Cross-row mobile photovoltaic module intelligent cleaning system and method
By combining a tracked power mechanism with a multi-degree-of-freedom adjustment mechanism, precise angle adaptation and full-coverage cleaning of photovoltaic modules are achieved, solving the problem of unsatisfactory cleaning effect of existing equipment in cross-row photovoltaic arrays, and improving cleaning efficiency and stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-11
- Publication Date
- 2026-04-03
AI Technical Summary
Existing photovoltaic module cleaning equipment is difficult to adapt to photovoltaic arrays with different installation tilt angles, and has problems such as many cleaning blind spots, poor movement stability, and insufficient obstacle crossing ability. The cleaning effect is particularly unsatisfactory in photovoltaic power stations with multiple angles across rows.
Employing a tracked power mechanism and a multi-degree-of-freedom adjustment mechanism, combined with an intelligent control system, it achieves precise angle adaptation and full-coverage cleaning of photovoltaic modules. Through a combination of dry and wet cleaning strategies, including the combined use of dust removal rollers and nozzles, and the multi-joint adjustment of the bottom cleaning mechanism, it achieves comprehensive cleaning.
It significantly reduces blind spots in cleaning, improves the adaptability and efficiency of cleaning coverage, reduces the intensity of manual intervention and operation and maintenance costs, and is suitable for large-scale photovoltaic power plants with multi-angle layout.
Smart Images
Figure FT_1 
Figure FT_2 
Figure FT_3
Abstract
Description
Technical Field
[0001] This invention belongs to the field of cleaning system technology, specifically a cross-row mobile photovoltaic module intelligent cleaning system and method. Background Technology
[0002] In the operation and maintenance of photovoltaic power generation systems, dust, snow, and other contaminants on the surface of photovoltaic modules can significantly reduce power generation efficiency. Existing cleaning equipment mostly adopts fixed or simple mobile structures, which are difficult to adapt to photovoltaic arrays with different installation tilt angles, especially in photovoltaic power stations with multiple angles across rows, resulting in many cleaning blind spots.
[0003] Traditional equipment often relies on manual adjustment or a single motor drive, resulting in a limited adjustment range and an inability to achieve precise angle adaptation, leading to unsatisfactory cleaning results. Furthermore, existing equipment suffers from poor stability and obstacle-crossing ability in complex terrain, further limiting its application scope. Photovoltaic module cleaning equipment exhibits significant shortcomings in mobility and bottom cleaning. Traditional equipment largely depends on guide rails or wheels for movement, making it difficult to maneuver flexibly between rows of photovoltaic arrays. Moreover, its bottom cleaning mechanism is often simple in structure and has a small adjustment range, failing to effectively remove accumulated dust. Therefore, there is an urgent need for a photovoltaic module cleaning system that can intelligently adapt to different angles, move stably, and provide comprehensive cleaning coverage. Summary of the Invention
[0004] The purpose of this invention is to provide an intelligent cleaning system and method for cross-row mobile photovoltaic modules, which solves the above-mentioned shortcomings in the prior art.
[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, the present invention provides a cross-row mobile photovoltaic module intelligent cleaning system, comprising a mobile frame, a power mechanism at the bottom of the mobile frame, an adjustment mechanism at the top of the mobile frame, a dust removal mechanism mounted on the adjustment mechanism, and a cleaning mechanism mounted on the dust removal mechanism; a bottom cleaning mechanism is provided on the top side of the mobile frame; and a displacement mechanism is provided on the bottom cleaning mechanism, wherein: The power mechanism is configured to drive the cleaning system to move between photovoltaic arrays and to have obstacle-crossing capability; The adjustment mechanism is configured to adjust the spatial orientation and position of the dust removal mechanism and the cleaning mechanism to adapt to photovoltaic modules with different installation tilt angles; The bottom cleaning mechanism is configured to physically clean the bottom of the photovoltaic module; The displacement mechanism is configured to adjust the position of the bottom cleaning mechanism to achieve more comprehensive bottom cleaning; The dust removal mechanism is configured to perform dry dust removal on the upper surface of the photovoltaic module; The cleaning mechanism is configured to perform wet cleaning on the surface of the photovoltaic module after dust removal.
