Operation completion and data upload: When the robot completes the cleaning of all photovoltaic panels within the planned path, or when the battery power is below 20%, the cleaning operation will automatically end and return to the charging area along the original path for charging; at the same time, the microcontroller will upload the cleaning data to the operation and maintenance platform through the G / G network, including the cleaning area, cleaning time, dust collection box capacity, and equipment operating status, so as to facilitate remote monitoring by staff.)

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: The automatic cleaning device and method for photovoltaic solar panels have the following advantages:

[0024] 1. The lidar acquires information such as the arrangement, spacing, and tilt angle of the photovoltaic panels. The microcontroller uses a path planning algorithm to generate the optimal cleaning path, and then controls the robot to start cleaning, realizing unmanned cleaning, improving cleaning efficiency and safety.

[0025] 2. Two motors control the rotation of the track wheels on both sides respectively, realizing the synchronous or differential rotation of the two silicone tracks, thereby enabling the movement or turning of the shell. At the same time, the negative pressure workstation evacuates the negative pressure suction cup, allowing the robot to adhere tightly to the surface of the photovoltaic panel. Even on photovoltaic panels with an inclination angle of ≤°, the robot can move stably and avoid slipping, thus achieving stable and automatic movement.

[0026] 3. The camera identifies the type of stain in real time. If a stubborn stain is detected, the microcontroller controls the water pump start time according to the type and size of the stain, so as to accurately control the spray volume and reduce water consumption. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a cross-sectional schematic diagram of the upper end of the shell structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the interior of the shell structure of the present invention;

[0030] Figure 4 This is an exploded cross-sectional view of the cleaning mechanism of the present invention;

[0031] Figure 5 This is a schematic diagram of the bottom of the structure of the present invention;

[0032] Figure 6 This is a schematic diagram of the overall structure of the vehicle body of the present invention.

[0033] In the diagram: 1. Housing; 2. Microcontroller; 3. Autonomous moving mechanism; 31. Track wheel; 32. Silicone track; 33. Synchronous pulley; 34. Motor 1; 35. Motor base; 4. Cleaning mechanism; 41. Connecting plate; 42. Bracket; 43. Nylon brush roller; 44. Motor 2; 45. Dust collection box; 46. Exhaust vent; 47. Connecting column; 48. Air pump; 49. Air pump base; 5. Bracket; 6. One-to-four water pipe; 7. Water tank; 8. Water level sensor; 9. Negative pressure workstation; 10. Negative pressure suction cup; 11. Air hole; 12. Felt ring; 13. Support frame; 14. Photovoltaic panel; 15. Battery; 16. Solar controller; 17. Inverter; 18. LiDAR; 19. Temperature and humidity sensor; 20. Camera; 21. Water pump. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1-6 This embodiment provides a technical solution: a photovoltaic solar panel robot automatic cleaning device, including a housing 1, a cleaning mechanism 4 and a support 5;

[0036] Housing 1: Autonomous moving mechanisms 3 are provided on both its left and right sides. Each autonomous moving mechanism 3 includes track wheels 31, silicone tracks 32, synchronous pulleys 33, a first motor 34, and a motor mount 35. Track wheels 31 are rotatably connected to both sides of housing 1 via shafts, and the track wheels 31 on the same side are connected by silicone tracks 32. Motor mounts 35 are fixedly connected to the inner walls of both sides of housing 1. A first motor 34 is fixedly connected to the opposite inner sides of the two motor mounts 35. Synchronous pulleys 33 are fixedly fitted onto the opposite inner sides of the shafts of the two track wheels 31 at opposite outer and rear ends of the output shafts of the two first motors 34. The two synchronous pulleys 33 on the same side are connected by synchronous belt drive. The input end of motor 34 is electrically connected to the output end of microcontroller 2. Microcontroller 2 starts the two motors 34. Both motors 34 are servo motors. The built-in encoder can accurately control the speed of motor 34, so that the two motors 34 can rotate synchronously or differentially. The output shaft of motor 34 drives the synchronous pulley 33 inside the motor base 35 to rotate. Through the synchronous belt drive, it drives the synchronous pulley 33 and the track wheel 31 on the rear side to rotate, thereby driving the silicone track 32 to rotate, so as to realize the movement of this robot. The outer surface of the silicone track 32 can be provided with anti-slip texture to increase friction.

