Intelligent photovoltaic glass surface cleaning system and method based on multi-axis mechanical arm and magnetic attraction track

Abstract

The invention provides an intelligent photovoltaic glass surface cleaning system and method based on a multi-axis mechanical arm and a magnetic attraction track, and relates to the technical field of photovoltaic power station operation and maintenance. The magnetic attraction track unit, the moving platform unit, the multi-axis mechanical arm, the multifunctional end effector and the sensing and navigation unit are in control connection with the central control unit. The sensing and navigation unit comprises a visual sensor which is mounted at the tail end of the multi-axis mechanical arm or on the mobile platform unit and is used for identifying the boundary, the stain degree and the stain type of the photovoltaic glass; the distance sensor is used for detecting the distance between the tail end of the mechanical arm and the glass surface; and the positioning module is used for determining the accurate position of the mobile platform unit on the magnetic attraction track unit. According to the photovoltaic power station cleaning device, efficient, safe and high-adaptability cleaning capable of covering complex surfaces and reducing water resource dependence can be carried out on the photovoltaic modules, and therefore full-automatic and intelligent photovoltaic power station cleaning operation and maintenance are achieved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic power plant operation and maintenance technology, and more specifically, to an intelligent cleaning system and method for photovoltaic glass surfaces based on a multi-axis robotic arm and a magnetic track. Background Technology

[0002] As an important component of clean energy, photovoltaic power generation efficiency is closely related to the cleanliness of the photovoltaic module surface. Pollutants such as dust, snow, and bird droppings can severely hinder light transmission, leading to a significant decrease in module output power and even causing hot spot effects, thus shortening the module's lifespan.

[0003] Currently, the main methods for cleaning photovoltaic modules include: Manual cleaning is inefficient, labor-intensive, costly, and carries safety risks associated with working at heights. It is also difficult to guarantee uniform cleaning quality. Vehicle-mounted or rail-mounted cleaning robots: Typically, one robot is responsible for cleaning an entire row or array. The disadvantages are poor flexibility, inability to handle complex layouts and irregular shapes of photovoltaic arrays, and interruption of cleaning of the entire row of components if the robot malfunctions. Furthermore, existing rail-mounted robots mostly use light rails or aluminum alloy tracks, which require a large amount of installation work, have specific requirements for the support structure of the photovoltaic array, and are not very adaptable. At the same time, their cleaning units are usually single-function and cannot perform differentiated cleaning of different parts such as glass surfaces, component frames, and combiner boxes at the same time. Fixed sprinkler systems consume a lot of water, are poorly suited for water-scarce areas, cannot remove highly viscous pollutants, and have high maintenance costs. Summary of the Invention

[0004] The present invention aims to solve the problem of existing technologies being unable to clean photovoltaic modules efficiently, safely, with strong adaptability, capable of covering complex surfaces, highly automated, and with reduced reliance on water resources.

[0005] To address the aforementioned issues, this invention provides an intelligent cleaning system for photovoltaic glass surfaces based on a multi-axis robotic arm and a magnetic track, comprising a central control unit, and a magnetic track unit, a mobile platform unit, a multi-axis robotic arm, a multi-functional end effector, and a sensing and navigation unit, all of which are controlled and connected to the central control unit. The magnetic track unit is composed of several modular magnetically conductive tracks connected end to end, which are laid on the frame of the photovoltaic array or on a pre-set mounting frame. The mobile platform unit is mounted on the magnetic track unit; The base of the multi-axis robotic arm is fixedly installed on the mobile platform unit and moves along the magnetic track with the mobile platform. The multi-functional end effector is mounted on the end flange of the multi-axis robotic arm and integrates a variety of cleaning tools; The perception and navigation unit includes a vision sensor, which is mounted on the end of the multi-axis robotic arm or the mobile platform unit, for identifying the boundaries, degree and type of stains on the photovoltaic glass; Distance sensor, used to detect the distance between the end effector of the robotic arm and the glass surface; The positioning module is used to determine the precise position of the mobile platform unit on the magnetic track unit.

