Intelligent cleaning system for photovoltaic module and cleaning method thereof

Abstract

This invention discloses an intelligent cleaning system and method for photovoltaic modules, applied in the field of photovoltaic module cleaning technology. It includes a mobile vehicle, a cleaning mechanism, and an intelligent cleaning system. The intelligent cleaning system is electrically connected to the mobile vehicle and the cleaning mechanism, and is electrically connected to a solar panel cleanliness detector mounted on the mobile vehicle. The intelligent cleaning system is used to acquire the cleanliness of the photovoltaic module surface and determine a specific cleaning mode based on the acquired cleanliness data, controlling the cleaning mechanism to clean the photovoltaic module. The cleaning mechanism includes a robotic arm, a cleaning head, a water tank, a self-cleaning component, and a blower. The movable end of the robotic arm is equipped with a rotating head. The cleaning head includes a drive housing, two sets of cleaning components, and a detection component. This invention can intelligently identify stains, adaptively match cleaning modes, and verify cleaning effects in real time, achieving intelligent cleaning.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module cleaning technology, specifically to an intelligent cleaning system and method for photovoltaic modules. Background Technology

[0002] With the large-scale application of photovoltaic power generation technology, the surface cleaning and maintenance of photovoltaic modules has become a key aspect of ensuring power plant efficiency and improving return on investment. Contaminants such as dust, dirt, bird droppings, and oil stains can significantly reduce the light transmittance of glass panels, leading to a significant decrease in power generation. They may also induce hot spot effects due to localized shading, seriously damaging module lifespan and operational safety.

[0003] Currently, the industry primarily relies on manual labor and automated equipment for cleaning photovoltaic modules. Manual cleaning suffers from low efficiency, high costs, and significant risks associated with working at heights. To overcome these shortcomings, automated cleaning equipment, such as track-mounted robots and trackless robots, is gradually being adopted. However, existing automated equipment typically only has a pre-set cleaning strategy, such as a fixed process of spraying water followed by scrubbing, and cannot dynamically adjust operating parameters based on the type and degree of contaminant adhesion. For example, when dealing with ordinary floating dust, a more economical and environmentally friendly dry cleaning mode could be used, but the system still mechanically performs water spraying and scrubbing, resulting in a waste of water and electricity. When dealing with highly adhesive bird droppings or hardened dirt, the predetermined water pressure and scrubbing intensity are insufficient to effectively remove them, leading to dirt residue, secondary shading, and impacting power generation performance. Ultimately, this severely restricts the optimization of cleaning results and the improvement of system intelligence.

[0004] Therefore, it is necessary to provide an intelligent cleaning system and cleaning method for photovoltaic modules to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent cleaning system and method for photovoltaic modules, which can intelligently identify stains, adaptively match cleaning modes, and verify cleaning effects in real time, thereby upgrading from mechanized to intelligent cleaning and solving the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent cleaning system for photovoltaic modules, comprising a mobile vehicle, a cleaning mechanism, and an intelligent cleaning system. The cleaning mechanism is mounted on the mobile vehicle, and the intelligent cleaning system is electrically connected to the mobile vehicle and the cleaning mechanism. The intelligent cleaning system is electrically connected to a solar panel cleanliness detector, which is mounted on the mobile vehicle. The intelligent cleaning system is used to acquire the cleanliness of the photovoltaic module surface, determine a specific cleaning mode based on the acquired cleanliness data, and control the cleaning mechanism to clean the photovoltaic module. The cleaning mechanism includes a robotic arm, a cleaning head, a water tank, a self-cleaning component, and a blower. The movable end of the robotic arm is equipped with a rotating head. The cleaning head includes a drive housing, two sets of cleaning components and a detection component. The cleaning components include a cleaning section and a dust collection section. The drive housing is fixed on the rotating head, and the two sets of cleaning components are located at both ends of the drive housing. The cleaning section is used to clean the surface of the photovoltaic module, and the dust collection section is used to adsorb dust on the surface of the photovoltaic module. The cleaning unit includes a support block 1, two sets of support blocks 2, a fixed tube 1, and a rotating tube. The fixed tube 1 is provided with a set of through holes 1, and several through holes 1 are equidistantly arranged along the axial direction of the fixed tube 1. The rotating tube is sleeved on the fixed tube 1 and is rotatably connected to the fixed tube 1. Several sets of through holes 2 are equidistantly arranged along the circumferential direction of the rotating tube 1, and several through holes 2 are equidistantly arranged along the axial direction of the rotating tube 1. The rotating tube is provided with bristles.

[0007] According to the above technical solution, the robotic arm, self-cleaning component, and blower are all fixed on the top of the mobile vehicle, the water tank and blower are located on both sides of the robotic arm, and the self-cleaning component is fixed on the top of the water tank.