[0037] A negative pressure workstation 9 is fixedly connected to the bottom wall of the housing 1. A negative pressure suction cup 10 is fixedly connected to the middle of the bottom wall of the housing 1. The lower end of the negative pressure suction cup 10 has evenly distributed air holes 11. A rubber sealing ring is snapped onto the lower surface edge of the negative pressure suction cup 10. A felt ring 12 is fixedly connected to the lower surface of the housing 1. The negative pressure suction cup 10 is located inside the felt ring 12. The input end of the negative pressure workstation 9 is electrically connected to the output end of the microcontroller 2. The negative pressure suction cup 10 is a hollow disc. The negative pressure workstation 9 draws air from the air holes 11 of the negative pressure suction cup 10 to keep the air holes 11 of the negative pressure suction cup 10 in a negative pressure state. The robot is tightly adsorbed on the surface of the photovoltaic panel. Even on photovoltaic panels with an inclination angle ≤30°, it can move stably and avoid slipping. The rubber sealing ring ensures the sealing state of the air holes 11 of the negative pressure suction cup 10. The felt ring 12 is attached to the tempered glass surface of the photovoltaic panel to prevent dust from entering the negative pressure suction cup 10 and improve the sealing effect.

[0038] A support frame 13 is fixedly connected to the upper surface of the housing 1. Photovoltaic panels 14 are fixedly connected to the left and right sides of the upper end of the support frame 13. A storage battery 15, a solar controller 16 and an inverter 17 are fixedly connected to the bottom wall of the housing 1. The output end of the photovoltaic panel 14 is electrically connected to the input end of the solar controller 16. The storage battery 15 is bidirectionally electrically connected to the solar controller 16. The output end of the storage battery 15 is electrically connected to the input end of the inverter 17. The output end of the inverter 17 is electrically connected to the input end of the microcontroller 2.

[0039] A lidar 18 is fixedly connected to the upper end of the support frame 13. A temperature and humidity sensor 19 and a camera 20 are fixedly connected to the front side of the upper surface of the housing 1. The lidar 18, temperature and humidity sensor 19, and camera 20 are all bidirectionally electrically connected to the microcontroller 2. The camera 20 identifies the type of stain in real time and feeds back the stain information to the microcontroller 2. The microcontroller 2 identifies the type of stain based on the stain information. The lidar 18 scans the layout of the photovoltaic array, obtains the spatial information of the target object by emitting a laser beam and receiving its reflected signal, and obtains information such as the arrangement, spacing, and tilt angle of the photovoltaic panels. Then, the information is transmitted to the microcontroller 2. The microcontroller 2 generates the optimal cleaning path through the built-in path planning algorithm, namely the A* algorithm, to ensure that the robot starts from the starting position and covers each photovoltaic panel in sequence, avoiding repeated cleaning or omissions.

[0040] Cleaning mechanism 4: It includes a connecting plate 41, a bracket 42, a nylon brush roller 43, and a second motor 44. The connecting plate 41 is fixedly connected to the front and rear sides of the housing 1. The lower end of the connecting plate 41 is fixedly connected to the bracket 42. The left and right sides of the bracket 42 are fixedly connected to the rotating frame. The front right side of the bracket 42 and the front end of the adjacent rotating frame are rotatably connected to the nylon brush roller 43. The right side of the bracket 42 is fixedly connected to the second motor 44. The output shaft of the second motor 44 is fixedly connected to the right end of the adjacent nylon brush roller 43. The output shaft of the second motor 44 drives the nylon brush roller 43 to rotate, thereby removing dust and particles from the surface of the photovoltaic panel.