[0006] The present invention provides an intelligent cleaning system for photovoltaic glass surfaces based on a multi-axis robotic arm and a magnetic track, which, compared with the prior art, has, but is not limited to, the following beneficial effects: This intelligent photovoltaic glass surface cleaning system, based on a multi-axis robotic arm and magnetic tracks, enables rapid deployment and flexible movement through magnetic track units. It is easy to install without complex modifications to existing photovoltaic supports and can adapt to photovoltaic modules of different specifications, tilt angles, and even curved surfaces. Its modular design allows for easy expansion or modification of the coverage area. The multi-axis robotic arm, carrying a multi-functional end effector, can clean hard-to-reach areas such as module edges and corners. Its large working space enables precise and efficient cleaning operations. Distance sensors ensure constant force control during cleaning, preventing excessive pressure from damaging the modules. The integrated intelligent sensing and control system, combining a sensing and navigation unit with a central control unit, enables "on-demand cleaning," focusing on dirty areas and saving time and energy. This system provides efficient, safe, adaptable cleaning of photovoltaic modules, covering complex surfaces and reducing water resource dependence, thus achieving fully automated and intelligent cleaning and maintenance of photovoltaic power plants.

[0007] Furthermore, the magnetic track is internally embedded with a power supply bus and a data communication bus, and has a strong magnetic adsorption device at the bottom.

[0008] Furthermore, the mobile platform unit includes a drive motor, a guide wheel assembly, a collector brush, and a communication module; the collector brush contacts the power supply bus to draw power, and the communication module interacts with the central control unit via a data bus to receive instructions and provide feedback on status information.

[0009] Furthermore, the multi-axis robotic arm is an articulated robotic arm with four degrees of freedom.

[0010] Furthermore, the articulated robotic arm is made of lightweight materials.

[0011] Furthermore, the various cleaning tools mentioned are as follows: Cleaning roller brush, which is a high-speed rotating roller brush driven by a motor, is made of microfiber or nylon material; A spraying and scraping device, comprising a miniature liquid pump, nozzles, and scrapers, for spraying cleaning fluid and scraping away stubborn stains; The vacuum suction chamber, with a negative pressure of ≥15kPa, is positioned close to the cleaning roller brush for dust and air separation. High-pressure air nozzles are used to blow away dust and residual water stains from crevices.

[0012] Furthermore, the central control unit, which is the core of the system, includes a processing module and a storage module, and is configured as follows: a. Receive data from the sensing and navigation unit, construct an environmental map, and identify dirty areas; b. Plan the path of the mobile platform unit and the motion trajectory of the multi-axis robotic arm; c. Intelligently select the cleaning mode according to the type of stain, and control the coordinated operation of each component of the multi-functional end effector; d. Connect to the cloud-based operation and maintenance platform via wireless network to receive remote commands and report work status and cleaning data.

[0013] The present invention also provides a method for intelligent cleaning of photovoltaic glass surface based on multi-axis robotic arm and magnetic track, based on the aforementioned intelligent cleaning system for photovoltaic glass surface based on multi-axis robotic arm and magnetic track; Includes the following steps: S1. System Deployment and Initialization: S11. Lay the magnetic track unit on the frame of the target photovoltaic array and connect and fix it; S12. Mount the mobile platform unit with a multi-axis robotic arm to the starting point of the magnetic track; S13. The system powers on, the central control unit performs self-test and initialization, and establishes a connection with the cloud platform; S2, Global Path Planning and Visual Pre-inspection: S21. The central control unit plans a rough moving path for the mobile platform unit based on the layout information of the photovoltaic array. S22. The mobile platform unit moves along the magnetic track and scans the surface of the photovoltaic modules along the way using a visual sensor to identify heavily polluted areas and record their location coordinates, generating a "pollution map". S3, meticulous cleaning operations; S5. Task Completion and Return: After all components within the planned area have been cleaned, the mobile platform unit automatically returns to the charging dock station on the magnetic track for charging and maintenance, awaiting the next task instruction; at the same time, the system uploads the cleaning operation report to the cloud platform.

[0014] Preferably, the method for intelligent cleaning of photovoltaic glass surface based on multi-axis robotic arm and magnetic track further includes the following steps: S4, adaptive adjustment and quality inspection: during or after cleaning, the vision sensor performs imaging analysis on the cleaned surface again. If residual stains are detected, the multi-axis robotic arm is controlled to perform secondary cleaning on the specific point.