[0008] According to the above technical solution, the first support block and the two sets of second support blocks are all fixed to the end of the drive housing, and the first support block is located on one side of the two sets of second support blocks. The fixing pipe is fixed on the support block. One end of the fixing pipe is closed, and the other end of the fixing pipe is connected to an inlet pipe. In the axial direction, the distance between two adjacent through holes and two adjacent inlet pipes is the same; The two sets of support blocks are located at both ends of the rotating tube, and the rotating tube is rotatably connected to the two sets of support blocks. A motor is fixedly connected inside the drive housing, and the output end of the motor passes through the drive housing and is connected to the rotating tube pulley for transmission.

[0009] According to the above technical solution, the dust collection part includes a support block three and an adsorption chamber. The support block three is fixed on the drive housing, located between the two sets of support blocks two and on the side of the two sets of support blocks two closer to the rotating head. The adsorption chamber is fixed on the side of the support block three closer to the rotating tube. An adsorption port is provided on the side of the adsorption chamber closer to the rotating tube. An air extraction pipe is fixedly connected to the side of the adsorption chamber.

[0010] According to the above technical solution, the detection component is located on the side of the drive housing away from the rotating head. The detection component includes a sink shell, a tilt angle sensor and a distance sensor. The sink shell is fixed on the side of the drive housing away from the rotating head. The tilt angle sensor and the distance sensor are located inside the sink shell. A glass cover is provided on the side of the sink shell away from the tilt angle sensor and the distance sensor.

[0011] According to the above technical solution, the self-cleaning component includes a water tank, a second fixed pipe, several nozzles, and a turbidity meter. The water tank is fixed to the top of the water tank. Several through-hole partitions and a fixing plate are fixedly connected inside the water tank. The fixing plate is fixedly connected to the inner wall of the water tank. The second fixed pipe is fixed to the top of the fixing plate on the side facing the partitions. Several nozzles are equidistantly arranged on the side of the second fixed pipe facing the partitions and are inclined downwards.

[0012] According to the above technical solution, the turbidity meter is fixed on the inner wall of the water tank away from the fixing plate, and a drain port is provided on the side of the water tank away from the fixing plate.

[0013] According to the above technical solution, the water tank pipeline is connected to a four-way valve, which includes one inlet and three outlets. The inlet of the four-way valve is connected to the water tank pipeline, and a pump body is installed on the connected pipeline. Two of the three outlets are respectively connected to three-way valves, and the two three-way valves correspond to two sets of cleaning sections. In addition, one outlet of the four-way valve is connected to a fixed pipe. The three-way valve includes two inlets and one outlet. The blower includes an air outlet and an air inlet. The air outlet pipe of the blower is connected to a three-way valve three, and the air inlet pipe of the blower is connected to a three-way valve four. The three-way valve three includes an inlet three and two outlet three. One inlet two of the three-way valve two is connected to the outlet one of the four-way valve, and the other inlet two of the three-way valve two is connected to the outlet three of the three-way valve three. The outlet two of the three-way valve two is connected to a fixed pipe one through an inlet pipe. The three-way valve includes two inlets and one outlet. The outlet is connected to the blower pipeline, and a filter is installed on the connected pipeline. The two inlets of the three-way valve are respectively connected to the adsorption chamber through two sets of suction pipes of the cleaning section.

