Overwater photovoltaic power station cleaning robot cross-row transfer system and method

Abstract

The invention relates to the technical field of water photovoltaic array cleaning, and discloses a water photovoltaic power station cleaning robot cross-row transfer system and method. Comprising an overwater photovoltaic array, a transfer executing mechanism, a cleaning robot, a lifting unit and a traction control mechanism. The overwater photovoltaic array comprises a plurality of rows of photovoltaic panels which are arranged in parallel, and linear channels penetrating through the lower portions of the rows of photovoltaic panels are formed in the overwater photovoltaic array; the transfer executing mechanism is used for bearing the cleaning robot and can move between the rows of the water photovoltaic array along the linear channel; the device and the method are used for solving the technical problems that an existing fixing facility is high in construction cost and poor in flexibility, and an operation and maintenance ship and the like are affected by environmental factors such as water flow and stormy waves, so that the positioning precision is low, the transfer stability is poor and the operation efficiency is low. The reliability and the safety of operation in a complex water area environment are remarkably improved, and the operation efficiency and the cost control are effectively considered.

Description

Technical Field

[0001] This invention relates to the field of cleaning technology for floating photovoltaic arrays, and more specifically, to a system for transporting cleaning robots across rows in a floating photovoltaic power station and a method for transporting cleaning robots across rows in a floating photovoltaic power station. Background Technology

[0002] With the development of clean energy, the scale of floating photovoltaic power stations is expanding daily. To maintain the high power generation efficiency of photovoltaic panels, they need to be cleaned regularly. Using automated cleaning robots to replace manual maintenance has become an important trend in the industry to improve efficiency and ensure safety. However, floating photovoltaic arrays typically consist of multiple rows of photovoltaic panels. After cleaning a single row, the cleaning robot needs to cross waterways or mudflats to move to an adjacent row to continue its work. This "cross-row transfer" is the main technical obstacle to achieving fully automated operation and maintenance.

[0003] Currently, there are two main technical solutions to this problem. The first type uses simple maintenance vessels or modified ships for transport. This type of solution is significantly affected by water flow and waves, making vessel positioning difficult, resulting in low docking accuracy. It also relies on manual operation, leading to poor safety and low efficiency. The second type of solution attempts to construct fixed infrastructure, such as erecting tracks or trestle bridges between arrays. While this type of solution provides a stable path, it is costly to construct and cannot flexibly adapt to the different spacing, water level changes, and complex terrain of different power plants, resulting in poor versatility. In addition, there are some existing automation attempts, such as the intelligent cleaning vessel for centralized photovoltaic power plants on water disclosed in utility model patent CN220518530U, which uses onboard sensors and a power system for autonomous navigation and docking. However, this solution still relies on the vessel's own positioning and control capabilities in a dynamic water environment. Under continuous wind and wave interference, it suffers from positioning drift, delayed correction, and insufficient docking stability, affecting the reliability and efficiency of actual operations.

[0004] In summary, existing technologies generally suffer from poor environmental adaptability, insufficient positioning accuracy and stability, and difficulty in balancing efficiency and cost. Therefore, there is an urgent need for a new system and method that can achieve stable, accurate, and efficient cross-row transport of cleaning robots in complex aquatic environments. Summary of the Invention

[0005] The present invention aims to overcome at least one of the defects of the prior art and provide a cross-row transfer system for cleaning robots in floating photovoltaic power stations. This system addresses the technical problems of high construction costs and poor flexibility of existing fixed facilities, as well as the low positioning accuracy, poor transfer stability, and low operating efficiency caused by environmental factors such as water flow and waves affecting maintenance vessels.

[0006] The technical solution adopted by this invention is a cross-row transfer system for cleaning robots in a floating photovoltaic power station, comprising: a floating photovoltaic array, a transfer execution mechanism, a cleaning robot, a lifting unit, and a traction control mechanism; the floating photovoltaic array includes multiple rows of parallel photovoltaic panels, with a straight channel running through the bottom of each row of photovoltaic panels; the transfer execution mechanism carries the cleaning robot and can move along the straight channel between rows of the floating photovoltaic array; the lifting unit is connected to the transfer execution mechanism and drives the transfer execution mechanism to rise and fall, so that the transfer execution mechanism can dock with the target row of photovoltaic panels for the transfer of the cleaning robot; the traction control mechanism includes traction devices respectively fixedly installed on both sides of the floating photovoltaic array, the traction devices being connected to the transfer execution mechanism through traction ropes, and controlling the movement and positioning of the transfer execution mechanism within the straight channel by coordinating the raising and lowering of the traction ropes.

