Mountain photovoltaic power station cleaning and fire-fighting integrated system

Abstract

A cleaning and fire-fighting integrated system for a mountain photovoltaic power station comprises a cleaning robot, and the cleaning robot comprises a moving assembly, a communication assembly, an environment exploration assembly, a cleaning assembly and a fire extinguishing assembly. The communication assembly is installed on the moving assembly and electrically connected with the moving assembly. The environment exploration assembly is installed on the moving assembly and electrically connected with the communication assembly. The fire extinguishing assembly comprises a fire extinguishing bomb, the fire extinguishing bomb comprises a conductive shell and an internal electrode, the internal electrode extends to the outside of the conductive shell, and the tail of the internal electrode is insulated and isolated from the conductive shell through an insulating fixing seat; a short-circuit agent cabin is arranged in the conductive shell, liquid metal is packaged in the short-circuit agent cabin, an outlet of the short-circuit agent cabin is sealed through a sealing film, and the position of the outlet corresponds to a gap between the tail of the internal electrode and the inner wall of the conductive shell; a firing pin is slidably connected into the conductive shell through an inertia triggering mechanism, the tip of the firing pin is aligned with the sealing film, the firing pin can quickly reach an ignition point, and the electric shock risk is avoided.

Description

Technical Field

[0001] This invention relates to an integrated cleaning and fire protection system for mountain photovoltaic power stations, belonging to the field of photovoltaic power station technology. Background Technology

[0002] Currently, mountain photovoltaic power stations generally rely on manual inspections, fixed sprinkler systems, or conventional ground robots for cleaning and firefighting operations. Existing cleaning methods primarily depend on personnel driving vehicles or operating simple robots along fixed routes, which is inefficient and cannot cover complex terrain areas. Existing firefighting methods mostly use handheld fire extinguishers, fire trucks, or single-function tracked firefighting robots. These devices are slow to move in steep slopes, ravines, and narrow passages between photovoltaic arrays, making it difficult to quickly reach the fire scene. More importantly, photovoltaic module fires often involve the risk of high-voltage electric shock. Traditional water-based firefighting methods pose safety hazards, while drone inspections are limited by short battery life, small payload, and adverse weather conditions, making continuous monitoring and immediate firefighting impossible. In short, existing technologies have the following main drawbacks: First, poor terrain adaptability; conventional equipment is difficult to move in rugged mountainous terrain, easily tipping over or getting stuck. Second, severe response delays; fixed sensors have limited coverage, resulting in delayed fire detection, and mobile equipment takes too long to detour. Third, low firefighting safety; the lack of effective isolation measures for energized fire sources easily leads to secondary accidents. Summary of the Invention

[0003] To address the aforementioned problems in existing technologies, this invention provides an integrated cleaning and fire protection system for mountain photovoltaic power stations, which can quickly reach the fire point and avoid the risk of electric shock.

[0004] An integrated cleaning and firefighting system for a mountain photovoltaic power station includes a cleaning robot. The cleaning robot comprises a mobile component, a communication component, an environmental detection component, a cleaning component, and a fire extinguishing component. The communication component is mounted on and electrically connected to the mobile component, used for remote communication and control of the cleaning robot based on received communication information. The environmental detection component is mounted on the mobile component and electrically connected to the communication component, used to acquire on-site environmental information. The fire extinguishing component includes a fire extinguishing projectile, which includes a conductive outer shell and an internal electrode. The head of the internal electrode extends outside the conductive outer shell, and the tail of the internal electrode is insulated from the conductive outer shell by an insulating mounting base. A short-circuit agent chamber is disposed inside the conductive outer shell, containing liquid metal. The outlet of the short-circuit agent chamber is sealed by a sealing membrane, and the outlet position corresponds to the gap between the tail of the internal electrode and the inner wall of the conductive outer shell. A striking pin is also slidably connected inside the conductive outer shell via an inertial triggering mechanism, the tip of which is aligned with the sealing membrane.

[0005] The inertial triggering mechanism includes a trigger body, a firing spring, an inertial block, and a locking pin. A guide rib is fixedly provided on the inner wall of the conductive housing, and a guide groove that mates with the guide rib is provided on the side of the firing pin. The firing pin is installed inside the conductive housing through the sliding fit between the guide rib and the guide groove. A boss is provided circumferentially on the firing pin, and the firing spring is sleeved on the firing pin with its two ends connected to the boss on the firing pin and the bottom of the insulating fixing seat, respectively. The trigger body is fixed inside the conductive housing, and a sliding cavity is provided inside the trigger body. The inertial block is slidably disposed in the sliding cavity, and a preload spring acts between the bottom of the sliding cavity and the inertial block. A limiting protrusion is provided on the side wall of the firing pin, and a limiting groove is provided on the side wall of the inertial block. The middle part of the locking pin is rotatably connected to the side wall of the trigger body via a rotating shaft, with the inner end of the locking pin located on one side of the limiting groove of the inertial block, and its outer end abutting against the limiting protrusion of the firing pin.