[0006] Preferably, the adjustment mechanism includes a support base, which is fixed to the top of the movable frame. An electric turntable is provided on the top of the support base. A first drive motor is provided on the electric turntable. The first drive motor drives and connects to a first adjustment arm. A second adjustment arm is movably connected to the first adjustment arm. A fixed mounting bracket is provided at the free end of the second adjustment arm. A second drive motor is provided on the first adjustment arm. The output end of the second drive motor is movably mounted on the second adjustment arm. The dust removal mechanism is mounted on a fixed mounting frame.
[0007] Preferably, the power mechanism includes two track power assemblies, which are respectively arranged on both sides of the bottom of the mobile frame; the track power assembly includes a mobile frame, which is fixed to the side wall of the mobile frame. A first servo motor is fixedly installed on the top of the mobile frame, and the first servo motor drives and connects to a first roller. The mobile frame is also equipped with a second roller and a track wheel assembly, and the second roller, the track wheel assembly and the first roller are connected by track drive.
[0008] Preferably, the bottom cleaning mechanism includes a first fixed base, which is installed on the top of the side wall of the movable frame; the first fixed base is provided with a first electric telescopic rod and a first movable adjusting arm, and the telescopic end of the first electric telescopic rod is movably connected to the first movable adjusting arm; The first movable adjusting arm is movably connected to the second adjusting arm, and the second adjusting arm is movably mounted with the third electric telescopic rod, the telescopic end of the third electric telescopic rod being movably connected to the arc-shaped frame; The first movable adjusting arm is provided with a second electric telescopic rod, and the telescopic end of the second electric telescopic rod is movably connected to the second adjusting arm; A cleaning roller is movably installed in the inner cavity of the arc-shaped frame, and a motor is fixedly connected to one side of the cleaning roller; The displacement mechanism is installed on one side wall of the arc-shaped frame.
[0009] Preferably, the displacement mechanism includes a displacement frame, which is mounted on the bottom cleaning mechanism; a first slide rail is fixed to the bottom of the displacement frame, and a movable bracket is slidably connected to the first slide rail; A first electric telescopic rod is installed on the displacement frame, and the telescopic end of the first electric telescopic rod is movably installed on the movable frame base. The movable frame is equipped with a displacement adjustment component, and the output end of the displacement adjustment component is connected to a cleaning disc.
[0010] Preferably, the displacement adjusting component includes a second slide rail, which is mounted on a movable frame, and a sliding seat is slidably connected to the second slide rail; a first motor and an electric hydraulic cylinder are provided on the sliding seat, a gear is mounted on the output shaft of the first motor, the gear is meshed with a gear rack, and the gear rack is fixed on the second slide rail; The output end of the electric hydraulic cylinder is fixed with a second motor, and a cleaning disc is movably mounted on the output shaft of the second motor.
[0011] Preferably, the dust removal mechanism includes a backing plate, which is fixedly mounted on an adjustment mechanism; two slides are fixedly mounted on one end face of the backing plate, and electric sliding seats are slidably connected to the two slides. The electric sliding seat has a fixed plate on top and a horizontal frame on the bottom. Two servo motors are fixedly connected to one side of the horizontal frame, and each servo motor drives a dust removal roller.
[0012] Preferably, the mechanism includes a first telescopic rod, which is mounted on a fixed plate in the dust removal mechanism; connecting frames are movably mounted on the top and bottom of the fixed plate; the free end of the first telescopic rod is movably connected to the connecting frame. A second telescopic rod is provided on the top of the connecting frame placed at the top. The free end of the second telescopic rod is movably connected to a cleaning device frame. The cleaning device frame is equipped with two third telescopic rods. The telescopic end of each third telescopic rod is movably connected to a locking frame. Multiple nozzles are fixed on the locking frame.
[0013] Preferably, it further includes an intelligent control mechanism, which comprises a wireless signal receiving module, a signal transmission module, a PLC controller, a data storage module, and a GPS positioning module, wherein: The wireless signal receiving module is used to receive external control commands; The signal transmission module is used to transmit control signals and status data; The PLC controller is used to control the coordinated actions of each actuator according to instructions and stored operating parameters; The data storage module is used to store photovoltaic array layout information, operating parameters, and historical operation data; The GPS positioning module is used to obtain the location information of the cleaning equipment in real time and match it with a preset path for navigation.
