A full-automatic intelligent rotary photovoltaic panel cleaning device and method

Abstract

The application relates to the technical field of photovoltaic panel cleaning, and provides a full-automatic intelligent rotary photovoltaic panel cleaning device and method.The device adopts a vertical multi-row array layout, adjacent arrays are separated through a water collecting groove and a reserved gap;every two photovoltaic panels form a cleaning unit, a cleaning execution mechanism and an intelligent camera are correspondingly arranged, and a single-row array is configured with an independent PLC controller;the cleaning execution mechanism is provided with an original point detection unit, and is matched with a rain and snow collecting, filtering and spraying system.The PLC controller can execute a timing, rain and snow and stain targeted cleaning mode, and controls the rotating homing of the cleaning arm after cleaning is completed.The layout of the application avoids collision of the cleaning arm, does not need an external water source, realizes full-process unmanned operation, is suitable for large-area photovoltaic power stations, and is high in cleaning efficiency and low in operation and maintenance cost.

Description

Technical Field

[0001] This application relates to the field of photovoltaic panel cleaning technology, specifically to a fully automatic intelligent rotary photovoltaic panel cleaning device and method. Background Technology

[0002] With the rapid development of the solar photovoltaic power generation industry, large-scale photovoltaic power stations have been widely deployed in various scenarios such as outdoor sites, deserts, and industrial plants. As the core component of a photovoltaic power generation system, the surface cleanliness of photovoltaic panels directly determines the photoelectric conversion efficiency. Photovoltaic panels are exposed to the outdoor environment for a long time and are prone to accumulating various pollutants such as dust, floating dust, and bird droppings. Among these, dust accumulation can directly block light, leading to a significant decrease in power generation efficiency. According to statistics, the power generation efficiency of photovoltaic panels can be reduced by 30%-50% when dust accumulation is severe. Bird droppings and other stains are highly adhesive, and some are even acidic. They not only further reduce the light transmittance of photovoltaic panels but also corrode their surface coating, causing hot spot effects and significantly shortening the service life of photovoltaic panels.

[0003] Currently, existing photovoltaic panel cleaning devices still have many technical shortcomings: most waterless cleaning devices can only achieve limited basic dust removal, with limited cleaning area and long cleaning time, and cannot effectively remove stains such as bird droppings in a timely manner, making it difficult to meet actual operation and maintenance needs; some cleaning devices have a low degree of automation, requiring manual operation and monitoring, and cannot be adapted to the large-scale operation and maintenance scenarios of large-area photovoltaic power stations; a few cleaning devices with spraying functions rely on external water sources, making them difficult to promote and apply in photovoltaic deployment areas with scarce water resources such as deserts and Gobi, and they cannot achieve accurate identification and targeted cleaning of stains; at the same time, most existing devices lack rain and snow collection and recycling functions, failing to make full use of natural precipitation to achieve efficient cleaning, resulting in insufficient energy saving and environmental protection.

[0004] Furthermore, traditional cleaning devices are relatively simple, relying on timed cleaning and a single cleaning mode. This makes it impossible to flexibly adjust cleaning strategies based on different scenarios such as daily dust accumulation, rain, snow, and stains, leading to problems such as untimely cleaning, waste of energy and water resources, uneven cleaning effects, and damage to photovoltaic panels. Therefore, developing a photovoltaic panel cleaning device that combines waterless dust removal, rain and snow utilization, and timely stain cleaning with full automation and intelligence is crucial to overcoming the shortcomings of existing technologies and promoting efficient operation and maintenance of photovoltaic power plants. Summary of the Invention