[0015] Preferably, the refined cleaning operation includes: S31: The mobile platform unit moves to the starting position of the target component; S32: The vision sensor performs precise positioning and identifies the precise boundaries of the component; S33: The central control unit determines the cleaning mode based on the pre-detected level of contamination; S34: The multi-axis robotic arm drives the multi-functional end effector to move along the planned cleaning trajectory; the distance sensor provides real-time feedback information, and the central control unit uses a force / position hybrid control algorithm to make the multi-functional end effector move against the glass surface with constant slight pressure; S35: After cleaning one component, the mobile platform unit moves to the next component and repeats steps S32-S34. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the intelligent cleaning system for photovoltaic glass surfaces based on a multi-axis robotic arm and magnetic track, according to an embodiment of the present invention. Figure 2 This is a flowchart illustrating the intelligent cleaning method for photovoltaic glass surfaces based on a multi-axis robotic arm and magnetic track, according to an embodiment of the present invention. Figure 1 ; Figure 3 This is a flowchart illustrating the intelligent cleaning method for photovoltaic glass surfaces based on a multi-axis robotic arm and magnetic track, according to an embodiment of the present invention. Figure 2 .

[0017] Explanation of reference numerals in the attached figures: 1. Central control unit; 2. Magnetic track unit; 3. Mobile platform unit; 4. Multi-axis robotic arm; 5. Multifunctional end effector; 6. Sensing and navigation unit. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings showing multiple embodiments according to this application. It should be understood that the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments described in this application without creative effort will fall within the scope of protection of this application.

[0019] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in the description of this application is for the purpose of describing specific embodiments only and is not intended to limit the use of open-ended terms such as "comprising," "including," "having," "containing," etc., in the description, claims, and accompanying drawings. Therefore, "comprising," "including," or "having" refers to, for example, a method or apparatus having one or more steps or elements, but not limited to having only these one or more elements. The terms "first," "second," etc., in the description, claims, or accompanying drawings are used to distinguish different objects, not to describe a specific order or hierarchy. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0020] In the description of this invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0021] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "attachment" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can be a direct connection or an indirect connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0022] It should be emphasized that when the term "comprising / including" is used in this specification, it is used to explicitly indicate the presence of the stated feature, integer, step, or component, but does not exclude the presence or addition of one or more other features, integers, steps, parts, or groups of features, integers, steps, or parts.

[0023] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0024] An intelligent cleaning system for photovoltaic glass surface based on a multi-axis robotic arm and magnetic track according to an embodiment of the present invention includes a central control unit 1, and a magnetic track unit 2, a mobile platform unit 3, a multi-axis robotic arm 4, a multi-functional end effector 5, and a sensing and navigation unit 6, which are respectively controlled and connected to the central control unit 1. The magnetic track unit 2 is composed of several modular magnetically conductive tracks connected end to end, which are laid on the frame of the photovoltaic array or on a pre-set mounting frame. The mobile platform unit 3 is mounted on the magnetic track unit 2; The base of the multi-axis robotic arm 4 is fixedly installed on the mobile platform unit 3, and moves along the magnetic track with the mobile platform; The multi-functional end effector 5 is mounted on the end flange of the multi-axis robotic arm 4 and integrates a variety of cleaning tools; The perception and navigation unit 6 includes a vision sensor, which is mounted on the end of the multi-axis robotic arm 4 or on the mobile platform unit 3, for identifying the boundaries, degree and type of stains on the photovoltaic glass; Distance sensor, used to detect the distance between the end effector of the robotic arm and the glass surface; The positioning module is used to determine the precise position of the mobile platform unit 3 on the magnetic track unit 2.