[0014] Secondly, the present invention provides an intelligent cleaning method for cross-row mobile photovoltaic modules, comprising the following steps: The cleaning equipment is driven by a power mechanism to move between the photovoltaic arrays; The spatial orientation of the dust removal and cleaning mechanisms is adjusted by a regulating mechanism to accommodate photovoltaic modules with different installation tilt angles; The upper surface of the photovoltaic module is dry-cleaned using a dust removal mechanism; The surface of the photovoltaic modules is wet-cleaned using a cleaning facility; The bottom of the photovoltaic module is cleaned using a bottom cleaning mechanism.
[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a cross-row mobile intelligent cleaning system for photovoltaic modules. By integrating a tracked power mechanism and a multi-degree-of-freedom adjustment mechanism, the system effectively solves the key problems of traditional cleaning equipment, such as poor mobility between complex photovoltaic arrays, insufficient obstacle-crossing ability, and inability to adapt to modules with different installation tilt angles. The tracked drive structure provides good ground adhesion and stability, enabling it to move autonomously and cross obstacles in power plant environments with cross-row layouts and uneven ground. The adjustment mechanism, consisting of an electric turntable, drive motor, and multi-section adjusting arms, can achieve horizontal rotation, pitch adjustment, and end-effector fine-tuning, precisely attaching the dust removal and cleaning mechanism to the surface of modules at different tilt angles, significantly reducing cleaning blind spots and improving the adaptability of cleaning coverage. Simultaneously, this system adopts a dual cleaning strategy of "combined dry and wet cleaning of the upper surface" and "expandable cleaning of the bottom." The upper surface is first cleaned by a dust removal roller to remove floating dust, and then rinsed by an adjustable nozzle, resulting in high cleaning efficiency and avoiding secondary pollution. The bottom utilizes a cleaning mechanism with multi-joint adjustment and a displacement mechanism with bidirectional longitudinal and lateral movement capabilities to achieve comprehensive cleaning of the hard-to-reach areas at the bottom of the modules, overcoming the limitations of traditional equipment in terms of limited cleaning range and poor results. In summary, under the unified scheduling of an intelligent control mechanism, this invention enables GPS-based path planning, remote command reception, and automated operation, significantly reducing the intensity of manual intervention and maintenance costs. Overall, it constitutes a mobile, flexible, adaptable, comprehensive, and highly automated intelligent cleaning solution for photovoltaic modules, particularly suitable for the daily maintenance of large-scale, multi-angle photovoltaic power plants, demonstrating outstanding practical value and promising prospects for widespread application. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the structure involved in an embodiment of the present invention; Figure 2 This is one of the structural schematic diagrams involved in the embodiments of the present invention; Figure 3 This is a schematic diagram of the adjustment mechanism structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the bottom cleaning mechanism structure according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the displacement mechanism structure involved in an embodiment of the present invention; Figure 6 This is a schematic diagram of the dust removal mechanism structure according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the cleaning mechanism structure according to an embodiment of the present invention; The components include: 1. Moving frame; 2. Adjustment mechanism; 201. Support base; 202. Electric turntable; 203. First drive motor; 204. First adjustment seat; 205. First adjustment arm; 206. Second drive motor; 207. Second adjustment arm; 208. Fixed mounting bracket; 3. Power mechanism; 301. Moving frame; 302. First servo motor; 303. First roller; 304. Second roller; 305. Triangular frame; 306. Track wheel; 307. Track; 4. Bottom cleaning mechanism; 401. First fixed seat; 402. First electric telescopic rod; 403. First movable adjustment arm; 404. Motor; 405. Second electric telescopic rod; 406. Second adjustment arm; 407. Third electric telescopic rod; 408. Arc frame; 409. Cleaning roller; 5. Displacement mechanism; 501. Displacement frame; 50 2. First slide rail; 503. Movable frame; 504. First electric telescopic rod; 505. Sliding seat; 506. Gear; 507. First motor; 508. Electric hydraulic cylinder; 509. Second motor; 5010. Sweeping disc; 6. Dust removal mechanism; 601. Backing plate; 602. Slide frame; 603. Electric sliding seat; 604. Fixed plate seat; 605. Horizontal frame; 606. Servo motor; 607. Dust removal roller; 7. Cleaning mechanism; 701. First telescopic rod; 702. Connecting frame; 703. Second telescopic rod; 704. Cleaning device frame; 705. Third telescopic rod; 706. Clamping frame; 707. Nozzle; 8. Intelligent control mechanism; 801. Wireless signal receiving module; 802. Signal transmission module; 803. PLC controller; 804. Data storage module; 805. GPS positioning module. Detailed Implementation
[0017] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0018] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.