[0014] According to the above technical solution, a power distribution box is fixedly connected to both sides of the mobile vehicle, and a power supply is installed in the power distribution box. The power distribution box is connected to the mobile vehicle and the cleaning mechanism by wires.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting up an intelligent cleaning system and cleaning mechanism, can sense the degree and type of dirt in real time, determine the pollution level, and adaptively combine different modes and cleaning head tilt angles to achieve stubborn layered and efficient treatment, avoid over-cleaning or under-cleaning, and realize the precision and intelligence of photovoltaic module cleaning. By setting up a cleaning section and a dust extraction section, the stripped dust and wastewater can be sucked away in time during the simultaneous brushing or air blowing process, preventing these pollutants from re-attaching or flowing to other clean areas, ensuring the continuous cleanliness of the photovoltaic panel surface during the cleaning process. At the same time, the airflow can be used to quickly dry the surface of the photovoltaic module, avoiding the impact of water freezing in cold regions on power generation, or the rapid adhesion of dust on wet surfaces in dusty regions. By incorporating a self-cleaning component, the cleaning head itself can be automatically and deeply cleaned, preventing the bristles from accumulating dirt and becoming a source of contamination. This ensures the cleanliness of the actuator itself, thereby guaranteeing long-term and stable cleaning results and reducing the frequency of manual maintenance. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a rear view schematic diagram of the overall structure of the present invention; Figure 3 This is the invention Figure 1 Enlarged structural diagram of region A in the middle; Figure 4 This is a cross-sectional schematic diagram of a portion of the cleaning mechanism of the present invention; Figure 5 This is the invention Figure 4 Enlarged structural diagram of region B in the middle; Figure 6 This is a schematic diagram of the explosion mechanism of the cleaning mechanism of the present invention; Figure 7 This is a schematic diagram of the overall structure of the self-cleaning component of the present invention; Figure 8 This is the invention Figure 1 Enlarged structural diagram of region C in the middle; Figure 9 This is a schematic diagram of the pipeline connection of the present invention; Figure 10 This is a schematic diagram of the tilting mode of the cleaning head of the present invention; Figure 11 This is a schematic diagram of the second tilting mode of the cleaning head of the present invention; Figure 12 This is a schematic diagram of the tilting mode three of the cleaning head of the present invention; In the image: 1. Moving vehicle; 2. Robotic arm; 21. Rotating head; 3. Cleaning head; 31. Drive housing; 32. Support block one; 33. Support block two; 34. Fixing tube one; 35. Through hole one; 36. Inlet pipe; 37. Rotating tube; 38. Through hole two; 39. Motor; 310. Support block three; 311. Adsorption chamber; 312. Air extraction pipe; 313. Container shell; 314. Tilt angle sensor; 315. Distance sensor; 316. Brush bristles; 4. Water tank; 41. Four-way valve; 42. Three-way valve II; 43. Pump body; 5. Self-cleaning component; 51. Water tank; 52. Spacer; 53. Fixing plate; 54. Fixing pipe II; 55. Nozzle; 56. Turbidity meter; 57. Drain outlet; 6. Blower; 61. Three-way valve three; 62. Three-way valve four; 63. Filter; 7. Distribution box. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-12 The present invention provides a technical solution: an intelligent cleaning system for photovoltaic modules, comprising a mobile vehicle 1, a cleaning mechanism, and an intelligent cleaning system. The cleaning mechanism is mounted on the mobile vehicle 1, and the intelligent cleaning system is electrically connected to the mobile vehicle 1 and the cleaning mechanism. The intelligent cleaning system is also electrically connected to a solar panel cleanliness detector, which is mounted on the mobile vehicle 1 (not shown in the figure). The cleaning mechanism is used to clean the surface of the photovoltaic modules in multiple modes. The intelligent cleaning system is used to obtain the cleanliness of the photovoltaic module surface and determine the specific cleaning mode based on the obtained cleanliness data, and control the cleaning mechanism to clean the photovoltaic modules.

[0019] Specifically, such as Figure 1As shown, the cleaning mechanism includes a robotic arm 2, a cleaning head 3, a water tank 4, a self-cleaning component 5, and a blower 6. The robotic arm 2, the self-cleaning component 5, and the blower 6 are all fixed on the top of the mobile vehicle 1. The water tank 4 and the blower 6 are located on both sides of the robotic arm 2. The self-cleaning component 5 is fixed on the top of the water tank 4. The movable end of the robotic arm 2 is equipped with a rotating head 21, and the cleaning head 3 is fixed on the rotating head 21. The mobile vehicle 1 is used to move the cleaning mechanism to the photovoltaic panel to be cleaned. The cleaning head 3 is used to clean the surface of the photovoltaic module in various modes. The water tank 4 is used to temporarily store the cleaning fluid. The self-cleaning component 5 is used to self-clean the cleaning head 3. The blower 6 is used to blow air to facilitate the cleaning head 3 in cleaning the photovoltaic module.

[0020] Furthermore, such as Figures 3-6 As shown, the cleaning head 3 includes a drive housing 31, two sets of cleaning components, and a detection component. The drive housing 31 is fixed on the rotating head 21. The two sets of cleaning components are located at both ends of the drive housing 31. The detection component is located on the side of the drive housing 31 away from the rotating head 21. The cleaning component includes a cleaning section and a dust suction section. The cleaning section is used to clean the surface of the photovoltaic module, and the dust suction section is used to adsorb dust on the surface of the photovoltaic module. The detection component is used to detect the tilt angle of the cleaning head 3 and the distance between the cleaning head 3 and the surface of the photovoltaic module.