[0007] This invention provides a systematic solution for transporting a floating photovoltaic cleaning robot. By pre-setting a straight channel running under each row of photovoltaic panels within the floating photovoltaic array, and setting up a transport actuator controlled by shore-based traction devices (such as winches) on both sides, a restricted but precise movement path is creatively constructed, fundamentally avoiding the problem of autonomous positioning drift caused by water flow and waves. The traction device can actively and precisely control the movement and stopping of the transport actuator within the channel by extending and retracting the traction rope, achieving precise positioning. At the same time, the vertical component of the rope also helps to suppress the vertical sway of the hull or platform, significantly improving the stability, safety, and operational efficiency of the cleaning robot in cross-row transport in complex aquatic environments.

[0008] Furthermore, the lifting unit includes two tracked lifting and transfer vehicles respectively installed on both sides of the shore and arranged opposite each other. A cableway is erected between the two tracked lifting and transfer vehicles, and the transfer actuator is a cableway transfer vehicle installed on the cableway. The tracked lifting and transfer vehicles are configured to drive the cableway synchronously to raise and lower the cableway transfer vehicles. This scheme, combining tracked lifting and transfer vehicles with cableway transfer vehicles, creatively integrates lifting functions into fixed equipment at both ends. The cableway forms a fixed spatial trajectory unaffected by water level changes, and the tracked lifting and transfer vehicles move precisely and uniquely along its path. This scheme has relatively controllable construction costs, a robust structure, and convenient maintenance, making it particularly suitable for large-scale floating photovoltaic power stations with relatively regular terrain and minimal water level changes, achieving highly efficient and reliable automated transfer.

[0009] Furthermore, the tracked lifting transfer vehicle includes a base, a scissor lift mounted on the base, and a support platform mounted on top of the scissor lift. This structural design achieves stability and controllability in height adjustment. The scissor lift structure has good rigidity, providing smooth lifting movement for the support platform. The support platform can directly serve as the initial support and docking transition area for the cleaning robot, simplifying the system structure.

[0010] Furthermore, one end of the carrying platform is hinged to the top of one side of the scissor lift, and the tracked lifting transfer vehicle also includes a drive unit, which is used to drive the carrying platform to rotate around the hinge point to adjust its tilt angle. This is for smooth docking with the cableway transfer vehicle.

[0011] Furthermore, the base is equipped with retractable support legs. The tracked chassis and retractable support legs ensure strong adaptability and excellent stability during operation on unpaved surfaces such as mudflats and shallow water areas.

[0012] Furthermore, the traction device is a winch mounted on a tracked lifting and transfer vehicle. The winch is equipped with a traction rope, the free end of which is fixedly connected to the cableway transfer vehicle. As a mature and reliable power component, the winch provides stable and precisely controllable traction force. This design ensures that the movement of the cableway transfer vehicle on the cableway is completely controlled by the synchronous winding and unwinding of the winches on both sides. The movement path is precise, the speed is controllable, and it is easy to achieve automated programming control, further improving the accuracy and efficiency of transfer positioning.

[0013] Furthermore, the transfer execution mechanism is a transfer platform, which is installed on a transfer vessel; the traction control mechanism includes two winches, each fixedly installed on the shore on both sides of the floating photovoltaic array. Each winch is equipped with a traction rope, which is fixedly connected to the bow and stern of the transfer vessel. This scheme, combining the transfer vessel with shore-based traction, fully utilizes the vessel's natural buoyancy and maneuverability. Crucially, it abandons the traditional autonomous propulsion and positioning mode, replacing it with "cable traction" by fixed winches on both shores. This design allows the transfer vessel's lateral position and speed to be fully controlled by the shore system during cross-row movement, completely overcoming the inherent weakness of the vessel itself in resisting wind, waves, and current interference during dynamic positioning.

[0014] Furthermore, the transfer vessel includes a hull, the lifting unit is a second scissor lift mounted on the hull, and the transfer platform is mounted on top of the second scissor lift. The scissor lift mechanism has the advantages of smooth lifting, high load-bearing capacity, and compact structure, making it very suitable for deployment on the limited space of a ship's deck. Its vertical lifting motion is key to achieving precise docking between the transfer platform and photovoltaic panels at different heights above the water surface, ensuring accurate height matching.