[0041] The cleaning mechanism 4 also includes a dust collection box 45 and connecting posts 47. Connecting posts 47 are provided on both the left and right sides of the bottom wall of the dust collection box 45. The dust collection box 45 is inserted into the interior of the bracket 42. The upper ends of the connecting posts 47 pass through the through holes at the upper ends of adjacent brackets 42 and are threaded with nuts. The cleaning mechanism 4 also includes exhaust ports 46, air pumps 48, and air pump bases 49. Exhaust ports 46 are evenly distributed on the inner wall of the bracket 42 near the housing 1. Air pump bases 49 are fixedly connected to the outer wall of the bracket 42 near the housing 1. Air pumps 48 are evenly distributed inside the air pump bases 49. The air intake ports of the air pumps 48 are inserted into the interior of adjacent exhaust ports 46. The air pumps 48 deliver air... The input end is electrically connected to the output end of the microcontroller 2. The capacity of the dust collection box 45 is the total cleaning time of multiple cleanings. When the total time reaches the set time, the dust collection box 45 can be removed by removing the nut of the connecting column 47. After cleaning the dust collection box 45, the maintenance personnel manually reset the total cleaning time to zero on the maintenance platform. The air pump 48 draws air from the exhaust port 46 to make the dust collection box 45 negative pressure. Dust and particulate matter are sucked into the dust collection box 45 from the slot on the front side of the bracket 42 to avoid secondary pollution. The outer arc surface of the exhaust port 46 can be fixedly fitted with a filter cloth to prevent dust from entering the air pump 48. The air outlet slot at the top of the air pump base 49 can be fitted with a filter screen to reduce dust adhesion on the surface of the air pump 48.

[0042] Support 5: It is fixedly connected to the left and right sides of the upper surface of the front support 42. A four-way water pipe 6 is fixedly connected between the upper ends of the two supports 5. A water tank 7 is provided inside the front of the housing 1. The outlet of the water tank 7 is located on the lower left side of the front side of the housing 1. Water level sensors 8 are fixedly connected to the upper and lower ends of the rear side of the water tank 7. A water pump 21 is fixedly connected to the upper surface of the front connecting plate 41. The water pump 21 is connected in series between the outlet of the water tank 7 and the inlet of the four-way water pipe 6 through a hose. The water level sensors 8 are all bidirectionally electrically connected to the microcontroller 2. The input end of the water pump 21 is electrically connected to the output end of the microcontroller 2. If stubborn stains are detected, the microcontroller 2 starts the water pump 21. The water pump 21 draws water from the water tank 7 and delivers it to the four-way water pipe 6. The mist from the four-way water pipe 6 A small amount of water is sprayed from a nozzle to moisten the stains, which are then removed by a nylon brush roller 43. The spray volume is adjusted by controlling the start of the water pump 21, which is adjusted according to the area of ​​the stain to avoid water waste. A water level sensor 8 detects the water level inside the water tank 7. If the water level is lower than the detection position of the lower water level sensor 8, the lower water level sensor 8 sends the water level information back to the microcontroller 2. The microcontroller 2 sends a message to the maintenance platform via the built-in WiFi module that water needs to be replenished. Maintenance personnel replenish clean water through the water supply pipe at the top of the water tank 7. No more water is added when the water level reaches the detection position of the upper water level sensor 8. The two water level sensors 8 have the same detection principle. The lower water level sensor 8 does not detect the water level information, while the upper water level sensor 8 does.

[0043] It also includes a microcontroller 2, which is fixedly connected to the upper surface of the housing 1, and the input terminal of the motor 44 is electrically connected to the output terminal of the microcontroller 2.

[0044] An automatic cleaning method for a photovoltaic solar panel robot includes the following steps: S1: Start-up and self-test: The robot is powered by a storage battery 15. The microcontroller 2 performs a self-test on the electrical components, checking whether the motor 34 of the autonomous moving mechanism 3 and the negative pressure workstation 9 are normal, whether the motor 44, air pump 48, and water pump 21 of the cleaning mechanism 4 are working properly, and whether the lidar 18, temperature and humidity sensor 19, and camera 20 can collect data normally. If the self-test passes, the robot enters standby mode and waits for work instructions.