[0025] In this embodiment, the intelligent cleaning system for photovoltaic glass surfaces based on a multi-axis robotic arm and magnetic track achieves rapid deployment and flexible movement through the cooperation of the magnetic track unit 2 and the mobile platform unit 3. It is easy to install without requiring complex modifications to existing photovoltaic supports and can adapt to photovoltaic modules of different specifications, tilt angles, and even curved surfaces (BIPV). Its modular design allows for easy expansion or modification of the coverage area. The multi-axis robotic arm 4, carrying a multi-functional end effector 5, can clean hard-to-reach areas such as module edges and corners, providing a large working space and enabling precise and efficient cleaning operations. Distance sensors ensure constant force control during the cleaning process, preventing excessive pressure from damaging the modules. The integrated intelligent sensing and control system, through the sensing and navigation unit 6 and the central control unit 1, enables "on-demand cleaning," focusing on dirty areas, saving time and energy. It can efficiently, safely, and adaptably clean photovoltaic modules (different tilt angles, shapes, and sizes), cover complex surfaces, has a high degree of automation, and reduces water resource dependence, thus achieving fully automated and intelligent cleaning and maintenance of photovoltaic power plants.

[0026] See Figure 1 Optionally, the magnetic track is embedded with a power supply bus and a data communication bus, and a strong magnetic adsorption device is provided at the bottom.

[0027] In this embodiment, a strong magnetic adsorption device is set up to safely and firmly adsorb onto the metal frame or bracket of the photovoltaic module, enabling rapid installation and removal; and the magnetic force can be dynamically adjusted according to the glass tilt angle to avoid damaging the glass.

[0028] Specifically, the strong magnetic adsorption device is a permanent magnet or an electromagnet.

[0029] See Figure 1 Optionally, the mobile platform unit 3 includes a drive motor, a guide wheel assembly, a collector brush, and a communication module. The drive motor serves as a power source to provide driving force for movement, and the guide wheel assembly is used for movement. The collector brush contacts the power supply bus to draw power, and the communication module interacts with the central control unit 1 via a data bus to receive instructions and provide feedback on status information.

[0030] See Figure 1 Optionally, the multi-axis robotic arm 4 is an articulated robotic arm with at least four degrees of freedom.

[0031] In this embodiment, the multi-axis robotic arm 4 has a large working radius and flexible movement capabilities.

[0032] See Figure 1 Optionally, the articulated robotic arm is made of lightweight materials.

[0033] In this embodiment, if carbon fiber is used, the weight can be reduced by at least 30%, thus reducing the pressure on the photovoltaic module.

[0034] See Figure 1 Optionally, the following cleaning tools are available: Cleaning roller brush, which is a high-speed rotating roller brush driven by a motor, is made of microfiber or nylon material; A spraying and scraping device, comprising a micro liquid pump, a nozzle and a scraper, is used to spray cleaning liquid and scrape off stubborn stains. The micro liquid pump is used to draw up the cleaning liquid, the nozzle is used to spray the cleaning liquid drawn up by the micro liquid pump, and the scraper is used to scrape off stubborn stains after the cleaning liquid is sprayed onto the nozzle. The vacuum suction chamber, with a negative pressure of ≥15kPa, is positioned close to the cleaning roller brush for dust and air separation. High-pressure air nozzles are used to blow away dust and residual water stains from crevices.

[0035] In this embodiment, a cleaning roller brush facilitates the removal of surface dust; a spraying and scraping device reduces reliance on water resources while achieving cleaning; a vacuum suction chamber separates dust and air, allowing for timely absorption of swept dust and preventing secondary pollution; and a high-pressure air nozzle enables rapid drying.

[0036] See Figure 1 Optionally, the central control unit 1 is the core of the system, including a processing module and a storage module, and is configured as follows: a. Receive data from the perception and navigation unit 6, construct an environmental map and identify dirty areas; b. Plan the path of the mobile platform unit 3 and the motion trajectory of the multi-axis robotic arm 4; c. Intelligently select the cleaning mode (dry sweeping, wet cleaning, scraping, etc.) according to the type of stain, and control the various components of the multi-functional end effector 5 to work together. d. Connect to the cloud-based operation and maintenance platform via wireless network to receive remote commands and report work status and cleaning data.

[0037] In this embodiment, the central control unit 1 serves as the core control unit, enabling the system to be monitored and managed via the cloud without human intervention. This significantly reduces operation and maintenance costs and safety risks, and realizes the intelligent and digital cleaning of photovoltaic power plants.