[0019] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.
[0020] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."
[0021] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0022] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.
[0023] Example 1 like Figures 1-7 As shown in the figure, the present embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system, including a mobile frame 1, a power mechanism 3 at the bottom of the mobile frame 1, an adjustment mechanism 2 at the top of the mobile frame 1, and a bottom cleaning mechanism 4 at the top side of the mobile frame 1.
[0024] A displacement mechanism 5 is installed on the bottom cleaning mechanism 4.
[0025] A dust removal mechanism 6 is installed on the adjustment mechanism 2, a cleaning mechanism 7 is provided on one side of the dust removal mechanism 6, and an intelligent control mechanism 8 is provided on the top of the moving frame 1.
[0026] The power mechanism 3 is configured to drive the entire system to move autonomously between photovoltaic arrays and has obstacle-crossing capability; The adjustment mechanism 2 is configured to adjust the spatial orientation and position of the dust removal mechanism 6 and the cleaning mechanism 7 to adapt to photovoltaic modules with different installation tilt angles; The bottom cleaning mechanism 4 is configured to physically clean the bottom of the photovoltaic module; The displacement mechanism 5 is configured to adjust the position of the bottom cleaning mechanism 4 to achieve more comprehensive bottom cleaning; The dust removal mechanism 6 is configured to perform dry dust removal on the upper surface of the photovoltaic module; The cleaning mechanism 7 is configured to perform wet cleaning on the surface of the photovoltaic module after dust removal.
[0027] Example 2 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system. The adjustment mechanism 2 includes a support base 201 fixedly connected to the top of the mobile frame 1. An electric turntable 202 is fixedly connected to the top of the support base 201. A first drive motor 203 is fixedly connected to one side of the electric turntable 202. A first adjustment seat 204 is fixedly connected to the transmission end of the first drive motor 203. A first adjustment arm 205 is provided on one side of the first adjustment seat 204. A second drive motor 206 is fixedly connected to one end of the first adjustment arm 205. A second adjustment arm 207 is movably connected to the transmission end of the second drive motor 206. A fixed mounting bracket 208 is provided at one end of the second adjustment arm 207.
[0028] In practical use, when the dust removal mechanism 6 is cleaning the photovoltaic modules, in order to facilitate cleaning of photovoltaic modules at different angles, the angle of the dust removal mechanism 6 is adjusted by the set adjustment mechanism 2 to remove dust from the photovoltaic modules. The rotation of the electric turntable 202 on the support base 201 drives the first drive motor 203 to rotate, which in turn drives the first adjustment seat 204 to adjust, thereby facilitating the angle adjustment of the first adjustment arm 205. The rotation of the second drive motor 206 facilitates the adjustment of the second adjustment arm 207, thereby facilitating the adjustment of the fixed mounting bracket 208 to the dust removal mechanism 6, making it convenient to clean the photovoltaic modules.
[0029] Example 3 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system, wherein the power mechanism 3 includes two track power components, which are respectively fixed on both sides of the bottom of the mobile frame 1.
[0030] Each tracked power assembly includes a movable frame 301, which is fixed to the side wall of the movable frame 1.
[0031] The top of the mobile frame 301 is fixedly connected to a first servo motor 302, the transmission end of the first servo motor 302 is fixedly connected to a first roller 303, the other end of the mobile frame 301 is provided with a second roller 304, and the bottom end of the mobile frame 301 is provided with two tripods 305, each of which is movably connected to a track wheel 306 at both ends.