[0045] S2: Path planning: LiDAR 18 scans the layout of the photovoltaic array to obtain information such as the arrangement, spacing, and tilt angle of the photovoltaic panels, and transmits it to the microcontroller 2; the microcontroller 2 uses a path planning algorithm to generate the optimal cleaning path, ensuring that the robot starts from the starting position and covers each photovoltaic panel in sequence, avoiding repeated cleaning or omissions;

[0046] S3: Autonomous Movement and Cleaning: The robot moves along the planned path, with track wheels 31 driving the robot to move along the surface of the photovoltaic panel. The negative pressure suction cup 10 maintains a negative pressure adsorption state to ensure stability. At the same time, the cleaning mechanism 4 is activated: motor 2 44 drives the nylon brush roller 43 to rotate and remove surface pollutants, and the air pump 48 works to suck dust into the dust collection box 45. The camera 20 identifies the type of stain in real time. If stubborn stains are detected, the control system starts the water pump 21, and the atomizing nozzle of the one-to-four water pipe 6 sprays a small amount of water to moisten the stains, which is then removed in conjunction with the nylon brush roller 43. The amount of spray is adjusted according to the area of ​​the stain to avoid wasting water resources.

[0047] S4: Environmental Adaptive Adjustment: Temperature and humidity sensor 19 monitors environmental parameters in real time. If the detected temperature is ≤0℃, the spraying operation is suspended to prevent water from freezing and damaging the equipment. The operation and maintenance platform sends control commands according to the weather. If the wind speed is ≥10m / s, the microcontroller 2 immediately controls the robot to stop moving and cleaning, and activates the enhanced mode of the adsorption component to increase the negative pressure to -8kPa to prevent the robot from being blown off by the wind. If the rainfall is ≥5mm / h, the robot is controlled to move to the rain shelter area at the edge of the photovoltaic array and wait. After the rain stops, the camera 20 detects whether there is residual rainwater on the surface of the photovoltaic panel. If the surface is dry, the cleaning operation is resumed.

[0048] S5: Operation Completion and Data Upload: When the robot completes the cleaning of all photovoltaic panels within the planned path, or when the battery 15 charge is below 20%, the cleaning operation will automatically end, and the robot will return to the charging area along the original path for charging. At the same time, the microcontroller 2 will upload the cleaning data to the operation and maintenance platform via the 4G / 5G network, including the cleaning area, cleaning time, dust collection box 45 capacity, and equipment operating status, so as to facilitate remote monitoring by staff.

[0049] The working principle of the automatic cleaning device and cleaning method for photovoltaic solar panels provided by this invention is as follows: Before starting, the robot performs a self-check. The microcontroller 2 turns on each electrical appliance to check whether it can work normally. If there are no problems with the electrical appliances, it enters the standby state and waits for the operation instruction. If the electrical appliances cannot start normally or the starting state is abnormal, the built-in wifi module of the microcontroller 2 uploads the abnormal status data to the operation and maintenance platform through the 4G / 5G network, and the operation and maintenance personnel perform maintenance.

[0050] The lidar 18 scans the layout of the photovoltaic array. By emitting laser beams and receiving their reflected signals, it obtains spatial information of the target object, such as the arrangement, spacing, and tilt angle of the photovoltaic panels. Then, it transmits the information to the microcontroller 2. The microcontroller 2 generates the optimal cleaning path through its built-in path planning algorithm, namely the A* algorithm, to ensure that the robot starts from the starting position and covers each photovoltaic panel in turn, avoiding repeated cleaning or omissions.

[0051] The microcontroller 2 starts two motors 34, both of which are servo motors. The built-in encoder can precisely control the speed of the motors 34, enabling the two motors 34 to rotate synchronously or differentially. The output shaft of the motors 34 drives the synchronous pulley 33 inside the motor base 35 to rotate. Through the transmission of the synchronous belt, the synchronous pulley 33 on the rear side and the track wheel 31 rotate, thereby driving the silicone track 32 to rotate, realizing the movement of this robot. The outer surface of the silicone track 32 can be provided with anti-slip texture to increase friction.