[0038] See Figure 2 Another embodiment of the present invention provides a method for intelligent cleaning of photovoltaic glass surface based on multi-axis robotic arm and magnetic track, based on the aforementioned intelligent cleaning system for photovoltaic glass surface based on multi-axis robotic arm and magnetic track; Includes the following steps: S1. System Deployment and Initialization: S11. Lay the magnetic track unit 2 on the frame of the target photovoltaic array and connect and fix it; S12. Mount the mobile platform unit 3, equipped with the multi-axis robotic arm 4, to the starting point of the magnetic track. S13. The system is powered on, and the central control unit 1 performs self-test and initialization to establish a connection with the cloud platform. S2, Global Path Planning and Visual Pre-inspection: S21. The central control unit 1 plans a rough moving path for the mobile platform unit 3 based on the layout information of the photovoltaic array. S22, the mobile platform unit 3 moves along the magnetic track, and at the same time scans the surface of the photovoltaic modules along the way through the visual sensor to identify the heavily polluted areas and record their location coordinates, generating a "pollution map". S3, meticulous cleaning operations; S31: The mobile platform unit 3 moves to the starting position of the target component; S32: The vision sensor performs precise positioning and identifies the precise boundaries of the component; S33: The central control unit 1 determines the cleaning mode based on the pre-detected level of contamination (e.g., light dust only activates the roller brush and vacuuming; heavy stains activate spraying, scraping, and vacuuming). S34: The multi-axis robotic arm 4 drives the multi-functional end effector 5 to move along the planned cleaning trajectory (such as a "bow" shaped trajectory); the distance sensor provides real-time feedback information, and the central control unit 1 uses a force / position hybrid control algorithm to make the multi-functional end effector 5 move against the glass surface with constant slight pressure, ensuring cleaning effect without scratching the glass; S35: After cleaning one component, the mobile platform unit 3 moves to the next component and repeats steps S32-S34. S5. Task Completion and Return: After all components within the planned area have been cleaned, the mobile platform unit 3 automatically returns to the charging dock station on the magnetic track for charging and maintenance, awaiting the next task instruction; at the same time, the system uploads the report of this cleaning operation (including cleaning area, time consumed, energy consumption, before and after cleaning comparison images, etc.) to the cloud platform.

[0039] See Figure 3 Optionally, the method for intelligent cleaning of photovoltaic glass surface based on multi-axis robotic arm and magnetic track also includes the following steps: S4, adaptive adjustment and quality inspection: during or after cleaning, the vision sensor can perform imaging analysis on the cleaned surface again. If residual stains are detected, the multi-axis robotic arm 4 is controlled to perform secondary cleaning on the specific point.

[0040] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A photovoltaic glass surface intelligent cleaning system based on a multi-axis robot and a magnetic track, characterized in that, The system comprises a central control unit, a magnetic track unit, a mobile platform unit, a multi-axis robot arm, a multifunctional end effector, and a perception and navigation unit, which are connected to the central control unit; The magnetic track unit is composed of several modular magnetic guide tracks connected end to end, which are laid on the frame of the photovoltaic array or a pre-installed mounting rack; The mobile platform unit is mounted on the magnetic track unit; The base of the multi-axis robot arm is fixedly installed on the mobile platform unit and moves along the magnetic guide track with the mobile platform; The multifunctional end effector is installed on the end flange of the multi-axis robot arm and integrates multiple cleaning tools; The perception and navigation unit includes a visual sensor installed on the end of the multi-axis robot arm or the mobile platform unit, which is used to identify the boundary, degree, and type of stains on the photovoltaic glass; A distance sensor is used to detect the distance between the end of the robot arm and the glass surface; A positioning module is used to determine the accurate position of the mobile platform unit on the magnetic track unit.

2. The photovoltaic glass surface intelligent cleaning system based on multi-axis mechanical arm and magnetic track of claim 1, wherein, The inside of the magnetic guide track is embedded with a power bus and a data communication bus, and the bottom is provided with a strong magnetic adsorption device.