[0006] The mobile component includes a track drive unit disposed at the bottom of the robot body base plate. A shock absorption unit is provided between the track drive unit and the robot body base plate. The drive mechanism includes two sets of track drive units arranged in parallel on both sides of the robot body base plate. Each set of track drive units is provided with a first motor for driving its individual operation. Each first motor is electrically connected to the communication component.

[0007] The fire extinguishing assembly also includes a launch chamber located at the bottom of the robot's main body base. The launch chamber contains a turntable-type ammunition magazine, which is connected to the output shaft of a rotary drive motor fixed to the top of the launch chamber via a central rotating shaft. Multiple launch holes are evenly distributed along the circumference of the turntable-type ammunition magazine. An electromagnetic ejection unit is installed on the top of the launch chamber corresponding to each launch hole of the turntable-type ammunition magazine. Each electromagnetic ejection unit includes a drive coil fixed to the top of the launch chamber, and a component coaxially arranged with the drive coil and partially extending outwards. A ferromagnetic push rod is inserted inside the drive coil, with its end pointing towards the axis of the launch port. The drive coil is energized by a built-in battery, generating a magnetic field that drives the ferromagnetic push rod to move along its axial direction, striking the tail of the fire extinguishing bomb and ejecting it from the launch port. The axis of the launch port of the rotary bomb bay is coaxial with the axis of the ferromagnetic push rod. A return spring is fitted on the ferromagnetic push rod, with its two ends connected to the ferromagnetic push rod and the top of the launch bay, respectively.

[0008] The system also includes a cableway-type linkage system mounted above the mountain photovoltaic power station via several support rods. This system comprises a ring track fixedly installed at the top of the support rods, with a ring-shaped moving ring slidably disposed within it. A second motor is fixed to the outer wall of the ring track via a support plate, and the output shaft of the second motor is connected to a worm gear. The outer wall of the ring-shaped moving ring has first teeth matching the worm gear. A ring-shaped notch is provided in the middle of the ring track, and the first teeth pass through the notch to mesh with the worm gear. A suspension link spans the inner wall of the ring-shaped moving ring, and a movable lifting assembly is mounted on the suspension link. The movable lifting assembly includes a gear roller that moves in conjunction with the suspension link, and second teeth matching the gear roller are provided on the suspension link. The gear roller is driven to rotate by a third motor. The gear roller is connected to a fixed column via an axle, and a winch is fixed inside the fixed column. A lifting rope is wound around the winch, and the other end of the lifting rope is fixed to the top of a cleaning robot.

[0009] The communication component includes a mounting box mounted on the robot's main body base plate. The mounting box contains a battery module, a programmable controller, and a wireless communication module. The mounting box is equipped with an infrared sensor and a temperature sensor. The battery module provides power. The programmable controller receives instructions and information transmitted by the wireless communication module and the environmental detection component, and sends relevant control instructions to the cableway linkage system and the fire extinguishing component. The wireless communication module is used for remote data transmission.

[0010] The environmental detection component includes a camera, an infrared thermal imager, and a transparent protective cover, all housed in a cavity at the bottom of the robot's main body base plate. The transparent protective cover is fixed to the cavity at the bottom of the robot's main body base plate by a sealing ring, completely sealing the high-definition visible light camera and the infrared thermal imager inside. A high-pressure air curtain nozzle is provided on the outer side of the transparent protective cover, and the high-pressure air curtain nozzle is connected to a high-pressure air pump located on the robot's main body base plate via an air pipe. The air jet direction of the high-pressure air curtain nozzle forms an acute angle with the front lens surface of the transparent protective cover.

[0011] The fire extinguishing assembly includes a water tank mounted on the robot's main body base plate and a rotating nozzle mounted on the bottom of the robot's main body base plate. The rotating nozzle is rotatably mounted on the bottom of the robot's main body base plate. The water tank is equipped with a water pump, and the inlet of the water pump is connected to a water suction pipe located in the water tank. The outlet of the water pump is connected to the rotating nozzle via a pipe. The cleaning assembly includes a high-pressure water nozzle located at the front end of the cleaning robot. The high-pressure water nozzle is connected to the water tank via a pipe, and a scraper is also provided at the front end of the high-pressure water nozzle.

[0012] The fire extinguishing bomb has a permanent magnet embedded in the front end of its conductive outer shell, and the adsorption surface of the permanent magnet protrudes slightly from the top plane of the conductive outer shell; a flexible conductive scraper is provided around the front edge of the conductive outer shell, and the top surface of the flexible conductive scraper is slightly lower than the adsorption surface of the permanent magnet.