[0021] Furthermore, such as Figures 3-6 As shown, the cleaning unit includes a first support block 32, two sets of second support blocks 33, a first fixed tube 34, and a rotating tube 37. The first support block 32 and the two sets of second support blocks 33 are all fixed to the end of the drive housing 31, and the first support block 32 is located on one side of the two sets of second support blocks 33. The fixed tube 34 is fixed on the support block 32. The fixed tube 34 is provided with a set of through holes 35. Several through holes 35 are equidistantly arranged along the axis of the fixed tube 34. One end of the fixed tube 34 is closed and the other end of the fixed tube 34 is connected to the inlet pipe 36. The rotating tube 37 is sleeved on the fixed tube 34 and is rotatably connected to the fixed tube 34. Two sets of support blocks 33 are located at both ends of the rotating tube 37 and are rotatably connected to the two sets of support blocks 33. Several sets of through holes 38 are equidistantly arranged on the rotating tube 37 along the circumferential direction. Several through holes 38 are equidistantly arranged along the axial direction of the rotating tube 37. In the axial direction, the distance between two adjacent through holes 38 and two adjacent inlet pipes 36 is the same. Brush bristles 316 are provided on the rotating tube 37. A motor 39 is fixedly connected inside the drive housing 31. The output end of the motor 39 passes through the drive housing 31 and is connected to the pulley of the rotating tube 37 for transmission. When the motor 39 starts to rotate, it drives the rotating tube 37 to rotate through the pulley, so that the through hole 38 in the circumferential direction and the inlet pipe 36 can be in an alternating communication state. At the same time, the bristles 316 on the rotating tube 37 can contact the surface of the photovoltaic module to clean the photovoltaic module.

[0022] Furthermore, such as Figure 3 , Figure 4 and Figure 6 As shown, the dust collection unit includes a support block 310 and an adsorption chamber 311. The support block 310 is fixed on the drive housing 31, located between two sets of support blocks 33 and on the side of the two sets of support blocks 33 closer to the rotating head 21. The adsorption chamber 311 is fixed on the side of the support block 310 closer to the rotating tube 37. An adsorption port is provided on the side of the adsorption chamber 311 closer to the rotating tube 37. An air extraction pipe 312 is fixedly connected to the side of the adsorption chamber 311.

[0023] Furthermore, such as Figure 3 , Figure 4 and Figure 6 As shown, the detection assembly includes a recessed shell 313, a tilt angle sensor 314, and a distance sensor 315. The recessed shell 313 is fixed to the side of the drive housing 31 away from the rotating head 21. The tilt angle sensor 314 and the distance sensor 315 are located inside the recessed shell 313. A glass cover is provided on the side of the recessed shell 313 away from the tilt angle sensor 314 and the distance sensor 315. The glass cover is used to facilitate the detection by the tilt angle sensor 314 and the distance sensor 315, and at the same time to prevent dust and cleaning liquid during the cleaning of photovoltaic modules from entering the interior of the recessed shell 313 and interfering with the detection data of the tilt angle sensor 314 and the distance sensor 315. The tilt angle sensor 314 is used to detect the tilt angle of the cleaning head 3, and the distance sensor 315 is used to detect the distance between the cleaning head 3 and the photovoltaic module. The intelligent cleaning system obtains the angle data detected by the tilt angle sensor 314 and the distance data detected by the distance sensor 315, and then can control the mobile vehicle 1 to adjust its position and the robotic arm 2 to bend and adjust, so as to maintain the best cleaning effect of the cleaning head 3.

[0024] Furthermore, such as Figure 7 and Figure 8 As shown, the self-cleaning component 5 includes a water tank 51, a second fixing pipe 54, several nozzles 55, and a turbidity meter 56. The water tank 51 is fixed to the top of the water tank 4. Several through-hole partitions 52 and a fixing plate 53 are fixedly connected inside the water tank 51. The fixing plate 53 is fixedly connected to the inner wall of the water tank 51. The second fixing pipe 54 is fixed to the top of the side of the fixing plate 53 facing the partitions 52. Several nozzles 55 are equidistantly arranged on the side of the second fixing pipe 54 facing the partitions 52 and the nozzles 55 are tilted downwards. The tilt angle can be adjusted manually. The turbidity meter 56 is fixed on the inner wall of the water tank 51 away from the fixing plate 53, and the side of the water tank 51 away from the fixing plate 53 is provided with a drain port 57.

[0025] Furthermore, such as Figure 9 As shown, the water tank 4 is connected to a four-way valve 41. The four-way valve 41 includes one inlet and three outlets. The inlet of the four-way valve 41 is connected to the water tank 4, and a pump body 43 is installed on the connected pipeline. The pump body 43 is used to pump out the liquid inside the water tank 4. Two of the three outlets are respectively connected to three-way valves 42. The two three-way valves 42 correspond to two sets of cleaning sections respectively. In addition, one outlet of the four-way valve 41 is connected to the fixed pipe 54. Three-way valve 242 includes two inlet valves 2 and one outlet valve 2; The blower 6 includes an air outlet and an air inlet. The air outlet pipe of the blower 6 is connected to a three-way valve 61, and the air inlet pipe of the blower 6 is connected to a three-way valve 62. The three-way valve 61 includes an inlet 3 and two outlets 3. One inlet 2 of the three-way valve 42 is connected to the outlet 1 of the four-way valve 41, and the other inlet 2 of the three-way valve 42 is connected to the outlet 3 of the three-way valve 61. The outlet 2 of the three-way valve 42 is connected to the fixed pipe 34 through the inlet pipe 36. The three-way valve 62 includes two inlets and one outlet. The outlet is connected to the blower 6 pipeline, and a filter 63 is installed on the connected pipeline. The filter 63 is used to remove dust and impurities entering the distribution box 7. The two inlets of the three-way valve 62 are respectively connected to the adsorption chamber 311 through two sets of air extraction pipes 312 of the cleaning section.