3. The photovoltaic glass surface intelligent cleaning system based on multi-axis mechanical arm and magnetic track of claim 2, wherein, The mobile platform unit includes a driving motor, a guide wheel set, a current collector, and a communication module; the current collector contacts the power bus to collect power, and the communication module interacts with the central control unit through the data bus to receive instructions and feedback state information.

4. The photovoltaic glass surface intelligent cleaning system based on a multi-axis robot arm and a magnetic track according to claim 1, wherein the multi-axis robot arm is a jointed robot arm with four degrees of freedom.

5. The photovoltaic glass surface intelligent cleaning system based on a multi-axis robot arm and a magnetic track according to claim 4, wherein the jointed robot arm is made of lightweight materials. 6.The photovoltaic glass surface intelligent cleaning system based on multi-axis mechanical arm and magnetic track of claim 1, wherein, The multiple cleaning tools are respectively: A cleaning roller brush driven by a motor, which is made of superfine fibers or nylon materials; A spraying and scraping device including a miniature liquid pump, a nozzle, and a scraping strip, which is used to spray cleaning liquid and scrape stubborn stains; A vacuum dust collection cavity with a negative pressure of ≥15 kPa, which is arranged close to the cleaning roller brush for dust and gas separation; A high-pressure air nozzle for blowing away dust and residual water stains in the gap.

7. The photovoltaic glass surface intelligent cleaning system based on multi-axis mechanical arm and magnetic track of claim 1, wherein, The central control unit is the core of the system, which includes a processing module and a storage module, and is configured to: a. receive data from the perception and navigation unit, build an environment map, and identify dirty areas; b. plan the path of the mobile platform unit and the motion trajectory of the multi-axis robot arm; c. intelligently select a cleaning mode according to the type of stains and control the components of the multifunctional end effector to work cooperatively; d. connect to a cloud operation platform through a wireless network to receive remote instructions, report working status and cleaning data.

8. A photovoltaic glass surface intelligent cleaning method based on a multi-axis robot and a magnetic track, characterized in that, The photovoltaic glass surface intelligent cleaning system based on a multi-axis robot arm and a magnetic track according to any one of claims 1-7; Comprising the following steps: S1, system deployment and initialization: S11, lay the magnetic track unit on the frame of the target photovoltaic array and connect and fix it; S12, mount the mobile platform unit with the multi-axis robot arm to the starting point of the magnetic guide track; S13, the system is powered on, the central control unit performs self-checking and initialization, and connection with the cloud platform is established; S2, global path planning and visual pre-inspection: S21, the central control unit plans a rough moving path of the mobile platform unit according to layout information of the photovoltaic array; S22, the mobile platform unit moves along the magnetically conductive track, and simultaneously scans the surface of the photovoltaic module along the way through the visual sensor, identifies the area with serious pollution and records the position coordinates thereof, and generates a "pollution map"; S3, fine cleaning operation; S5, task completion and homing: when all the modules in the planned range are cleaned, the mobile platform unit automatically returns to the charging dock on the magnetically conductive track for charging and maintenance, and waits for the next task instruction; at the same time, the system uploads the report of this cleaning operation to the cloud platform.

9. The method for photovoltaic glass surface intelligent cleaning based on multi-axis mechanical arm and magnetic track of claim 8, wherein, Further comprising the step of: S4, adaptive adjustment and quality inspection: during or after the cleaning process, the visual sensor performs imaging analysis on the cleaned surface again, and if residual stains are identified, the multi-axis robot arm is controlled to perform focused secondary cleaning on the specific point.

10. The method for photovoltaic glass surface intelligent cleaning based on multi-axis mechanical arm and magnetic track of claim 8, wherein, The fine cleaning operation comprises: S31: the mobile platform unit moves to the starting position of the target module; S32: the visual sensor performs accurate positioning and identifies the accurate boundary of the module; S33: the central control unit decides the cleaning mode according to the pre-inspected pollution degree; S34: the multi-axis robot arm drives the multifunctional end effector to move according to the planned cleaning track; the distance sensor feeds back information in real time, and the central control unit adopts a force / position hybrid control algorithm to enable the multifunctional end effector to move with constant slight pressure adhering to the glass surface; S35: after cleaning of one module is completed, the mobile platform unit moves to the next module, and the steps of S32-S34 are repeated.

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