[0013] The present invention has the following beneficial effects: Attached Figure Description Figure 1 This is a bottom view of the cleaning robot of the present invention; Figure 2 This is a schematic diagram of the internal structure of the fire extinguishing bomb of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of part A in the middle; Figure 4 This is a schematic diagram of the internal structure of the launch cabin of the present invention; Figure 5 This is a schematic diagram of the ring track structure of the cableway linkage system of the present invention; Figure 6 This is a schematic diagram of the movable lifting component of the present invention.

[0014] The reference numerals in the figure are as follows: 1. Cleaning robot; 21. Conductive outer shell; 22. Internal electrode; 23. Insulating mounting base; 24. Short-circuit agent chamber; 26. Sealing membrane; 27. Strike pin; 28. Permanent magnet; 29. ​​Flexible conductive scraper; 31. Trigger body; 32. Firing spring; 33. Inertial block; 34. Locking pin; 211. Guide rib; 271. Limiting protrusion; 272. Boss; 35. Sliding cavity; 36. Preload spring; 331. Limiting groove; 4. Robot body base plate; 5. Launch chamber; 51. Turntable-type magazine; 52. Central rotating shaft; 53. Rotary... 54. Drive motor; 551. Emission hole; 552. Drive coil; 553. Ferromagnetic push rod; 554. Return spring; 65. Circular track; 66. Circular moving ring; 67. Second motor; 68. Worm gear; 69. First tooth; 60. Suspension link; 61. Gear roller; 62. Second tooth; 63. Fixed column; 64. Winch; 65. Lifting rope; 66. Mounting box; 87. Camera; 88. Transparent protective cover; 89. High-pressure air curtain nozzle; 90. Rotating nozzle; 91. High-pressure water spray nozzle; 92. Scraper. Detailed Implementation

[0015] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0016] Please see Figures 1 to 4 The invention provides a technical solution: The integrated cleaning and firefighting system for mountain photovoltaic power stations in this embodiment includes a cleaning robot 1. The cleaning robot 1 includes a mobile component, a communication component, an environmental detection component, a cleaning component, and a fire extinguishing component. The communication component is installed on the mobile component and electrically connected to the mobile component, and is used for remote communication and to control the cleaning robot 1 accordingly through the received communication information. The environmental detection component is installed on the mobile component and electrically connected to the communication component, and is used to acquire on-site environmental information. It is worth noting that photovoltaic power plant systems are equipped with protective devices such as disconnect switches and circuit breakers. However, in extreme fault situations like fires, these protective measures may not be able to ensure absolute power outage safety in the local area where the fire is located. First, even if the inverter is shut down or the main switch trips, the long DC cable and photovoltaic string between the fire point and the disconnection point may become an isolated "island." Due to the photovoltaic effect, the photovoltaic cells exposed to the fire or high temperature may still generate a fairly high DC voltage, forming an "island effect." At the same time, fires may be caused by broken line insulation, melted connectors, etc. The fault point itself may be energized and its location may be random, and system-level protection cannot instantly eliminate the dangerous voltage at that point.

[0017] Therefore, there is a need for a fire extinguishing component that can proactively and precisely eliminate residual dangerous voltages on photovoltaic modules near the ignition point before the fire extinguishing agent arrives, thereby creating a localized, absolutely safe electrical environment for fire extinguishing operations.

[0018] The fire extinguishing assembly includes a fire extinguishing bomb, which comprises a conductive outer shell 21 and an internal electrode 22. The head of the internal electrode 22 extends to the outside of the conductive outer shell 21, and the tail of the internal electrode 22 is insulated from the conductive outer shell 21 by an insulating fixing seat 23, meaning that the internal electrode 22 is not in contact with the conductive outer shell 21 before triggering. A short-circuit agent chamber 24 is provided inside the conductive outer shell 21, which contains liquid metal. The outlet of the short-circuit agent chamber 24 is sealed by a sealing membrane 26, and the outlet position corresponds to the gap between the tail of the internal electrode 22 and the inner wall of the conductive outer shell 21. A firing pin 27 is also slidably connected inside the conductive outer shell 21 by an inertial triggering mechanism, and the tip of the firing pin 27 is aligned with the sealing membrane 26. Preferably, a permanent magnet 28 is embedded in the front end of the conductive outer shell 21 of the fire extinguishing bomb, and the adsorption surface of the permanent magnet 28 protrudes slightly from the top plane of the conductive outer shell 21; a flexible conductive scraper 29 is provided around the front edge of the conductive outer shell 21, and the top surface of the flexible conductive scraper 29 is slightly lower than the adsorption surface of the permanent magnet 28.

[0019] When using traditional water-based or foam-based water sources to extinguish fires involving photovoltaic panels that have become electrified due to insulation damage, the water source itself can become a conductive path, posing a serious risk of electric shock to firefighters and equipment. This design addresses this by setting the core function of the fire extinguishing bomb 2 to perform a preliminary partial power outage. Utilizing its integrated short-circuit agent chamber 24, firing pin 27, and inertial triggering mechanism, before releasing the water source, it first artificially creates a controllable short circuit to ground in the local circuitry of the burning photovoltaic panel. This is achieved by attaching the conductive outer shell 21 to the frame of the photovoltaic panel, which is grounded. This forces a sudden voltage drop in that area, creating an inherently safe electrical environment for subsequent firefighting operations, regardless of the medium used.