[0005] In a first aspect, this application provides a fully automatic intelligent rotary photovoltaic panel cleaning device, including a photovoltaic panel assembly, a cleaning actuator, and a control component. The photovoltaic panel group includes multiple rows of photovoltaic panel arrays arranged along a first direction, with adjacent rows of photovoltaic panel arrays separated by a water collection tank and a reserved gap; a single row of photovoltaic panel arrays extends along a second direction intersecting the first direction, and every two photovoltaic panels adjacent along the second direction are spliced ​​together to form a cleaning unit, with a splicing gap left between the two photovoltaic panels, the center of which is the installation position of the cleaning actuator; The cleaning actuator is provided for each of the cleaning units and includes a drive unit, a brush cleaning arm and an origin detection unit. The drive unit is fixed below the splicing seam and is used to drive the brush cleaning arm to rotate and clean the surface of the photovoltaic panel with the center of the splicing seam as the center. The origin detection unit is used to detect whether the brush cleaning arm has reached the preset initial position. The control component includes a PLC controller, which is electrically connected to the drive unit and the origin detection unit in this row. The PLC controller is used to control the drive unit to continue rotating the brush cleaning arm in response to the end of the cleaning operation, and to control the drive unit to stop based on the signal detected by the origin detection unit that the brush cleaning arm has reached the preset initial position, so that the brush cleaning arm returns to the preset initial position.

[0006] The drive unit includes a motor, which is fixed below the splicing seam. The motor output axis extends upward into the splicing seam and is perpendicular to the surface of the photovoltaic panel. The root of the brush cleaning arm is fixedly connected to the motor output shaft. The brush cleaning arm extends along the upper surface of the photovoltaic panel, and its lower surface is provided with a flexible and wear-resistant brush. The brush is assembled by a detachable connector. The rotation radius of the brush cleaning arm is greater than the circumcircle radius of the cleaning unit, so that the brush cleaning arm can sweep the entire upper surface of the photovoltaic panel within the cleaning unit in one rotation.

[0007] The cleaning actuator also includes galvanized steel strips and a waterproof housing; the galvanized steel strips are arranged along the length of the splicing seam and fixed to the lower surface of the two photovoltaic panels, and the waterproof housing is fixed to the middle of the galvanized steel strips and located directly below the splicing seam; the drive unit is located inside the waterproof housing.

[0008] The origin detection unit includes a fixed bracket, a start inductive proximity switch, a stop inductive proximity switch, and an inductive proximity switch contact rod. The fixed bracket is fixed to the motor body, and the start and stop inductive proximity switches are arranged adjacent to each other on the fixed bracket along the circumferential direction of the motor output shaft. The inductive proximity switch contact rod is a metal rod, one end of which is fixedly sleeved on the motor output shaft, and the other end extends radially outward. The inductive proximity switch contact rod rotates synchronously with the motor output shaft and sequentially sweeps over the start and stop inductive proximity switches to generate a detection signal. The stop inductive proximity switch is positioned corresponding to the preset initial position. When the inductive proximity switch contact rod triggers the stop inductive proximity switch, the brush cleaning arm is in the preset initial position. The start inductive proximity switch is used for origin positioning and position verification of the brush cleaning arm when the device is powered on.

[0009] It also includes a rain and snow collection and spraying mechanism, which comprises a water collection tank, a filter structure, a filter membrane, a water storage tank, a water pump, a spray pipe, and spray heads. The water collection tank is inclined along the second direction, and its outlet is connected to the water storage tank via a pipeline through the filter structure and the filter membrane. The water storage tank is fixed below the photovoltaic panel support, with an overflow outlet on the side wall and a drain outlet at the bottom. The filter structure is a multi-stage structure connected in series. The water pump's inlet is connected to the water storage tank via an inlet pipe, and its outlet is connected to the spray pipe via an outlet pipe. The spray pipe is fixed to the upper part of the splicing seam along its length, and several spray heads are installed on the spray pipe, with the spray direction of the spray heads facing the upper surface of the photovoltaic panel of the cleaning unit. The control terminal of the water pump is electrically connected to the PLC controller.

[0010] The spray heads are fixed at both ends of the upper part of the splicing seam, and the spray range of the spray heads covers the entire upper surface of the photovoltaic panel of the cleaning unit.