[0052] The negative pressure suction cup 10 is a hollow disc. The negative pressure workstation 9 draws air from the air hole 11 of the negative pressure suction cup 10 to keep the air hole 11 of the negative pressure suction cup 10 in a negative pressure state. The robot is tightly attached to the surface of the photovoltaic panel and can move stably even on photovoltaic panels with an inclination angle of ≤30° to avoid slipping. The rubber sealing ring ensures the sealing state of the air hole 11 of the negative pressure suction cup 10. The felt ring 12 is attached to the tempered glass surface of the photovoltaic panel to prevent dust from entering the negative pressure suction cup 10 and improve the sealing effect. Both the housing 1 and the support frame 13 can be made of lightweight aluminum brackets to reduce weight.

[0053] The component that achieves negative pressure adsorption can be replaced with a magnetic component, which is suitable for photovoltaic panels with metal frames. It can be stably moved by adsorbing onto the frame with a strong magnet, eliminating the need for a vacuum pump and reducing the energy consumption of the equipment.

[0054] The output shaft of motor 44 drives the nylon brush roller 43 to rotate, removing dust and particles from the surface of the photovoltaic panel. The air pump 48 starts, and the air inlet of the air pump 48 draws air from the air outlet 46, making the inside of the dust collection box 45 negative pressure. Dust and particles are sucked into the dust collection box 45 from the slot on the front side of the bracket 42, avoiding secondary pollution. A filter cloth can be fixedly sleeved on the outer arc surface of the air outlet 46 to prevent dust from entering the air pump 48. A filter screen can be installed in the air outlet slot at the upper end of the air pump base 49 to reduce dust adhesion on the surface of the air pump 48.

[0055] The nylon brush roller 43 can be replaced with a flexible scraper made of polyurethane material, and the motor 44 can be replaced with a linear motor. The linear motor drives the reciprocating motion to remove surface stains. It is suitable for photovoltaic panels with relatively flat surfaces and no stubborn particles. The advantages are simpler structure, lower maintenance cost, and regular cleaning or replacement of the flexible scraper to ensure the cleaning effect on the photovoltaic panels.

[0056] The camera 20 identifies the type of stain in real time and feeds the stain information back to the microcontroller 2. The microcontroller 2 identifies the type of stain based on the stain information. If a stubborn stain is detected, the microcontroller 2 starts the water pump 21. The water pump 21 draws water from the water tank 7 and delivers it to the one-to-four water pipe 6. The atomizing nozzle of the one-to-four water pipe 6 sprays out a small amount of water to moisten the stain, which is then removed in conjunction with the nylon brush roller 43. The start of the water pump 21 is controlled to adjust the amount of spray. The amount of spray is adjusted according to the area of ​​the stain to avoid wasting water resources.

[0057] The nylon brush roller 43 uses soft nylon bristles and is cleaned or replaced regularly to ensure the cleaning effect on the photovoltaic panels. The water pump 21 can be a waterproof water pump. Since the water pump 21 and the hose are external, they are greatly affected by external factors and can be replaced regularly.

[0058] Water level sensor 8 detects the water level inside water tank 7. If the water level is lower than the detection position of the lower water level sensor 8, the lower water level sensor 8 will send the water level information back to the microcontroller 2. The microcontroller 2 will send the information that water needs to be replenished to the operation and maintenance platform through the built-in WiFi module. The operation and maintenance personnel will replenish clean water through the water replenishment pipe at the top of water tank 7. Once the water level reaches the detection position of the upper water level sensor 8, no more water will be added. The two water level sensors 8 have the same detection principle. The lower water level sensor 8 does not detect the water level information, while the upper water level sensor 8 detects the water level information.