[0026] In actual operation, the pump body 43 is started, the inlet of the four-way valve 41 is opened, the outlet of the four-way valve 41 connected to the three-way valve 42 is opened, the inlet of the three-way valve 42 connected to the four-way valve 41 is opened, and the outlet of the three-way valve 42 is opened. The pump body 43 can pump the liquid inside the water tank 4 out and enter the fixed pipe 34 through the inlet pipe 36. At the same time, the motor 39 is started and drives the rotating pipe 37 to rotate through the pulley drive. At this time, the liquid inside the fixed pipe 34 is discharged through the through hole 35 and the alternately overlapping through hole 38, wetting the brush bristles 316. The brush bristles 316 brush the surface of the photovoltaic module. This cleaning mode is the water washing mode for cleaning the module. If the motor 39 is started but only the through hole 35 and the through hole 38 are overlapped and then the motor 39 stops running, the rotating pipe 37 does not rotate, and the brush bristles 316 does not brush the surface of the photovoltaic module. It only rinses the surface of the photovoltaic module with liquid. This mode is the rinsing mode for cleaning the module. When filter 63 is activated, the inlet of three-way valve 62 connected to adsorption chamber 311 opens, the outlet of three-way valve 62 opens, the inlet of three-way valve 61 opens, the outlet of three-way valve 61 connected to three-way valve 42 opens, the inlet of three-way valve 42 connected to three-way valve 61 opens, and the outlet of three-way valve 42 opens. Filter 63 draws in air from adsorption chamber 311, filters it, and then introduces it into fixed pipe 34 through inlet pipe 36. Simultaneously, motor 39 is activated. The rotating tube 37 is driven to rotate by the belt pulley. At this time, the gas inside the fixed tube 34 is discharged through the through hole 35 and the alternately overlapping through hole 38. The surface of the photovoltaic module is brushed by the bristles 316. This cleaning mode is the dry cleaning mode for cleaning the module. If the control motor 39 is started, the motor 39 stops running only after the through hole 35 and the through hole 38 are overlapped. Then the rotating tube 37 does not rotate, and the bristles 316 does not brush the surface of the photovoltaic module. Instead, the surface of the photovoltaic module is only rinsed with gas. This mode is the air blowing mode for cleaning the module. When the pump body 43 is started, the inlet of the four-way valve 41 is opened, and the outlet of the four-way valve 41 connected to the fixed pipe 54 is opened. The pump body 43 can pump the liquid inside the water tank 4 into the fixed pipe 54 and spray it out from the nozzle 55. At this time, the robotic arm 2 drives the cleaning part to be located in the water tank 51, and the brush bristles 316 contact the spacer 52. The water washing mode is maintained. Under the resistance of the spacer 52, the brush bristles 316 achieve a deep cleaning from the inside out, combining external rinsing and brushing. When the turbidity meter 56 detects that the turbidity reaches a certain value, it is determined that the cleaning part is highly dirty. In order to avoid using the cleaning part that is not thoroughly cleaned to clean the photovoltaic module, a secondary cleaning is required. At the same time, the drain port 57 is opened to discharge the wastewater containing dirt. If the turbidity value detected by the turbidity meter 56 does not reach the value, it is determined that the cleaning part is thoroughly cleaned and the self-cleaning is completed. The subsequent photovoltaic panel cleaning can be carried out. This mode is the self-cleaning mode for cleaning the module.

[0027] Specifically, such as Figure 2 As shown, power distribution boxes 7 are fixedly connected to both sides of the mobile vehicle 1. Power distribution boxes 7 are equipped with power supplies and are connected to the mobile vehicle 1 and the cleaning mechanism by wires to provide power support to the mobile vehicle 1 and the cleaning mechanism.