[0020] Specifically, when the fire extinguishing bomb 2 is launched and adsorbed onto the surface of the burning photovoltaic panel by the permanent magnet 28, its conductive outer shell 21 forms a grounding path through the metal frame of the photovoltaic panel or the grounding wire. At the moment of impact, the inertial trigger mechanism activates, driving the firing pin 27 to pierce the sealing membrane 26 of the short-circuit agent tank 24, causing the liquid metal inside the short-circuit agent tank 24 to flow out and cover the area between the tail of the internal electrode 22 and the inner wall of the conductive outer shell 21. If the head of the internal electrode 22 has already contacted the charged point at this time, a low-resistance short-circuit loop is immediately formed from the charged point to the internal electrode 22, then to the liquid metal, then to the conductive outer shell 21, and finally to grounding, generating a huge short-circuit current, causing the local circuit energy to be released rapidly and the voltage to drop to a safe range. This process provides safe electrical conditions for the spraying of water, which can then be safely released to extinguish the open flame.

[0021] After the fire extinguishing bomb is absorbed, the conductive outer shell 21 is grounded through the photovoltaic panel frame. The firing pin 27 punctures the sealing membrane 26, and the liquid metal forms a conductive path (internal short circuit) between the tail of the internal electrode 22 and the inner wall of the conductive outer shell 21. If the head of the internal electrode 22 contacts a charged point, the current will form a low-resistance loop from the charged point to the internal electrode 22 to the liquid metal bridge to the conductive outer shell 21 to the grounded frame. This essentially short-circuits the charged point to ground. This short-circuit loop generates a huge current, rapidly depleting the stored and potentially generated electrical energy in the photovoltaic string near the fault point as heat, causing the voltage at that point to drop sharply to near zero volts, thus completely eliminating the risk of electric shock.

[0022] The permanent magnet 28 and the flexible conductive scraper 29 work together to ensure the reliability of the short-circuit circuit establishment of the fire extinguishing projectile 2. The main function of the permanent magnet 28 is to provide strong adhesion to the fire extinguishing projectile 2, allowing it to firmly attach to the metal frame of the photovoltaic panel or grounding component after impact, establishing a stable mechanical connection and electrical grounding path for the short-circuit current. The oxide layer on the surface of the photovoltaic panel's aluminum frame forms a high-resistance insulating film. At the moment of impact, the flexible conductive scraper 29 uses inertial force to scrape the frame surface, breaking off the oxide layer and dirt, exposing the fresh metal substrate. Under the pressure provided by the permanent magnet 28, it undergoes elastic deformation, forming a large-area, low-resistance, excellent electrical contact with the cleaned metal surface. Together, they ensure the low-resistance and reliable formation of the short-circuit circuit from both mechanical fixation and electrical connection perspectives.

[0023] The inertial triggering mechanism includes a trigger body 31, a firing spring 32, an inertial block 33, and a locking pin 34; a guide rib 211 is fixedly provided on the inner wall of the conductive housing 21, and a guide groove that cooperates with the guide rib 211 is provided on the side of the firing pin 27. The firing pin 27 is installed in the conductive housing 21 through the sliding cooperation between the guide rib 211 and the guide groove; a boss 272 is provided circumferentially on the firing pin 27, and the firing spring 32 is sleeved on the firing pin 27, with both ends of the firing spring 32 connected to the boss 272 on the firing pin 27 and the bottom of the insulating fixing seat 23, respectively; The trigger body 31 is fixed inside the conductive housing 21. The trigger body 31 has a sliding cavity 35 inside, and the inertial block 33 is slidably disposed in the sliding cavity 35. A preload spring 36 acts between the bottom of the sliding cavity 35 and the inertial block 33. The side wall of the firing pin 27 is provided with a limiting protrusion 271, and the side wall of the inertial block 33 is provided with a limiting groove 331. The middle part of the locking pin 34 is rotatably connected to the side wall of the trigger body 31 through a rotating shaft. The inner end of the locking pin 34 is located on one side of the limiting groove 331 of the inertial block 33, and its outer end abuts against the limiting protrusion 271 of the firing pin 27.