[0059] Temperature and humidity sensor 19 monitors environmental parameters in real time. If the detected temperature is ≤0℃, the spraying operation is suspended to prevent water from freezing and damaging the equipment. The operation and maintenance platform sends control commands based on the weather. If the wind speed is ≥10m / s, the microcontroller 2 immediately controls the robot to stop moving and cleaning, and starts the enhanced mode of the negative pressure workstation 9 to increase the negative pressure to -8kPa to prevent the robot from being blown off by the wind. If the rainfall is ≥5mm / h, the robot is controlled to move to the rain shelter area at the edge of the photovoltaic array to stand by. After the rain stops, the camera 20 detects whether there is residual rainwater on the surface of the photovoltaic panel. If the surface is dry, the cleaning operation is resumed.

[0060] Both wind speed detection and rainfall detection can be integrated into the upper surface of the support frame 13. Wind speed detection uses an anemometer, and rainfall detection can use a raindrop sensor. The wind speed detection and rainfall detection information are transmitted to the microcontroller 2, and the microcontroller 2 sends them to the operation and maintenance platform via the Wi-Fi module.

[0061] When the robot completes the cleaning of all photovoltaic panels within the planned path, and the microcontroller 2 detects that the battery 15 has a charge level of less than 20%, it automatically ends the cleaning operation and returns to the charging area along the original path to charge. The charging can be done using an automatic charging scheme, where the output of the automatic charging socket is connected to the input of the solar controller 16. The robot moves along the planned path of the microcontroller 2 to make the automatic charging socket automatically connect to the charging plug, thereby charging the battery 15.

[0062] Meanwhile, the built-in WiFi module of the microcontroller 2 uploads cleaning data to the operation and maintenance platform via the 4G / 5G network, including the cleaning area, cleaning time, dust collection box 45 capacity, and equipment operating status, which facilitates remote monitoring by staff. The capacity of the dust collection box 45 is the total cleaning time of multiple cleanings. When the total time reaches the set time, the dust collection box 45 can be removed by removing the nut of the connecting post 47. After cleaning the dust collection box 45, the operation and maintenance personnel manually reset the total cleaning time to zero on the operation and maintenance platform.

[0063] It is worth noting that the microcontroller 2 disclosed in the above embodiments can be an STM32H743, the motor 34 can be a VRSF-45D-14BK9 geared motor, the motor 44 can be an STP-43D2063 servo motor, the air pump 48 can be a 370-B vacuum pump, the water level sensor 8 can be an XKC-Y28 non-contact liquid level sensor, the water pump 21 can be a USB micro water pump, the negative pressure workstation 9 can be a DGM negative pressure workstation, the solar controller 16 can be a PWM solar controller, the inverter 17 can be an SG300MS series inverter, the lidar 18 can be an LRM lidar, and the battery 15, temperature and humidity sensor 19, and camera 20 can be freely configured according to the actual application scenario. The microcontroller 2 controls the operation of the motor 34, motor 44, air pump 48, water level sensor 8, water pump 21, pressure workstation 9, lidar 18, temperature and humidity sensor 19, and camera 20 using methods commonly used in the prior art.

[0064] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A robotic automatic cleaning device for photovoltaic solar panels, characterized in that: Includes housing (1), cleaning mechanism (4) and support (5); Shell (1): Both its left and right sides are equipped with autonomous moving mechanisms (3); Cleaning mechanism (4): It includes a connecting plate (41), a bracket (42), a nylon brush roller (43) and a second motor (44). The connecting plate (41) is fixedly connected to the front and rear sides of the housing (1). The lower end of the connecting plate (41) is fixedly connected to the bracket (42). The left and right sides of the bracket (42) are fixedly connected to the rotating frame. The front right side of the bracket (42) and the front end of the adjacent rotating frame are rotatably connected to the nylon brush roller (43). The right side of the bracket (42) is fixedly connected to the second motor (44). The output shaft of the second motor (44) is fixedly connected to the right end of the adjacent nylon brush roller (43). Bracket (5): It is fixedly connected to the left and right sides of the upper surface of the bracket (42) at the front end, and a four-way water pipe (6) is fixedly connected between the upper ends of the two brackets (5).