[0028] A smart cleaning method for photovoltaic modules: Step 1: Localization and Initial State Detection; Specifically, the intelligent cleaning system controls the mobile vehicle 1 to move to the photovoltaic panel array area to be cleaned. The robotic arm 2 extends the cleaning head 3 towards the surface of the photovoltaic modules. Simultaneously, the detection components on the cleaning head 3 activate. The distance sensor 315 detects the distance between the cleaning head and the photovoltaic panel surface in real time and feeds the data back to the intelligent cleaning system. Based on this, the intelligent cleaning system fine-tunes the posture of the robotic arm 2 to ensure that the cleaning head 3 maintains the optimal cleaning distance from the panel surface. The tilt angle sensor 314 detects the tilt angle of the cleaning head 3 in real time and feeds the data back to the intelligent cleaning system. Based on this, the intelligent cleaning system controls the position of the mobile vehicle 1 or the joint angle of the robotic arm 2, ensuring that the bristles of the cleaning head 3 can make flat contact with photovoltaic panels at different tilt angles to adapt to different cleaning modes, including at least... Figures 10-12 The three tilt modes shown are: Figure 10 The bristles 316 of the upper cleaning section of the cleaning head 3 contact the surface of the photovoltaic module in a downward tilt mode. Figure 11 The bristles 316 of the lower cleaning section of the cleaning head 3 contact the surface of the photovoltaic module in an upward tilt mode. Figure 12 The bristles 316 of the two sets of cleaning sections on the cleaning head 3 are in contact with the surface of the photovoltaic module in a parallel configuration.

[0029] Step 2: The intelligent cleaning system assesses cleanliness, determines the cleaning mode, and executes the cleaning process; Specifically, the solar panel cleanliness detector installed on the mobile vehicle 1 scans the surface of the photovoltaic module to obtain the cleanliness of different locations on the photovoltaic panel surface and feeds it back to the intelligent cleaning system. The intelligent cleaning system judges the degree of contamination on the surface of the photovoltaic module based on the received cleanliness data and automatically selects the most effective cleaning method.

[0030] When there is no floating dust, mud, or bird droppings on the surface of the photovoltaic module, the surface of the photovoltaic module is considered clean and uncontaminated, and the intelligent cleaning system will not perform cleaning. When there is only uniformly distributed floating dust on the surface of the photovoltaic module, it is judged as low-level pollution. The intelligent cleaning system controls the cleaning head 3 to enter the upward tilt mode, and at the same time controls the cleaning component on the upper part of the cleaning head 3 to enter the air blowing mode. The air blowing is used to remove the floating dust on the surface of the photovoltaic module, and the dust suction part adsorbs the blown floating dust. When there are large areas of floating dust and small areas of mud and bird droppings on the photovoltaic modules, it is judged as medium pollution. The intelligent cleaning system controls the cleaning head 3 to enter the downward tilt mode, and at the same time controls the cleaning component at the bottom of the cleaning head 3 to enter the air blowing mode and the cleaning component at the top to enter the rinsing mode. First, the air blowing is used to remove the floating dust on the surface of the photovoltaic modules, and the dust suction part simultaneously adsorbs the floating dust. Then, the flowing cleaning liquid is used to remove the floating dust and small areas of mud and bird droppings on the surface of the photovoltaic modules. When photovoltaic modules have floating dust and large areas of mud and bird droppings, they are judged to be highly polluted. The intelligent cleaning system controls the cleaning head 3 to enter the downward tilt mode, and at the same time controls the cleaning component at the bottom of the cleaning head 3 to enter the dry cleaning mode and the cleaning component at the top to enter the rinsing mode. First, the brush bristles 316 of the lower cleaning component are used to brush up the floating dust and large areas of mud and bird droppings on the surface of the photovoltaic modules, and the dust is absorbed by the dust suction unit. Then, the flowing cleaning liquid is used to remove the mud and bird droppings remaining after brushing.

[0031] It should be noted that the definition of whether to identify small or large areas of mud or bird droppings is determined by the staff based on the size of the photovoltaic panel.

[0032] Step 3: The intelligent cleaning system assesses the cleanliness of the photovoltaic modules after cleaning and adds more cleaning based on the assessment results; Specifically, the intelligent cleaning system obtains the cleanliness data of the photovoltaic module surface after cleaning through a solar panel cleanliness detector. If the intelligent cleaning system determines that the photovoltaic module surface is free of contamination after cleaning, the intelligent cleaning system will no longer control the surface cleaning of the photovoltaic module. In other cases, the cleaning will be performed one level higher than the original contamination level. For example, if the original contamination level is low, the cleaning will be performed in the manner of medium contamination level in this step. For cases where the original pollution level is high, in this step, the intelligent cleaning system controls the cleaning head 3 to enter the downward tilt mode, and simultaneously controls the cleaning components at the bottom of the cleaning head 3 to enter the dry cleaning mode and the cleaning components at the top to enter the water washing mode. First, the brush bristles 316 of the lower cleaning component are used to brush up the floating dust, large-scale mud stains, and bird droppings on the surface of the photovoltaic module, and the dust is absorbed by the dust suction unit. Then, the rotating tube 37 rotates, and the second through hole 38 on it will periodically overlap with the first through hole 35. The cleaning liquid is intermittently and evenly thrown out, wetting the brush bristles 316, and the wet brush bristles 316 brush the surface of the photovoltaic panel during the rotation, brushing up the mud stains and bird droppings. Finally, the flowing cleaning liquid carries away the mud stains and bird droppings after brushing.