[0032] The track wheel 306, the second roller 304 and the first roller 303 are connected by a track 307.
[0033] In practical use, when performing intelligent cleaning of cross-row mobile photovoltaic modules, the cleaning equipment needs to be moved to facilitate cleaning and dust removal of each photovoltaic panel. The rotation of the first servo motor 302 on the mobile frame 301 drives the first roller 303 to rotate, which in turn facilitates the rotation of the track 307. The rotation of the track 307 causes the track wheel 306 on the tripod 305 to rotate, while the second roller 304 cooperates to facilitate movement and make it convenient for mobile cleaning.
[0034] Example 4 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system. The bottom cleaning mechanism 4 includes a first fixed seat 401 fixedly connected to one side of the mobile frame 1. A first electric telescopic rod 402 is movably connected to one side of the free end of the first fixed seat 401. A first movable adjusting arm 403 is movably connected to the other side of the free end of the first fixed seat 401.
[0035] The telescopic end of the first electric telescopic rod 402 is movably connected to the top of the first movable adjusting arm 403, the bottom end of the first movable adjusting arm 403 is movably connected to the second electric telescopic rod 405, and the telescopic end of the second electric telescopic rod 405 is movably connected to the second adjusting arm 406; the free end of the first movable adjusting arm 403 and the second adjusting arm 406 are movably connected.
[0036] A third electric telescopic rod 407 is movably connected to one side wall of the middle part of the second adjusting arm 406. An arc frame 408 is movably connected to the telescopic end of the third electric telescopic rod 407. A cleaning roller 409 is provided on the inner side wall of the arc frame 408. The cleaning roller 409 is movably connected to the arc frame. A motor 404 is driven to one side of the cleaning roller 409.
[0037] In practical use, when cleaning the bottom of the photovoltaic module, the first electric telescopic rod 402, which is movably connected to one side of the first fixed base 401, drives the first movable adjusting arm 403 to adjust its angle. During the adjustment of the first movable adjusting arm 403, the second electric telescopic rod 405 can be moved and adjusted. The extension and retraction of the second electric telescopic rod 405 drives the second adjusting arm 406. At the same time, the third electric telescopic rod 407 extends and retracts, which drives the arc frame 408 to adjust its angle. This facilitates the cleaning roller 409 to clean and remove dust along the bottom of the photovoltaic module.
[0038] Example 5 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system. The displacement mechanism 5 includes a displacement frame 501 fixedly connected to one side of the arc-shaped frame 408. The bottom ends of the displacement frame 501 are fixedly connected to the two sides of the bottom end of the first slide rail 502. The bottom end of the first slide rail 502 is limited to slide by a movable frame 503. The movable frame 503 is fixedly connected to one side of the movable frame 503. The first electric telescopic rod 504 is fixed on the displacement frame 501.
[0039] A second slide rail is fixedly connected to one side of the movable frame 503, a sliding seat 505 is slidably connected to one side of the second slide rail, a gear rack is fixedly connected to one side of the second slide rail 503, a gear 506 is meshed with the outer side of the gear rack, a first motor 507 is fixedly connected to one side of the gear 506, an electric hydraulic cylinder 508 is fixedly connected to one side of the sliding seat 505, a second motor 509 is fixedly connected to the top of the electric hydraulic cylinder 508, and a cleaning disc 5010 is fixedly connected to the transmission end of the second motor 509.
[0040] In practical use, when cleaning the bottom of the photovoltaic module, the extension and retraction of the first electric telescopic rod 504 pushes the movable frame 503 to slide back and forth on the first slide rail 502. This causes the movable frame 503 on the first slide rail 502 to drive the cleaning disc 5010 to move back and forth. Then, the rotation of the first motor 507 drives the gear 506 to rotate, so that the gear 506 meshes with the gear rack during rotation, causing the sliding seat 505 to slide left and right. The extension and retraction of the electric hydraulic cylinder 508 facilitates the cleaning disc 5010 to clean the bottom of the photovoltaic module.