[0024] In the transport and ready-to-fire state of the fire extinguishing bomb 2, the firing spring 32 is in a compressed and stored state, and its elastic force attempts to push the firing pin 27 toward the sealing membrane 26; however, at this time, the limiting protrusion 271 of the firing pin 27 is abutted by the outer end of the locking pin 34, thus restricting its movement; at the same time, the inner end of the locking pin 34 is engaged in the limiting groove 331 of the inertial block 33, and the inertial block 33 is held in the locked position under the action of the preload spring 36. When the fire extinguishing projectile 2 impacts the target at high speed, the entire projectile body decelerates rapidly, generating a forward inertial force. The larger inertial block 33 overcomes the force of the preload spring 36 due to inertia and moves in the direction of impact within the sliding cavity 35 of the trigger body 31, causing its limiting groove 311 to disengage from the inner end of the locking pin 34. The locking pin 34 then loses its lock, and its outer end rotates around the pivot and moves away from the movement path of the limiting protrusion 271 of the firing pin 27. Driven by the firing spring 32, the released firing pin 27 moves at high speed in a straight line along the direction of the cooperation between the guide rib 211 and the guide groove, piercing the sealing membrane 26 of the short-circuit agent chamber 24 with its tip.

[0025] If the firing pin 27 is designed as a purely inertial trigger, its relatively small mass means that even a slight accidental collision or vibration could give it enough kinetic energy to trigger it falsely, resulting in extremely low safety and reliability. More importantly, the purely inertial trigger method is extremely sensitive to the impact direction; it can only be effectively triggered when the impact direction is strictly aligned with the axis of motion of the firing pin 27. However, in actual fire scenes, the impact posture of the fire extinguishing bomb 2 is random, which can easily lead to trigger failure. This design integrates a mechanical safety mechanism consisting of an inertial block 33, a pre-tensioning spring 36, and a locking pin 34 into the trigger body 31. Its core functions are: first, to increase the trigger threshold, as the relatively large inertial block 33 needs a specific intensity of impact inertial force to overcome the pre-tensioning force of the pre-tensioning spring 36 and move, effectively preventing false triggering; second, to achieve multi-directional triggering, as the inertial block 33 can slide within the sliding cavity 35, it can respond to impact inertial forces from different directions, ensuring that the firing pin 27 can be reliably unlocked as long as the inertial force reaches the threshold, regardless of the angle at which the fire extinguishing bomb 2 impacts the target, greatly improving the reliability of the action in complex real-world environments.

[0026] The mobile component includes a robot body base plate 4 and a track drive unit. A shock absorption unit is provided between the track drive unit and the robot body base plate 4. The drive mechanism includes two sets of track drive units arranged parallel to each other on both sides of the robot body base plate 4. Each set of track drive units is equipped with a first motor for driving its individual operation, and each first motor is electrically connected to the communication component. The track drive unit and shock absorption unit used in the mobile component can adopt any conventional structure known in the art that can achieve stable movement and shock absorption functions. The purpose is to enable the robot body 1 to walk stably on photovoltaic panel surfaces with a certain slope and unevenness, and to provide a stable working platform for the cleaning components set on it, so as to cooperate in completing the cleaning operation of the photovoltaic panel surface.

[0027] The fire extinguishing assembly also includes a launch chamber 5 located at the bottom of the robot's main body base plate 4. The launch chamber 5 contains a turntable-type ammunition magazine 51, which is connected to the output shaft of a rotary drive motor 53 fixed to the top of the launch chamber 5 via a central rotating shaft 52. Multiple launch holes 54 are evenly distributed along the circumference of the turntable-type ammunition magazine 51. An electromagnetic ejection unit is installed on the top of the launch chamber 5 corresponding to each launch hole 54 of the turntable-type ammunition magazine 51. The electromagnetic ejection unit includes a drive coil 551 fixed to the top of the launch chamber 5, and a component coaxially arranged with the drive coil 551 and partially extending into the drive coil. The ferromagnetic push rod 552 inside the coil 551 has its end pointing towards the axis of the launch port 54. The drive coil 551 is energized by the built-in battery. After the drive coil 551 is energized, it generates a magnetic field, which drives the ferromagnetic push rod 552 to move along its axis, impacting the tail of the fire extinguishing shell and ejecting it from the launch port 54. The axis of the launch port 54 of the turntable shell compartment 51 is coaxial with the axis of the ferromagnetic push rod 552. A return spring 553 is sleeved on the ferromagnetic push rod 552. The two ends of the return spring 553 are respectively connected to the ferromagnetic push rod 552 and the top of the launch compartment 5.

[0028] When it is necessary to launch the fire extinguishing shell 2, the rotary drive motor 53 drives the turntable magazine 51 to rotate via the central shaft 52, causing a launch port 54 already loaded with fire extinguishing shell 52 to rotate to align with the target direction, and the axis of the launch port 54 is precisely coaxial with the axis of the ferromagnetic push rod 552 of the corresponding electromagnetic ejection unit; then, the control circuit connects the power supply circuit of the drive coil 551, and the drive coil 551 generates a strong magnetic field after being energized, driving the ferromagnetic push rod 552 to overcome the elastic force of the return spring 553 and accelerate downward along the axis, hitting the tail of the fire extinguishing shell 2 located in the launch port 54 directly below it, ejecting it downward out of the launch magazine 5; after the drive coil 551 is de-energized, the magnetic field disappears, and the ferromagnetic push rod 552 returns to its initial position under the restoring force of the return spring 553, completing one launch; the turntable magazine 51 can rotate sequentially to the next launch port 54, repeating the above process to achieve continuous launch.