[0033] It should be noted that after performing supplementary cleaning on photovoltaic modules with a high level of contamination in this step, this step must be repeated. If the contamination level is still high, the intelligent cleaning system will issue an alarm, and staff will handle the situation.

[0034] Step 4: Drying the surface of the photovoltaic modules; Specifically, the intelligent cleaning system controls the cleaning head 3 to enter parallel mode, and simultaneously controls the two sets of cleaning components of the cleaning head 3 to enter air blowing mode, using airflow to blow away the residue on the photovoltaic surface and accelerate surface drying.

[0035] It should be noted that the angle of the adsorption chamber 311 can be set according to actual needs, so that the adsorption port of the adsorption chamber 311 is close to the surface of the photovoltaic module in each cleaning mode. During cleaning, the negative pressure generated between the photovoltaic module and the adsorption port of the adsorption chamber 311 is used to suck away the scrubbing sewage and some loose dirt through the air extraction pipe 312, and then discharged after being filtered by the filter 63 to avoid secondary pollution. Under normal circumstances, one set of cleaning components on the cleaning head 3 has a fixed pipe 34 for passing cleaning fluid, and the other set is used for passing gas, thus maintaining normal cleaning needs. When necessary, the two can be switched or passed through cleaning fluid and gas at the same time as needed.

[0036] Step 5: Clean head 3 self-cleaning; Specifically, after cleaning one or a group of photovoltaic panels is completed, or during the system's timed self-check, the intelligent cleaning system controls the entry into the self-cleaning mode of the cleaning components.

[0037] Through the above methods, stains can be intelligently identified, cleaning modes can be adaptively matched, and cleaning effects can be verified in real time, realizing intelligent cleaning of photovoltaic modules and effectively ensuring the power generation efficiency of photovoltaic power plants.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0039] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart cleaning system for photovoltaic modules, comprising a mobile vehicle (1), a cleaning mechanism, and a smart cleaning system, characterized in that, The cleaning mechanism is installed on the mobile vehicle (1). The intelligent cleaning system is electrically connected to the mobile vehicle (1) and the cleaning mechanism. The intelligent cleaning system is electrically connected to a solar panel cleanliness detector. The solar panel cleanliness detector is installed on the mobile vehicle (1). The intelligent cleaning system is used to obtain the cleanliness of the photovoltaic module surface and determine the specific cleaning mode based on the obtained cleanliness data, and control the cleaning mechanism to clean the photovoltaic module. The cleaning mechanism includes a robotic arm (2), a cleaning head (3), a water tank (4), a self-cleaning component (5), and a blower (6). The movable end of the robotic arm (2) is provided with a rotating head (21). The cleaning head (3) includes a drive housing (31), two sets of cleaning components and a detection component. The cleaning component includes a cleaning section and a dust suction section. The drive housing (31) is fixed on the rotating head (21). The two sets of cleaning components are located at both ends of the drive housing (31). The cleaning section is used to clean the surface of the photovoltaic module, and the dust suction section is used to adsorb dust on the surface of the photovoltaic module. The cleaning unit includes a support block 1 (32), two sets of support blocks 2 (33), a fixed tube 1 (34), and a rotating tube (37). The fixed tube 1 (34) is provided with a set of through holes 1 (35). Several through holes 1 (35) are equidistantly arranged along the axial direction of the fixed tube 1 (34). The rotating tube (37) is sleeved on the fixed tube 1 (34) and is rotatably connected to the fixed tube 1 (34). Several sets of through holes 2 (38) are equidistantly arranged along the circumferential direction on the rotating tube (37). Several through holes 2 (38) are equidistantly arranged along the axial direction of the rotating tube (37). The rotating tube (37) is provided with bristles (316).

2. The intelligent cleaning system for photovoltaic modules according to claim 1, characterized in that, The robotic arm (2), the self-cleaning component (5), and the blower (6) are all fixed on the top of the mobile vehicle (1). The water tank (4) and the blower (6) are located on both sides of the robotic arm (2). The self-cleaning component (5) is fixed on the top of the water tank (4).

3. The intelligent cleaning system for photovoltaic modules according to claim 2, characterized in that, The first support block (32) and the two sets of second support blocks (33) are all fixed to the end of the drive housing (31), and the first support block (32) is located on one side of the two sets of second support blocks (33); The first fixing pipe (34) is fixed on the first support block (32). One end of the first fixing pipe (34) is closed, and the other end of the first fixing pipe (34) is connected to the inlet pipe (36). In the axial direction, the distance between two adjacent through holes (38) and two adjacent inlet pipes (36) is the same; the two sets of support blocks (33) are located at both ends of the rotating pipe (37), and the rotating pipe (37) is rotatably connected to the two sets of support blocks (33); A motor (39) is fixedly connected inside the drive housing (31). The output end of the motor (39) passes through the drive housing (31) and is connected to the pulley of the rotating tube (37) for transmission.