[0015] Furthermore, the cleaning robot has the ability to move laterally and longitudinally on the photovoltaic panel plane. This ensures that the cleaning robot can autonomously complete a full-coverage cleaning operation on a single row of photovoltaic panels and can autonomously navigate to a fixed docking position with the transfer actuator. Together with this transfer system, it forms a complete operation and maintenance closed loop that seamlessly connects "autonomous operation of the cleaning robot" and "intelligent transfer by the system," which is a core prerequisite for ultimately achieving fully automated cleaning.

[0016] A method for cross-row transport of cleaning robots for floating photovoltaic power stations includes the following steps: S1: Load the cleaning robot onto the transfer actuator; S2: The traction control mechanism coordinates the release and retraction of the traction rope to drive the transfer execution mechanism carrying the cleaning robot to move along the straight channel to the predetermined docking position in front of the first row of target photovoltaic panels; then, driven by the lifting unit, the transfer execution mechanism is raised to the docking height that matches the edge of the first row of target photovoltaic panels to complete the docking. S3: The cleaning robot moves from the docked transfer actuator to the target photovoltaic panel and performs cleaning operations; after the operation is completed, the cleaning robot returns autonomously and rests on the transfer actuator. S4: Driven by the lifting unit, the transfer actuator and the cleaning robot on it descend together until the highest point of the cleaning robot is lower than the lowest point of the current row of photovoltaic panels, making room for cross-row movement; S5: The traction control mechanism coordinates the release and retraction of the traction rope to drive the transfer actuator to move along the straight channel to the docking position of the next row of target photovoltaic panels; then, the lifting unit drives the transfer actuator to be raised to the docking height that matches the edge of the row of target photovoltaic panels, thus completing the docking. S6: Repeat steps S3 to S5 to allow the cleaning robot to clean each row of photovoltaic panels in the water photovoltaic array in turn. S7: After the cleaning robot completes cleaning the last row of photovoltaic panels and returns to the transfer actuator, it moves the transfer actuator and lowers it to the initial or recovery position (which could be the position on the other side corresponding to the initial position). The cleaning operation for the entire floating photovoltaic array is then complete. This fully automated closed-loop process of "operation-return-transfer-docking-reoperation" allows for the systematic scheduling and use of the transfer system, minimizing manual intervention and enabling continuous, batch operations for photovoltaic panel cleaning and maintenance. This significantly reduces the labor intensity and safety risks for maintenance personnel and substantially improves the cleaning and maintenance efficiency and economic benefits of the entire photovoltaic power station.

[0017] Compared with existing technologies, the beneficial effects of this invention are as follows: The floating photovoltaic power station cleaning robot cross-row transfer system provided by this invention constructs a controlled and stable mechanical traction path by pre-setting a straight channel running through the bottom of the floating photovoltaic array and utilizing traction devices fixed on both sides of the shore to coordinate the movement of the transfer actuator within this channel. This design fundamentally changes the movement mode of the transfer mechanism from traditional, easily disturbed autonomous dynamic positioning to active traction and precise guidance by the shore-based system, effectively overcoming the drifting problem caused by water flow and waves. Therefore, this invention can achieve high-precision positioning and stable docking of the cleaning robot across rows, significantly improving the reliability and safety of operations in complex aquatic environments. Furthermore, compared to constructing fixed tracks or trestle bridges, this system has a simpler structure, higher installation and deployment flexibility, and effectively balances operational efficiency and cost control. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present invention.

[0019] Figure 2 for Figure 1 A schematic diagram of the structure of a tracked lifting and transfer vehicle.

[0020] Figure 3 for Figure 1 A schematic diagram showing the coordination between the transfer vehicle and the cableway.

[0021] Figure 4 for Figure 1 A schematic diagram showing the cleaning robot being transferred from the cableway transfer vehicle to the first row of photovoltaic panels.

[0022] Figure 5 for Figure 1 A schematic diagram showing the cleaning robot being transferred from the cable car to the second row of photovoltaic panels.

[0023] Figure 6 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention.

[0024] Figure 7 for Figure 6 A schematic diagram of the transshipment vessel raising to connect with the second row of photovoltaic panels.

[0025] Figure 8 for Figure 6 A schematic diagram of the overall structure of the transshipment vessel.