[0029] Furthermore, to ensure that the ferromagnetic push rod 552 can accurately and quickly reset after action to avoid interfering with the next launch, the reset spring 553 is made of non-ferromagnetic, high-strength beryllium bronze. This effectively prevents eddy current effects from generating heat, energy consumption, or magnetization in the reset spring 553 when the drive coil 551 generates a strong pulsed magnetic field, thus ensuring the reliability and response speed of the reset action. Secondly, regarding the energizing mechanism, the drive coil 551 is not directly connected to a conventional power source, but is powered by an independent pulse power module controlled by a communication component. This module can receive commands and release a large instantaneous current pulse to the drive coil 511 within a short time, thereby generating a very strong instantaneous magnetic field to push the push rod 552. This precise pulse control method provides sufficient launch power while preventing the coil from overheating due to prolonged energization.

[0030] It also includes a cableway-type linkage system installed above the mountain photovoltaic power station via several support rods. The cableway linkage system includes a ring track 61 fixedly installed at the top of the support rods. A ring moving ring 62 is slidably arranged inside the ring track 61. A second motor 63 is fixed to the outer wall of the ring track 61 via a support plate. The output shaft of the second motor 63 is connected to a worm gear 631. The outer wall of the ring moving ring 62 is provided with a first tooth 621 that matches the worm gear 631. A ring notch is provided in the middle of the ring track 61, and the first tooth 621 passes through the ring notch and meshes with the worm gear 631. A suspension link 64 spans the inner wall of the annular moving ring 62. A movable lifting assembly is provided on the suspension link 64. The movable lifting assembly includes a gear roller 65 that moves in conjunction with the suspension link 64. The suspension link 64 is provided with a second tooth 641 that matches the gear roller 65. The gear roller 65 is driven to rotate by a third motor. The gear roller 65 is connected to a fixed column 66 through an axle. A winch 67 is fixed inside the fixed column 66. A lifting rope 671 is wound on the winch 67. The other end of the lifting rope 671 is fixed to the top of the cleaning robot 1.

[0031] The cableway-style linkage system is designed to solve the problems of slow response and inability to provide full coverage of traditional fire-fighting equipment caused by the complex terrain, wide distribution of photovoltaic arrays, and narrow passages in mountain photovoltaic power stations. The core function of the system is to build a three-dimensional rapid mobility network for cleaning robots, which is erected above the photovoltaic arrays. This allows the robots to break free from the limitations of rugged terrain and move horizontally in a circular motion and achieve precise positioning on the cableway through suspension. In the event of a fire, the robots can quickly move in a straight line from their high-altitude work position to the fire point, greatly shortening the emergency response time and ensuring that the fire-fighting components can be projected at the optimal angle. This overcomes the fundamental defect of ground robots that need to navigate complex terrain and delay their response, and achieves the ability to quickly and accurately strike fire points throughout the entire site.

[0032] It is worth mentioning that, since different mountain photovoltaic power stations have different sizes, the cableway linkage system and cleaning robots can be set up in sections, that is, the mountain photovoltaic power station is divided into several blocks, and each block is equipped with a corresponding number of these systems. In routine cleaning mode, winch 67 releases lifting rope 671 to lower cleaning robot 1 onto the photovoltaic panel surface. The cleaning robot then autonomously moves across the panel using its tracked drive unit, while the cleaning components perform routine cleaning tasks. When the environmental detection component detects a fire or receives a fire extinguishing command, cleaning robot 1 first returns to directly below the suspension point. Winch 67 then starts, lifting and retracting the robot to the bottom of the fixed post 66. Subsequently, the second motor 63 starts, driving the robot through the meshing of worm gear 631 and first tooth 621. The annular moving ring 62 rotates along the annular track 61, causing the suspension link 64 to move to the shortest straight path between the current position of the cleaning robot 1 and the fire point; then, the third motor drives the gear roller 65 to rotate, which, through meshing with the second tooth 641 on the suspension link 64, drives the fixed column 66 and the suspended cleaning robot 1 to move along the suspension link 64, precisely moving to the airspace directly above the fire point; finally, the cleaning robot 1 adjusts its posture, aims at the fire source through the launch chamber 5 at its bottom, and launches the fire extinguishing bomb 2 to carry out precise fire extinguishing operations.

[0033] Specifically, the movement of the circular moving ring 62 and the response of the cleaning robot 1 are both set by the internal program, and any existing method that can implement this system can be used. The communication components include a mounting box 7 mounted on the robot's main body base plate 4. The mounting box 7 contains a battery module, a programmable controller, and a wireless communication module. The mounting box 7 is equipped with an infrared sensor and a temperature sensor. The battery module is used to provide power. The programmable controller is used to receive instructions and information transmitted by the wireless communication module and the environmental detection component, and to send relevant control instructions to the cableway linkage system and the fire extinguishing component. The wireless communication module is used for remote data transmission.