2. The automatic cleaning device for photovoltaic solar panels by robot according to claim 1, characterized in that: It also includes a microcontroller (2), which is fixedly connected to the upper surface of the housing (1), and the input end of the motor (44) is electrically connected to the output end of the microcontroller (2).

3. The automatic cleaning device for photovoltaic solar panels by robot according to claim 2 is characterized in that: The autonomous moving mechanism (3) includes track wheels (31), silicone tracks (32), synchronous pulleys (33), motor one (34) and motor base (35). Track wheels (31) are evenly distributed on both the left and right sides of the housing (1) through a rotating shaft. Track wheels (31) on the same side are connected to each other through silicone tracks (32). Motor bases (35) are fixedly connected to the inner walls of both the left and right sides of the housing (1). Motor one (34) is fixedly connected to the opposite inner sides of the two motor bases (35). Synchronous pulleys (33) are fixedly sleeved on the opposite inner sides of the rotating shafts of the two track wheels (31) at opposite outer and rear ends of the output shafts of the two motors (34). Synchronous pulleys (33) on the same side are connected to each other through a synchronous belt. The input end of motor one (34) is electrically connected to the output end of the microcontroller (2).

4. The automatic cleaning device for photovoltaic solar panels by robot according to claim 1, characterized in that: The cleaning mechanism (4) also includes a dust collection box (45) and a connecting column (47). The bottom wall of the dust collection box (45) is provided with connecting columns (47) on both the left and right sides. The dust collection box (45) is inserted into the inside of the bracket (42). The upper end of the connecting column (47) passes through the through hole at the upper end of the adjacent bracket (42) and is threaded with a nut.

5. The automatic cleaning device for photovoltaic solar panels by robot according to claim 2, characterized in that: The cleaning mechanism (4) also includes an exhaust port (46), an air pump (48), and an air pump base (49). The exhaust ports (46) are evenly arranged on the inner wall of the bracket (42) near the housing (1). The bracket (42) is fixedly connected to the outer wall of the housing (1). The air pump base (49) is fixedly connected to the interior of the air pump base (49). The air pumps (48) are evenly distributed. The exhaust ports of the air pumps (48) are respectively inserted into the interior of the adjacent exhaust ports (46). The input end of the air pumps (48) is electrically connected to the output end of the microcontroller (2).

6. The automatic cleaning device for photovoltaic solar panels by robot according to claim 2, characterized in that: The front end of the housing (1) is provided with a water tank (7). The outlet of the water tank (7) is located on the lower left side of the front side of the housing (1). Water level sensors (8) are fixedly connected to the upper and lower ends of the rear side of the water tank (7). A water pump (21) is fixedly connected to the upper surface of the front connecting plate (41). The water pump (21) is connected in series between the outlet of the water tank (7) and the inlet of the four-way water pipe (6) through a hose. The water level sensors (8) are all bidirectionally electrically connected to the microcontroller (2). The input end of the water pump (21) is electrically connected to the output end of the microcontroller (2).

7. The automatic cleaning device for photovoltaic solar panels by robot according to claim 2, characterized in that: The bottom wall of the housing (1) is fixedly connected to a negative pressure workstation (9), and a negative pressure suction cup (10) is fixedly connected to the middle of the bottom wall of the housing (1). The lower end of the negative pressure suction cup (10) is provided with evenly distributed air holes (11). A rubber sealing ring is snapped onto the lower surface edge of the negative pressure suction cup (10). A felt ring (12) is fixedly connected to the lower surface of the housing (1). The negative pressure suction cup (10) is located inside the felt ring (12). The input end of the negative pressure workstation (9) is electrically connected to the output end of the microcontroller (2).