[0026] In the diagram: 1. Tracked lifting transfer vehicle; 11. Support leg; 12. Winch 1; 13. Base; 14. Scissor lift 1; 15. Drive unit 1; 16. Loading platform; 2. Cableway; 3. Cableway transfer vehicle; 31. Roller; 32. Traction rope 1; 33. Transfer plate; 4. Floating photovoltaic array; 5. Cleaning robot; 6. Transfer boat; 61. Hull; 62. Scissor lift 2; 63. Transfer platform; 64. Drive unit 2; 65. Traction rope 2; 7. Winch 2. Detailed Implementation

[0027] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the invention. To better illustrate the following embodiments, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions; it is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0028] Example 1 like Figures 1 to 5 As shown, this invention discloses a system and method for transferring cleaning robots across rows of photovoltaic power stations. Floating photovoltaic arrays 4 are typically deployed in pools or ponds. The device provided in this embodiment mainly includes tracked lifting transfer vehicles 1 installed on both banks of the floating photovoltaic array, two cableways 2 connecting the two tracked lifting transfer vehicles 1, and a cableway transfer vehicle 3 that can move on the cableways 2. The extension direction of the cableways 2 is perpendicular to the row arrangement direction of the photovoltaic panels and passes under each row of photovoltaic panels. By moving the cableway transfer vehicle 3 on the cableways 2, combined with the lifting actions of the tracked lifting transfer vehicles 1 at both ends, the cleaning robot 5 can be transferred from the front row of photovoltaic panels to the rear row for continuous cleaning operations, as detailed below: like Figure 2 As shown, the tracked lifting transfer vehicle 1 includes a base 13, under which a tracked walking device is provided for driving the entire vehicle. Four retractable support legs 11 are installed on the base 13. When the vehicle is stationary, the support legs 11 extend downwards and support the ground, ensuring the stability of the entire vehicle during operation. A scissor lift 14 is installed above the base 13, and a carrying platform 16 is installed on top of the scissor lift 14. One end of the carrying platform 16 is hinged to the scissor lift 14. A drive unit 15 is also installed on the scissor lift 14 to drive the carrying platform 16 to rotate around the hinge point, thereby tilting the carrying platform 16 to facilitate docking with the cableway transfer vehicle 3. A winch 12 is also installed on top of the scissor lift 14, and the winch 12 is equipped with a retractable traction rope 32.

[0029] like Figure 3As shown, cableway 2 consists of two parallel steel cables. One end of the steel cable is fixed to the steel cable ring at the top of the scissor lift frame 14 of the tracked lifting transfer vehicle 1 on one side, and the other end is fixed to the steel cable ring at the top of the scissor lift frame 14 of the tracked lifting transfer vehicle 1 on the other side, thus forming a stable overhead track between the two banks.

[0030] The cableway transfer vehicle 3 mainly includes a transfer plate 33, with rollers 31 installed at its bottom. The rollers 31 cooperate with the cableway 2 to move along the cableway 2. The traction ropes 32 of the winches 12 on the two tracked lifting transfer vehicles 1 are fixedly connected to both ends of the transfer plate 33. By coordinating the raising and lowering actions of the two winches 12, traction power is provided for the cableway transfer vehicle 3 to move along the cableway 2.

[0031] like Figure 1 , 4 As shown in Figure 5, the workflow of this embodiment is as follows: The cleaning robot 5 first rests on the carrying platform 16 of the tracked lifting transfer vehicle 1 on one side. The winches 12 on both sides are controlled to pull the cableway transfer vehicle 3 to the side closest to the cleaning robot 5. Next, the tilt angle of the carrying platform 16 is adjusted by the drive device 15 to smoothly align it with the end of the transfer plate 33, allowing the cleaning robot 5 to drive onto the transfer plate 33. Subsequently, the two winches 12 are controlled to pull the cableway transfer vehicle 3 to a predetermined docking position in front of the first row of photovoltaic panels (this can be obtained by manually marking the position when docking with the first row of photovoltaic panels). At this time, the scissor lifts 14 of the two tracked lifting transfer vehicles 1 are simultaneously raised, causing the cableway 2 and transfer plate 33 to rise together until the end of the transfer plate 33 reliably docks with the edge of the first row of photovoltaic panels (this can be determined through pre-rehearsal). The cleaning robot 5 can then drive onto the photovoltaic panels to perform the cleaning task. After cleaning is completed, the cleaning robot 5 returns to the transfer plate 33, and the two scissor lifts 14 simultaneously descend, lowering the top of the cleaning robot 5 below the bottom of the photovoltaic panels. Then, the towing cable car 3 moves to the docking position of the second row of photovoltaic panels, and the two scissor lifts 14 again to complete the docking with the second row of photovoltaic panels. The cleaning robot 5 can then drive onto the second row of photovoltaic panels to work. Repeating the above process, the entire floating photovoltaic array can be cleaned sequentially.