[0034] The environmental detection component includes a camera 81, an infrared thermal imager, and a transparent protective cover 82, all located in the bottom cavity of the robot's main body base plate 4. The transparent protective cover 82 is fixed to the bottom cavity of the robot's main body base plate 4 by a sealing ring, completely sealing the high-definition visible light camera 81 and the infrared thermal imager inside. A high-pressure air curtain nozzle 83 is provided on the outside of the transparent protective cover 82, and the high-pressure air curtain nozzle 83 is connected to a high-pressure air pump located on the robot's main body base plate 4 via an air pipe. The jet direction of the high-pressure air curtain nozzle 83 forms an acute angle with the front lens surface of the transparent protective cover 82.

[0035] The fire extinguishing assembly includes a water tank installed on the robot's main body base plate 4 and a rotating nozzle 9 installed at the bottom of the robot's main body base plate 4. The rotating nozzle 9 is rotatably mounted at the bottom of the robot's main body base plate 4. The water tank is equipped with a water pump, and the water pump's inlet is connected to a water suction pipe installed in the water tank. The water outlet is connected to the rotating nozzle 9 through a pipe. The cleaning assembly includes a high-pressure water nozzle 91 located at the front end of the cleaning robot 1. The high-pressure water nozzle 91 is connected to the water tank through a pipe, and a scraper 92 is also provided at the front end of the high-pressure water nozzle 91.

[0036] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An integrated system for cleaning and fire protection in mountain photovoltaic power stations, characterized in that: The cleaning robot (1) includes a mobile component, a communication component, an environmental detection component, a cleaning component, and a fire extinguishing component. The communication component is installed on the mobile component and electrically connected to the mobile component, and is used for remote communication and to control the cleaning robot (1) accordingly through the received communication information. An environmental detection component is installed on the mobile component and electrically connected to the communication component. The environmental detection component is used to acquire on-site environmental information. The fire extinguishing component includes a fire extinguishing bomb. The fire extinguishing bomb includes a conductive shell (21) and an internal electrode (22). The head of the internal electrode (22) extends to the outside of the conductive shell (21), and the tail of the internal electrode (22) is insulated from the conductive shell (21) by an insulating fixing seat (23). A short-circuit agent chamber (24) is provided inside the conductive shell (21). Liquid metal is encapsulated inside the short-circuit agent chamber (24). The outlet of the short-circuit agent chamber (24) is sealed by a sealing membrane (26), and the outlet position corresponds to the gap between the tail of the internal electrode (22) and the inner wall of the conductive shell (21). A firing pin (27) is also slidably connected inside the conductive shell (21) by an inertial triggering mechanism. The tip of the firing pin (27) is aligned with the sealing membrane (26).

2. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 1, characterized in that: The inertial triggering mechanism includes a trigger body (31), a firing spring (32), an inertial block (33), and a locking pin (34); a guide rib (211) is fixedly provided on the inner wall of the conductive housing (21), and a guide groove that cooperates with the guide rib (211) is provided on the side of the firing pin (27). The firing pin (27) is installed in the conductive housing (21) through the sliding cooperation between the guide rib (211) and the guide groove; a boss (272) is provided circumferentially on the firing pin (27), and the firing spring (32) is sleeved on the firing pin (27), with both ends of the firing spring (32) connected to the boss (272) on the firing pin (27) and the bottom of the insulating fixing seat (23), respectively; The trigger body (31) is fixed inside the conductive housing (21). The trigger body (31) has a sliding cavity (35) inside. The inertial block (33) is slidably disposed in the sliding cavity (35). A preload spring (36) acts between the bottom of the sliding cavity (35) and the inertial block (33). The side wall of the striker (27) is provided with a limiting protrusion (271), and the side wall of the inertial block (33) is provided with a limiting groove (331). The middle part of the locking pin (34) is rotatably connected to the side wall of the trigger body (31) through a rotating shaft. The inner end of the locking pin (34) is located on one side of the limiting groove (331) of the inertial block (33), and its outer end abuts against the limiting protrusion (271) of the striker (27).

3. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 2, characterized in that: The moving component includes a track drive unit disposed on the robot body base plate (4). A shock absorption unit is provided between the track drive unit and the robot body base plate (4). The drive mechanism includes a track drive unit. The track drive unit is provided in two sets and is arranged in parallel on both sides of the robot body base plate (4). Each set of track drive units is provided with a first motor for driving its individual operation. Each first motor is electrically connected to the communication component.

4. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 3, characterized in that: The fire extinguishing assembly also includes a launch chamber (5) located at the bottom of the robot's main body base plate (4). The launch chamber (5) contains a turntable-type ammunition magazine (51), which is connected to the output shaft of a rotary drive motor (53) fixed on the top of the launch chamber (5) via a central rotating shaft (52). The turntable-type ammunition magazine (51) has multiple launch holes (54) evenly distributed along its circumference. An electromagnetic catapult unit is provided on the top of the launch chamber (5) corresponding to each launch hole (54) of the turntable-type ammunition magazine (51). The electromagnetic catapult unit includes a drive coil (551) fixed on the top of the launch chamber (5) and a part of the drive coil (551) coaxially arranged and extending into the drive coil. The ferromagnetic push rod (552) inside the 551 has its end pointing towards the axis of the launching hole (54). The drive coil (551) is energized by the built-in battery. After the drive coil (551) is energized, it generates a magnetic field, which drives the ferromagnetic push rod (552) to move along its axis, hits the tail of the fire extinguishing bomb, and ejects it from the launching hole (54). The axis of the launching hole (54) of the turntable bomb compartment (51) is coaxial with the axis of the ferromagnetic push rod (552). A return spring (553) is sleeved on the ferromagnetic push rod (552). The two ends of the return spring (553) are respectively connected to the ferromagnetic push rod (552) and the top of the launching compartment (5).

5. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 4, characterized in that: It also includes a cableway-type linkage system set above the mountain photovoltaic power station by several support rods. The cableway-type linkage system includes a ring track (61) fixedly installed at the top of the support rods. A ring moving ring (62) is slidably arranged inside the ring track (61). A second motor (63) is fixed to the outer wall of the ring track (61) by a support plate. The output shaft of the second motor (63) is connected to a worm gear (631). The outer wall of the ring moving ring (62) is provided with a first tooth (621) that matches the worm gear (631). A ring notch is provided in the middle of the ring track (61), and the first tooth (621) passes through the ring notch and meshes with the worm gear (631). A suspension link (64) spans the inner wall of the moving ring (62). A moving lifting assembly is provided on the suspension link (64). The moving lifting assembly includes a gear roller (65) that moves in cooperation with the suspension link (64). The suspension link (64) is provided with a second tooth (641) that matches the gear roller (65). The gear roller (65) is driven to rotate by a third motor. The gear roller (65) is connected to a fixed column (66) through a wheel axle. A winch (67) is fixed inside the fixed column (66). A lifting rope (671) is wound on the winch (67). The other end of the lifting rope (671) is fixed to the top of the cleaning robot (1).

6. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 5, characterized in that: The communication component includes a mounting box (7) mounted on the robot's main body base plate (4). The mounting box (7) contains a battery module, a programmable controller, and a wireless communication module. The mounting box (7) is equipped with an infrared sensor and a temperature sensor. The battery module is used to provide power. The programmable controller is used to receive instructions and information transmitted by the wireless communication module and the environmental detection component, and to send relevant control instructions to the cableway linkage system and the fire extinguishing component. The wireless communication module is used for remote data transmission.

7. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 6, characterized in that: The environmental exploration component includes a camera (81), an infrared thermal imager, and a transparent protective cover (82) disposed in the bottom cavity of the robot's main body base plate (4); the transparent protective cover (82) is fixedly disposed on the bottom cavity of the robot's main body base plate (4) by a sealing ring, completely sealing the high-definition visible light camera (81) and the infrared thermal imager inside it; A high-pressure air curtain nozzle (83) is provided on the outside of the transparent protective cover (82). The high-pressure air curtain nozzle (83) is connected to a high-pressure air pump provided on the robot body base plate (4) through an air pipe. The jet direction of the high-pressure air curtain nozzle (83) forms an acute angle with the front lens surface of the transparent protective cover (82).

8. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 7, characterized in that: The fire extinguishing assembly includes a water tank installed on the robot's main body base plate (4) and a rotating nozzle (9) installed at the bottom of the robot's main body base plate (4). The rotating nozzle (9) is rotatably installed at the bottom of the robot's main body base plate (4). The water tank is equipped with a water pump, and the inlet of the water pump is connected to a water pumping pipe installed in the water tank. The outlet is connected to the rotating nozzle (9) through a pipe. The cleaning assembly includes a high-pressure water nozzle (91) installed at the front end of the cleaning robot (1). The high-pressure water nozzle (91) is connected to the water tank through a pipe, and a scraper (92) is also installed at the front end of the high-pressure water nozzle (91).

9. The integrated cleaning and fire protection system for a mountain photovoltaic power station as described in claim 1, characterized in that: The front end of the conductive outer shell (21) of the fire extinguishing bomb is inlaid with a permanent magnet (28), and the adsorption surface of the permanent magnet (28) protrudes slightly from the top plane of the conductive outer shell (21); a flexible conductive scraper (29) is provided around the front edge of the conductive outer shell (21), and the top surface of the flexible conductive scraper (29) is slightly lower than the adsorption surface of the permanent magnet (28).

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