8. The automatic cleaning device for photovoltaic solar panels by robot according to claim 2, characterized in that: A support frame (13) is fixedly connected to the upper surface of the housing (1). Photovoltaic panels (14) are fixedly connected to the left and right sides of the upper end of the support frame (13). A storage battery (15), a solar controller (16) and an inverter (17) are fixedly connected to the bottom wall of the housing (1). The output end of the photovoltaic panel (14) is electrically connected to the input end of the solar controller (16). The storage battery (15) is bidirectionally electrically connected to the solar controller (16). The output end of the storage battery (15) is electrically connected to the input end of the inverter (17). The output end of the inverter (17) is electrically connected to the input end of the microcontroller (2).

9. The automatic cleaning device for photovoltaic solar panels by robot according to claim 8, characterized in that: The upper end of the support frame (13) is fixedly connected to a laser radar (18), and the front side of the upper surface of the housing (1) is fixedly connected to a temperature and humidity sensor (19) and a camera (20). The laser radar (18), temperature and humidity sensor (19) and camera (20) are all bidirectionally electrically connected to the microcontroller (2).

10. An automatic cleaning method for a photovoltaic solar panel robot, characterized in that: The automatic cleaning device for photovoltaic solar panels using any one of claims 1-9 includes the following steps: (S1: Start-up and self-test: This robot is powered by a battery (15). The microcontroller (2) performs a self-test on the electrical components, checking whether the motor 1 (34) and negative pressure workstation (9) of the autonomous moving mechanism (3) are normal, whether the motor 2 (44), air pump (48), and water pump (21) of the cleaning mechanism (4) are working properly, and whether the laser radar (18), temperature and humidity sensor (19), and camera (20) can collect data normally; if the self-test passes, it enters the standby state and waits for the operation command; (S2: Path planning: The lidar (18) scans the layout of the photovoltaic array, obtains information such as the arrangement, spacing, and tilt angle of the photovoltaic panels, and transmits it to the microcontroller (2); the microcontroller (2) uses the path planning algorithm to generate the optimal cleaning path, ensuring that the robot starts from the starting position and covers each photovoltaic panel in turn, avoiding repeated cleaning or omissions; (S3: Autonomous movement and cleaning: The robot moves along the planned path, and the track wheels (31) drive the robot to move along the surface of the photovoltaic panel. The negative pressure suction cup (10) maintains the negative pressure adsorption state to ensure stability. At the same time, the cleaning mechanism (4) is started: the second motor (44) drives the nylon brush roller (43) to rotate to remove surface pollutants, and the air pump (48) works to suck the dust into the dust collection box (45). The camera (20) identifies the type of stain in real time. If stubborn stains are detected, the control system starts the water pump (21), and the atomizing nozzle of the one-to-four water pipe (6) sprays out a small amount of water to moisten the stains, which are then removed with the nylon brush roller (43). The amount of spray is adjusted according to the area of ​​the stain to avoid wasting water resources. (S4: Environmental adaptive adjustment: Temperature and humidity sensor (19) monitors environmental parameters in real time. If the temperature is detected to be ≤0℃, the spraying work is suspended to avoid water freezing and damaging the equipment. The operation and maintenance platform sends control instructions according to the weather. If the wind speed is ≥10m / s, the microcontroller (2) immediately controls the robot to stop moving and cleaning, and starts the enhanced mode of the adsorption component (increases the negative pressure to -8kPa) to prevent the robot from being blown off by the wind. If the rainfall is ≥5mm / h, the robot is controlled to move to the rain shelter area at the edge of the photovoltaic array to stand by. After the rain stops, the camera (20) detects whether there is residual rainwater on the surface of the photovoltaic panel. If the surface is dry, the cleaning operation is resumed. (S5: End of work and data upload: When the robot finishes cleaning all the photovoltaic panels within the planned path, or when the battery (15) power is less than 20%, the cleaning work will be automatically ended and the robot will return to the charging area along the original path to charge. At the same time, the microcontroller (2) will upload the cleaning data to the operation and maintenance platform through the 4G / 5G network, including the cleaning area, cleaning time, dust collection box (45) capacity, and equipment operating status, so as to facilitate remote monitoring by staff.

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