[0041] Example 6 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system. The dust removal mechanism 6 includes a backing plate 601 fixedly connected to one side of a fixed mounting bracket 208. Two slides 602 are fixedly connected to one side of the backing plate 601. An electric sliding seat 603 is slidably connected to the slides 602. A fixed plate seat 604 is fixedly connected to the top of the electric sliding seat 603. A cleaning mechanism 7 is installed on the fixed plate seat 604.
[0042] The bottom end of the electric sliding seat 603 is fixedly connected to a horizontal frame 605. Two servo motors 606 are fixedly connected to one side of the horizontal frame 605. A dust removal roller 607 is fixedly connected to the transmission end of each servo motor 606.
[0043] In practical use, when cleaning the top of the photovoltaic module, the electric sliding seat 603 at the top of the slide 602 slides electrically, which facilitates the movement of the fixed plate 604 back and forth. During the movement of the fixed plate 604, the dust removal roller 607 at the bottom rolls back and forth. During the cleaning process on the photovoltaic module, the servo motor 606 rotates to drive the dust removal roller 607 to clean and remove dust from the photovoltaic module.
[0044] Example 7 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system. The cleaning mechanism 7 includes a first telescopic rod 701 movably connected to both sides of a fixed base 604. The top and bottom of the fixed base 604 are movably connected to connecting frames 702. The free end of the first telescopic rod 701 is movably connected to the two connecting frames 702.
[0045] The top of the connecting frame 702 is movably mounted with a second telescopic rod 703. One end of the second telescopic rod 703 is movably connected to a cleaning device frame 704. The bottom sides of the cleaning device frame 704 are movably connected with third telescopic rods 705. The telescopic end of each third telescopic rod 705 is movably connected to a locking frame 706. Several nozzles 707 are fixedly mounted at the bottom end of the locking frame 706.
[0046] In practical use, when cleaning photovoltaic modules, the extension and retraction of the first telescopic rod 701 facilitates the adjustment of the connecting frame 702. Simultaneously, the second telescopic rod 703 extends and retracts, facilitating the angle adjustment of the cleaning device frame 704. The extension and retraction of the third telescopic rod 705 at the bottom of the cleaning device frame 704 facilitates the engagement adjustment of the locking frame 706. The angle of the rinsing water is adjusted by regulating the spray nozzle 707.
[0047] Example 8 Based on Embodiment 1, this embodiment provides a cross-row mobile photovoltaic module intelligent cleaning system. The intelligent control mechanism 8 includes a wireless signal receiving module 801, a signal transmission module 802 on one side of the wireless signal receiving module 801, a PLC controller 803 on one side of the signal transmission module 802, a data storage module 804 on one side of the PLC controller 803, and a GPS positioning module 805 on one side of the data storage module 804.
[0048] In practical use, this embodiment facilitates the transmission or reception of signals from the photovoltaic module cleaning equipment through the wireless signal receiving module 801 and the signal transmission module 802. The PLC controller 803 controls and analyzes the data of the photovoltaic module cleaning equipment, and the GPS positioning module 805 controls the position of the photovoltaic module cleaning equipment, enabling the photovoltaic module cleaning equipment to move and clean the photovoltaic modules.
[0049] Example 9 This embodiment provides an intelligent cleaning method for cross-row mobile photovoltaic modules, characterized by the following steps: The cleaning equipment is driven by a power mechanism to move between the photovoltaic arrays; The spatial orientation of the dust removal and cleaning mechanisms is adjusted by a regulating mechanism to accommodate photovoltaic modules with different installation tilt angles; The upper surface of the photovoltaic module is dry-cleaned using a dust removal mechanism; The surface of the photovoltaic modules is wet-cleaned using a cleaning facility; The bottom of the photovoltaic module is cleaned using a bottom cleaning mechanism.