[0032] Example 2 like Figures 6 to 8 As shown, this embodiment provides a method for transporting goods using a vessel. The solution mainly includes winches 7 fixed to both banks and a transport vessel 6 positioned in the water.

[0033] like Figure 8As shown, the transfer vessel 6 has a hull 61, on which a scissor lift 62 is installed. A transfer platform 63 is located on top of the scissor lift 62. One end of the transfer platform 63 is hinged to the top of the scissor lift 62. A drive unit 64 is mounted on the scissor lift 62 to drive the transfer platform 63 to rotate around the hinged position to adjust its tilt angle. This angle adjustment allows for better adaptation to connecting photovoltaic panels at different tilt angles. Two winches 7 on both sides of the hull are connected to the bow and stern of the vessel 61 at multiple points via retractable tow ropes 65. Figure 8 As shown, specifically, the rope end can be secured to the hull in multiple ways to ensure stable traction and prevent the hull from capsizing.

[0034] The workflow of this embodiment is as follows: First, the winches 2 and 7 on both sides work in opposite directions to bring the transfer vessel 6 to shore, while simultaneously lowering the scissor lift 2 62 to its lowest position. The cleaning robot 5 is then moved from the shore base or other transport equipment to the transfer platform 63. Next, the two winches 2 and 7 work together to extend and retract the traction rope 2 65, pulling the transfer vessel 6 to the docking position in front of the first row of photovoltaic panels. The scissor lift 2 62 is raised, and the tilt angle of the transfer platform 63 is adjusted using the drive device 2 64 to align it with the bottom edge of the first row of photovoltaic panels. Subsequently, the cleaning robot 5 drives onto the first row of photovoltaic panels to clean them. After completing the work, the cleaning robot 5 returns to the transfer platform 63, the scissor lift 2 62 lowers, and the transfer vessel 6, pulled by the winches 2 and 7, moves to the docking position of the second row of photovoltaic panels. The raising and docking process is repeated, and the cleaning robot 5 climbs onto the second row of photovoltaic panels to work. This cycle is repeated to complete the cleaning task of the entire floating photovoltaic array 4.

[0035] Winch 12 and Winch 27 constitute the core power and positioning units of the transfer system. To achieve precise movement control, this system constructs a closed-loop control system with a central control unit (CCU) at its core, integrating high-precision encoders, tension sensors, and various position / attitude sensors. The core hardware configuration is as follows: Encoder: A high-resolution photoelectric encoder (resolution ≥1000 pulses / revolution) is installed on the drum shaft end of the winch (collectively referred to as winch 12 and winch 27) to accurately measure the winding and unwinding length of the traction rope (collectively referred to as traction rope 132 and traction rope 265) in real time, with a control accuracy of ±1mm, serving as a displacement reference.

[0036] Tension sensor: Installed inside the winch, it is used to monitor the tension of the traction rope in real time (range 0-5kN, accuracy ±0.1kN) to prevent the traction rope from becoming too loose or too tight and to ensure stable traction.

[0037] Central Control Unit (CCU): It can be installed on the winch as the control center. It interacts with sensors (such as tilt sensors, height sensors, lidar, identification cameras, etc.) on each winch and transfer actuator in real time and issues commands through industrial communication protocols such as CAN bus.

[0038] The specific control logic and parameter presets are as follows: During system initialization, the CCU presets key operating parameters, such as: standard working tension range (1.5kN-2.5kN), high-speed / low-speed moving speed (e.g. 0.5m / s / 0.1m / s), docking allowable error (e.g. ±3cm), etc., which can be adapted to different scenarios according to water flow speed and wind and wave conditions.