4. The intelligent cleaning system for photovoltaic modules according to claim 3, characterized in that, The dust collection unit includes a support block three (310) and an adsorption chamber (311). The support block three (310) is fixed on the drive housing (31), located between the two sets of support blocks two (33) and on the side of the two sets of support blocks two (33) near the rotating head (21). The adsorption chamber (311) is fixed on the side of the support block three (310) near the rotating tube (37). The adsorption chamber (311) is provided with an adsorption port on the side near the rotating tube (37). The side of the adsorption chamber (311) is fixedly connected to an air extraction pipe (312).

5. The intelligent cleaning system for photovoltaic modules according to claim 4, characterized in that, The detection component is located on the side of the drive housing (31) away from the rotating head (21). The detection component includes a sink shell (313), a tilt angle sensor (314), and a distance sensor (315). The sink shell (313) is fixed on the side of the drive housing (31) away from the rotating head (21). The tilt angle sensor (314) and the distance sensor (315) are located inside the sink shell (313). A glass cover is provided on the side of the sink shell (313) away from the tilt angle sensor (314) and the distance sensor (315).

6. The intelligent cleaning system for photovoltaic modules according to claim 5, characterized in that, The self-cleaning component (5) includes a water tank (51), a second fixed pipe (54), several nozzles (55) and a turbidity meter (56). The water tank (51) is fixed to the top of the water tank (4). Several through-hole partitions (52) and a fixing plate (53) are fixedly connected inside the water tank (51). The fixing plate (53) is fixedly connected to the inner wall of the water tank (51). The second fixed pipe (54) is fixed to the top of the fixing plate (53) on the side facing the partitions (52). Several nozzles (55) are equidistantly arranged on the side of the second fixed pipe (54) facing the partitions (52) and the nozzles (55) are inclined downward.

7. The intelligent cleaning system for photovoltaic modules according to claim 6, characterized in that, The turbidity meter (56) is fixed on the inner wall of the water tank (51) away from the fixing plate (53), and a drain port (57) is provided on the side of the water tank (51) away from the fixing plate (53).

8. The intelligent cleaning system for photovoltaic modules according to claim 7, characterized in that, The water tank (4) is connected to a four-way valve (41) via a pipeline. The four-way valve (41) includes one inlet and three outlets. The inlet of the four-way valve (41) is connected to the pipeline of the water tank (4), and a pump body (43) is installed on the connected pipeline. Two of the three outlets are respectively connected to three-way valves (42). The two three-way valves (42) correspond to two sets of cleaning sections respectively. In addition, one outlet of the four-way valve (41) is connected to a fixed pipe (54) via a pipeline. The three-way valve (42) includes two inlets and one outlet. The blower (6) includes an air outlet and an air inlet. The air outlet pipe of the blower (6) is connected to a three-way valve three (61), and the air inlet pipe of the blower (6) is connected to a three-way valve four (62). The three-way valve three (61) includes an inlet three and two outlet three. One inlet two of the three-way valve two (42) is connected to the outlet one of the four-way valve (41), and the other inlet two of the three-way valve two (42) is connected to the outlet three of the three-way valve three (61). The outlet two of the three-way valve two (42) is connected to the fixed pipe one (34) through the inlet pipe (36). The three-way valve (62) includes two inlets and one outlet. The outlet is connected to the blower (6) pipeline, and a filter (63) is installed on the connected pipeline. The two inlets of the three-way valve (62) are connected to the adsorption chamber (311) through two sets of suction pipes (312) of the cleaning section.

9. The intelligent cleaning system for photovoltaic modules according to claim 8, characterized in that, The mobile vehicle (1) is fixedly connected to two sides of a power distribution box (7). The power distribution box (7) is equipped with a power supply. The power distribution box (7) is connected to the mobile vehicle (1) and the cleaning mechanism by wires.

10. A smart cleaning method for photovoltaic modules, implemented based on the smart cleaning system for photovoltaic modules according to claim 9, wherein the smart cleaning method for photovoltaic modules includes the following steps: Step 1: Localization and Initial State Detection; Step 2: The intelligent cleaning system assesses cleanliness, determines the cleaning mode, and executes the cleaning process; Step 3: The intelligent cleaning system assesses the cleanliness of the photovoltaic modules after cleaning and adds more cleaning based on the assessment results; Step 4: Drying the surface of the photovoltaic modules; Step 5: Clean the head (3) Self-cleaning.

Images