[0050] Example 10 Based on Example 9, this example provides a smart cleaning method for cross-row mobile photovoltaic modules, including the following steps: First, after the system starts, the intelligent control mechanism 8 obtains the real-time location information of the cleaning equipment through the GPS positioning module 805, and moves according to the preset photovoltaic array layout map. The wireless signal receiving module 801 receives instructions from the control terminal, and the signal transmission module 802 transmits the instructions to the PLC controller 803. The PLC controller 803 sends control signals to each actuator according to the received instructions and the operating parameters stored in the data storage module 804, driving them to work according to the set program. Then, the power mechanism 3 executes the overall movement and obstacle-crossing functions of the system. The first servo motor 302 drives the first roller 303 to rotate, which in turn drives the second roller 304 and track wheel 306 to move synchronously through the track 307, realizing the cross-row movement of the equipment between photovoltaic arrays. The tripod 305 and track 307 structure improve the equipment's adaptability to uneven ground, ensuring its stable movement between multiple rows of photovoltaic modules; The adjustment mechanism 2 makes adaptive adjustments based on the actual installation angle of the photovoltaic modules. The electric turntable 202 drives the first drive motor 203 and the first adjustment seat 204 to rotate horizontally to accommodate the lateral arrangement of the modules; the first drive motor 203 drives the first adjustment arm 205 to adjust the pitch angle; the second drive motor 206 fine-tunes the posture of the dust removal mechanism 6 via the second adjustment arm 207, ensuring that the dust removal roller 607 remains in contact with the surface of the photovoltaic modules. This adjustment process is executed according to pre-input angle parameters, ensuring coverage of module surfaces at different tilt angles. The dust removal mechanism 6 moves back and forth on the carriage 602 via an electric sliding seat 603, causing the dust removal roller 607 to roll along the surface of the photovoltaic module. A servo motor 606 drives the dust removal roller 607 to rotate, removing surface dust. After dust removal, the cleaning mechanism 7 performs a spray washing operation. Through the coordinated actions of the first telescopic rod 701, the second telescopic rod 703, and the third telescopic rod 705, the attitude and position of the nozzle 707 are adjusted to rinse the module surface. The bottom cleaning mechanism 4, through the linkage of the first electric telescopic rod 402, the first movable adjusting arm 403, the second electric telescopic rod 405, the second adjusting small arm 406, and the third electric telescopic rod 407, adjusts the cleaning roller 409 to the bottom of the assembly and performs rolling cleaning. The displacement mechanism 5 further expands the bottom cleaning range. The first electric telescopic rod 504 pushes the movable frame 503 to move back and forth along the first slide rail 502. At the same time, the gear 506, driven by the rack, causes the sliding seat 505 to move laterally, so that the cleaning disc 5010 fully covers the bottom area of the assembly.
[0051] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.
Claims
1. A cross-row mobile intelligent cleaning system for photovoltaic modules, characterized in that, The system includes a movable frame, a power mechanism at its bottom, an adjustment mechanism at its top, a dust removal mechanism mounted on the adjustment mechanism, and a cleaning mechanism mounted on the dust removal mechanism; a bottom cleaning mechanism is located on the top side of the movable frame; and a displacement mechanism is mounted on the bottom cleaning mechanism, wherein: The power mechanism is configured to drive the cleaning system to move between photovoltaic arrays and to have obstacle-crossing capability; The adjustment mechanism is configured to adjust the spatial orientation and position of the dust removal mechanism and the cleaning mechanism to adapt to photovoltaic modules with different installation tilt angles; The bottom cleaning mechanism is configured to physically clean the bottom of the photovoltaic module; The displacement mechanism is configured to adjust the position of the bottom cleaning mechanism to achieve more comprehensive bottom cleaning; The dust removal mechanism is configured to perform dry dust removal on the upper surface of the photovoltaic module; The cleaning mechanism is configured to perform wet cleaning on the surface of the photovoltaic module after dust removal.
2. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, The adjustment mechanism includes a support base, which is fixed to the top of the movable frame. An electric turntable is provided on the top of the support base. A first drive motor is provided on the electric turntable. The first drive motor drives and connects to a first adjustment arm. A second adjustment arm is movably connected to the first adjustment arm. A fixed mounting bracket is provided at the free end of the second adjustment arm. A second drive motor is provided on the first adjustment arm. The output end of the second drive motor is movably mounted on the second adjustment arm. The dust removal mechanism is mounted on a fixed mounting frame.
3. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, The power mechanism includes two tracked power units, which are respectively arranged on both sides of the bottom of the mobile frame; each tracked power unit includes a mobile frame, which is fixed to the side wall of the mobile frame. A first servo motor is fixedly installed on the top of the mobile frame, and the first servo motor drives and connects to a first roller. The mobile frame is also equipped with a second roller and a track wheel assembly, and the second roller, the track wheel assembly and the first roller are connected by track drive.
4. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, The bottom cleaning mechanism includes a first fixed base, which is installed on the top of the side wall of the movable frame; the first fixed base is provided with a first electric telescopic rod and a first movable adjusting arm, and the telescopic end of the first electric telescopic rod is movably connected to the first movable adjusting arm. The first movable adjusting arm is movably connected to the second adjusting arm, and the second adjusting arm is movably mounted with the third electric telescopic rod, the telescopic end of the third electric telescopic rod being movably connected to the arc-shaped frame; The first movable adjusting arm is provided with a second electric telescopic rod, and the telescopic end of the second electric telescopic rod is movably connected to the second adjusting arm; A cleaning roller is movably installed in the inner cavity of the arc-shaped frame, and a motor is fixedly connected to one side of the cleaning roller; The displacement mechanism is installed on one side wall of the arc-shaped frame.
5. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, The displacement mechanism includes a displacement frame, which is mounted on the bottom cleaning mechanism; a first slide rail is fixed to the bottom of the displacement frame, and a movable frame is slidably connected to the first slide rail. A first electric telescopic rod is installed on the displacement frame, and the telescopic end of the first electric telescopic rod is movably installed on the movable frame base. The movable frame is equipped with a displacement adjustment component, and the output end of the displacement adjustment component is connected to a cleaning disc.
6. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 5, characterized in that, The displacement adjusting component includes a second slide rail, which is mounted on a movable frame. A sliding seat is slidably connected to the second slide rail. A first motor and an electric hydraulic cylinder are provided on the sliding seat. A gear is mounted on the output shaft of the first motor. The gear meshes with a gear rack, which is fixed to the second slide rail. The output end of the electric hydraulic cylinder is fixed with a second motor, and a cleaning disc is movably mounted on the output shaft of the second motor.
7. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, The dust removal mechanism includes a back plate, which is fixedly installed on the adjustment mechanism; two slides are fixedly installed on one end face of the back plate, and electric sliding seats are slidably connected to the two slides; The electric sliding seat has a fixed plate on top and a horizontal frame on the bottom. Two servo motors are fixedly connected to one side of the horizontal frame, and each servo motor drives a dust removal roller.
8. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, The mechanism includes a first telescopic rod, which is mounted on a fixed plate in the dust removal mechanism; connecting frames are movably mounted on the top and bottom of the fixed plate; the free end of the first telescopic rod is movably connected to the connecting frame. A second telescopic rod is provided on the top of the connecting frame placed at the top. The free end of the second telescopic rod is movably connected to a cleaning device frame. The cleaning device frame is equipped with two third telescopic rods. The telescopic end of each third telescopic rod is movably connected to a locking frame. Multiple nozzles are fixed on the locking frame.
9. The intelligent cleaning system for cross-row mobile photovoltaic modules according to claim 1, characterized in that, It also includes an intelligent control mechanism, which comprises a wireless signal receiving module, a signal transmission module, a PLC controller, a data storage module, and a GPS positioning module, wherein: The wireless signal receiving module is used to receive external control commands; The signal transmission module is used to transmit control signals and status data; The PLC controller is used to control the coordinated actions of each actuator according to instructions and stored operating parameters; The data storage module is used to store photovoltaic array layout information, operating parameters, and historical operation data; The GPS positioning module is used to obtain the location information of the cleaning equipment in real time and match it with a preset path for navigation.
10. A method for intelligent cleaning of cross-row mobile photovoltaic modules, characterized in that, Includes the following steps: The cleaning equipment is driven by a power mechanism to move between the photovoltaic arrays; The spatial orientation of the dust removal and cleaning mechanisms is adjusted by a regulating mechanism to accommodate photovoltaic modules with different installation tilt angles; The upper surface of the photovoltaic module is dry-cleaned using a dust removal mechanism; The surface of the photovoltaic modules is wet-cleaned using a cleaning facility; The bottom of the photovoltaic module is cleaned using a bottom cleaning mechanism.