[0039] Example 1 (Crawler-type lifting transfer vehicle 1 + cableway transfer vehicle 3) control flow: During the positioning phase: The CCU calculates the required traction rope length (L) based on the target spacing and instructs two winches (one to wind up and the other to wind down) to work in tandem. The encoder provides real-time feedback for closed-loop calibration, ensuring that the difference between the wind up and down lengths is ≤ ±2mm. The tension sensor monitors synchronously; if the tension deviates from the preset range, the CCU immediately fine-tunes the corresponding winch action (e.g., slightly wind up to tighten, slightly wind down to relax) to maintain stable tension.

[0040] Precision docking phase: When the encoder feedback indicates that approximately 1 meter remains to be reached from the docking point, the CCU triggers a deceleration procedure. Subsequently, it integrates data from position sensors (such as lidar) on the cableway transport vehicle 3 for secondary calibration. When the distance to the edge of the photovoltaic panel is detected to be ≤30cm, the CCU sends a fine-tuning command; after confirming that the docking error is ≤±3cm, it immediately commands the winch brake to lock, completing the positioning.

[0041] Example 2 (Winder 2 7 + Transfer Boat 6) Control Flow: Longitudinal displacement stage: The CCU controls two winches 27 to work together to retract and release the traction rope 265, driving the transfer vessel 6 to move. The encoder ensures that the retraction and release lengths of the two traction ropes 265 are strictly synchronized (difference ≤ ±2mm) to prevent the vessel from deflecting. The tension sensor indirectly and dynamically senses water flow and wave interference. The CCU suppresses fluctuations and keeps the vessel stable by finely adjusting the speed of winch 27 or slightly retracting and releasing the traction rope 265 (e.g., ≤1cm each time).

[0042] Docking and positioning phase: Upon approaching the target, the CCU instructs the vessel to reduce speed. Multi-sensor fusion positioning is achieved using the identification camera (identifying bracket markings) and lidar (ranging) mounted on the transfer vessel 6. When the vertical distance error between the vessel and the target array of photovoltaic panels is confirmed to be ≤±3cm, the CCU instructs the winch brake to lock. After locking, tension is continuously monitored, and minor compensation is performed as needed to retract or extend the traction rope to resist water flow impact and ensure no displacement during docking.

[0043] Anomaly Handling Mechanism: The system has preset anomaly handling logic. When the tension exceeds the safety threshold (e.g., 3.5kN), the CCU immediately triggers an emergency stop and slightly releases the traction rope to reduce pressure. In case of sensor data conflict or communication interruption, the system can switch to a safety mode and issue an alarm. The above control logic together ensures high precision, high stability, and high safety for the movement and positioning of the transfer actuator in complex aquatic environments.

[0044] Cleaning robot 5 is used to perform cleaning operations on the surface of photovoltaic panels. It has lateral and longitudinal movement capabilities to cover the entire floating photovoltaic array 4 (e.g., the photovoltaic panel cleaning robot disclosed in invention patent CN118748536B). Cleaning robot 5 integrates: a controller for planning the cleaning path and controlling the robot's movements; sensors including but not limited to lidar and ultrasonic sensors for sensing the surrounding environment and its own position; and a communication module for establishing a communication connection with the control system of the traction control mechanism (referring to winch 12 or winch 7) (e.g., a central control unit (CCU)). The communication module can be a 4G, 5G, or IoT-specific communication module, used to establish a communication link between the robot controller and the control system of cleaning robot 5, transmitting control commands and status information. Other components are existing technologies in the field of communication, and their specific implementations are not detailed here.

[0045] To achieve precise and reliable docking between the transfer actuator and the photovoltaic panel, this system deploys a multi-sensor fusion detection and closed-loop control scheme in both embodiments to ensure positioning accuracy in the horizontal (lateral) and vertical (longitudinal / height) directions.

[0046] Example 1 (Dock-mounted lifting transfer vehicle 1 and cableway transfer vehicle 3): Horizontal precision positioning is primarily achieved through the coordinated traction of the two winches (12) on both sides. The central control unit (CCU), based on length feedback from a high-precision encoder, controls the two winches (12) to synchronously wind and unwind the traction rope (32), driving the cableway transfer vehicle (3) to move linearly along the cableway (2). The movement path is constrained by the rigid cableway (2), fundamentally limiting lateral deviation. Through closed-loop encoder control and end-of-line deceleration and brake locking mechanisms, precise horizontal positioning of the cableway transfer vehicle (3) at the target docking point can be achieved, with a positioning error ≤ ±3cm.

[0047] Precise longitudinal (height) and posture adjustment: This is achieved by synchronously controlling the lifting and lowering of the scissor lifts 14 of the two tracked lifting transport vehicles 1. Based on the preset height of the target row of photovoltaic panels, the CCU instructs the two tracked lifting transport vehicles 1 to lift and lower synchronously, driving the cableway 2 and cableway transport vehicle 3 to the predetermined docking height. Before docking, the CCU receives tilt sensor data from the carrying platform 16 and the transfer plate 33, and dynamically adjusts the tilt angle of the carrying platform 16 through the drive device 15 to ensure smooth docking with the plane of the transfer plate 33, facilitating the stable transfer of the cleaning robot 5. During docking with the photovoltaic panels, position sensors (such as lidar) on the cableway transport vehicle 3 detect the distance to the edge of the photovoltaic panels in real time and feed it back to the CCU for fine-tuning, ensuring that the end of the transfer plate 33 achieves physical contact or a minimal gap docking with the edge of the photovoltaic panels.

[0048] The cleaning robot 5 is aware of its loading and unloading status: A pressure sensor is installed at the bottom of the transfer plate 33 of the cableway transfer vehicle 3 to detect whether the cleaning robot 5 has fully entered and is in position. When the pressure reaches a preset threshold, a "cleaning robot 5 in position" signal is sent to the CCU as a safety permission to start the subsequent transfer process.

[0049] Example 2 (Holder 2 7, Transfer Boat 6) Docking and Positioning Control: Precise horizontal and longitudinal positioning: The horizontal movement of the transfer vessel 6 is entirely controlled by the coordinated traction of winches 2 7 on both banks via traction rope 2 65, and its movement path is a preset straight channel. Precise positioning relies on multi-sensor fusion: the recognition camera identifies preset markings on the photovoltaic support (such as reflective strips, which can be set at the bottom edge of the photovoltaic panel) to provide a lateral position reference. The lidar scans the distance between the hull and the surrounding supports and the edge of the photovoltaic panel to provide precise spatial position data.

[0050] The CCU comprehensively processes the sensor information and dynamically adjusts the winding and unwinding of winch 7 to achieve precise docking of the hull 61 with a vertical distance error of ≤±3cm between it and the target row of photovoltaic panels, and locks the position through the winch brake.

[0051] Lifting Platform Docking Control: The lifting of the transfer platform 63 is executed by the scissor lift 62, which integrates a height sensor to measure the distance to the bottom edge of the target photovoltaic panel (e.g., using lidar). The CCU controls the lifting of the scissor lift 62 based on this data, ensuring the height difference between the surface of the transfer platform 63 and the bottom edge of the photovoltaic panel is ≤1cm. Simultaneously, the drive unit 64 can adjust the tilt angle of the transfer platform 63 as needed to accommodate photovoltaic panels with different tilt angles, ensuring smooth docking.

[0052] Status Confirmation and Safety Interlock: The transfer platform 63 is equipped with a gravity sensor to detect whether the cleaning robot 5 has safely entered the platform. When the detected weight reaches a preset threshold, a "cleaning robot 5 in position" signal is sent to the CCU, and only then can the system allow the next cross-row transfer operation to proceed.

[0053] In summary, this invention, through multiple technical means including "rigid guidance / constraint (traction rope 1 32 / traction rope 2 65), active traction control (winch), real-time feedback from multiple sensors (encoder, tension sensor, position sensor, tilt sensor, pressure / gravity sensor), and central closed-loop control (CCU)," collaboratively solves the problem of precise horizontal and vertical positioning and stable docking in complex water environments, ensuring high reliability, high safety, and fully automated operation of the entire cross-row transfer process.

[0054] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention should be included within the protection scope of the claims of the present invention.

Claims

1. A cleaning robot cross-row transfer system for a floating photovoltaic power station, characterized in that, include: Waterborne photovoltaic array (4), transfer actuator, cleaning robot (5), lifting unit and traction control mechanism; A floating photovoltaic array (4) comprises multiple rows of photovoltaic panels arranged in parallel, and a straight channel is formed in the floating photovoltaic array (4) that runs through the bottom of each row of photovoltaic panels; The transfer actuator is used to carry the cleaning robot (5) and can move along a straight channel between rows of the water photovoltaic array (4); The lifting unit is connected to the transfer actuator and is used to drive the transfer actuator to lift and lower so that the transfer actuator can dock with the target photovoltaic panel for the cleaning robot (5) to transfer; The traction control mechanism includes traction devices that are fixedly installed on both sides of the water photovoltaic array (4). The traction devices are connected to the transfer execution mechanism through traction ropes. The traction execution mechanism is controlled to move and position in a straight channel by coordinating the release and retraction of the traction ropes.

2. The cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 1, characterized in that, The lifting unit includes two tracked lifting transfer vehicles (1) respectively set on the two sides of the shore and arranged opposite each other, and a cableway (2) is erected between the two tracked lifting transfer vehicles (1). The transfer execution mechanism is a cableway transfer vehicle (3) set on the cableway (2). The tracked lifting transfer vehicle (1) is configured to drive the cableway (2) through synchronous lifting to make the cableway transfer vehicle (3) lift up and down.

3. The cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 2, characterized in that, The tracked lifting transfer vehicle (1) includes a base (13), a scissor lift (14) mounted on the base (13), and a carrying platform (16) mounted on the top of the scissor lift (14).

4. The cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 3, characterized in that, One end of the carrying platform (16) is hinged to the top of one side of the scissor lift (14). The tracked lifting transfer vehicle (1) also includes a drive device (15), which is used to drive the carrying platform (16) to rotate around the hinge point to adjust its tilt angle.

5. A cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 3, characterized in that, The base (13) is provided with retractable support legs (11).

6. A cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 2, characterized in that, The traction device is a winch (12) installed on a tracked lifting and transfer vehicle (1). The winch (12) is equipped with a traction rope (32), and the free end of the traction rope (32) is fixedly connected to the cableway transfer vehicle (3).

7. A cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 1, characterized in that, The transfer execution mechanism is a transfer platform (63), which is installed on a transfer vessel (6); the traction control mechanism includes two winches (7) fixedly installed on both sides of the water photovoltaic array (4), and the winches (7) are equipped with traction ropes (65). The traction ropes (65) of the two winches (7) are fixedly connected to the bow and stern of the transfer vessel (6).

8. A cleaning robot cross-row transfer system for a floating photovoltaic power station according to claim 7, characterized in that, The transfer vessel (6) includes a hull (61), the lifting unit is a scissor lift (62) installed on the hull (61), and the transfer platform (63) is installed on the top of the scissor lift (62).

9. A cleaning robot cross-row transfer system for a floating photovoltaic power station according to any one of claims 1-8, characterized in that, The cleaning robot (5) has the function of moving laterally and longitudinally on the photovoltaic panel plane.

10. A method for transporting cleaning robots across rows in a floating photovoltaic power station, based on the transport system described in any one of claims 1-9, characterized in that, Includes the following steps: S1: Load the cleaning robot (5) onto the transfer actuator; S2: By coordinating the release and retraction of the traction rope through the traction control mechanism, the transfer execution mechanism carrying the cleaning robot (5) is driven to move along the straight channel to the predetermined docking position in front of the first row of target photovoltaic panels; then, by driving the lifting unit, the transfer execution mechanism is raised to the docking height that matches the edge of the first row of target photovoltaic panels to complete the docking; S3: The cleaning robot (5) is transferred from the docked transfer actuator to the target photovoltaic panel and performs cleaning operations; after the operation is completed, the cleaning robot (5) returns autonomously and stops on the transfer actuator; S4: Driven by the lifting unit, the transfer actuator and the cleaning robot (5) on it are lowered together until the highest point of the cleaning robot (5) is lower than the lowest point of the current row of photovoltaic panels, so as to make room for cross-row movement; S5: The traction control mechanism coordinates the release and retraction of the traction rope to drive the transfer actuator to move along the straight channel to the docking position of the next row of target photovoltaic panels; then, the lifting unit drives the transfer actuator to be raised to the docking height that matches the edge of the row of target photovoltaic panels, thus completing the docking. S6: Repeat steps S3 to S5 so that the cleaning robot (5) cleans each row of photovoltaic panels in the water photovoltaic array (4) in turn; S7: When the cleaning robot (5) finishes cleaning the last row of photovoltaic panels and returns to the transfer actuator, it moves the transfer actuator and lowers it to the initial or recovery position, and the cleaning operation of the entire water photovoltaic array (4) is completed.

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