[0011] The control components also include a smart camera and a rain and snow sensor; each cleaning unit is equipped with at least one smart camera to capture images of the surface of the corresponding cleaning unit; the rain and snow sensor is located on top of the splicing seam of the photovoltaic panels to detect the environmental rain and snow conditions; the PLC controller is electrically connected to the smart camera and the rain and snow sensor respectively.

[0012] Multiple cleaning actuators in a single-row photovoltaic panel array are sequentially divided into at least one control group along the second direction, and are controlled by the PLC controller of the corresponding row; the cleaning start-up sequence of adjacent control groups is staggered by a preset time interval.

[0013] Secondly, this application provides a fully automated intelligent rotary photovoltaic panel cleaning method, applied to the fully automated intelligent rotary photovoltaic panel cleaning device as described in any one of the first aspects, wherein the method includes: Establish the correspondence between each smart camera and the cleaning unit, and delineate the effective recognition area in the image captured by the corresponding smart camera based on the boundary corner point of each cleaning unit, so that image recognition is only performed on the image within the effective recognition area. The PLC controller selectively executes at least one of the following modes based on preset conditions or received signals: timed cleaning mode, rain and snow cleaning mode, and stain-specific cleaning mode. In any cleaning mode, when the cleaning duration reaches the preset value, the PLC controller controls the corresponding brush cleaning arm to keep rotating and enter the return process until it receives a signal from the origin detection unit that it has reached the preset initial position. Then, the PLC controller controls the corresponding drive unit to stop, so that the brush cleaning arm returns to the preset initial position.

[0014] The timed cleaning mode specifically includes: the PLC controller sends a start command to each drive unit that meets the start conditions within the same control group according to a preset time period, driving multiple corresponding drive units to operate synchronously and rotating the brush cleaning arm to perform cleaning; after the preset cleaning time is reached, the PLC controller controls each drive unit within the group to enter the return process, and when each brush cleaning arm rotates to its corresponding origin detection unit and triggers the preset initial position signal, the PLC controller controls the corresponding drive unit to stop one by one. The rain and snow cleaning mode specifically includes: after receiving the rain and snow signal output by the rain and snow sensor, the PLC controller pauses the timed cleaning mode and controls the brush cleaning arms in the corresponding range of the row to start rotating cleaning; after the preset cleaning time is reached, the PLC controller controls each brush cleaning arm to perform the return process, so that it stops at the preset initial position; when the rain and snow signal disappears, the PLC controller resumes the timed cleaning mode. The targeted stain cleaning mode specifically includes: A smart camera identifies stains in the image within the effective recognition area. When a stain is detected, a stain cleaning request is sent to the corresponding PLC controller. This request includes at least the cleaning unit number and the recognition time. The PLC controller adds the received stain cleaning requests to the task queue in chronological order of recognition time and executes cleaning operations sequentially according to the task queue: For each cleaning unit in the queue, the water pump is first activated for spraying, and simultaneously the drive unit is activated to rotate the brush cleaning arm for cleaning. After the preset cleaning time is reached, the water pump is turned off and the brush cleaning arm returns to its preset initial position. If the target cleaning unit is already in a cleaning operation state or a corresponding stain cleaning request already exists in the task queue, the PLC controller will not add the stain cleaning request for that cleaning unit again. When two adjacent smart cameras produce duplicate recognition results for the same stain, the PLC controller determines the ownership based on the cleaning unit where the stain's center point is located and generates only one corresponding stain cleaning request. When the identified stain spans two adjacent cleaning units, the PLC controller generates two stain cleaning requests respectively and executes them sequentially.

[0015] This application employs a layout design that combines vertical array separation, horizontal grouping and staggered peak times with a 6 o'clock origin return position. This design avoids brush cleaning arm collisions from both spatial and temporal perspectives, ensuring safe adaptation to large-scale deployments of photovoltaic power plants. The 360° rotating cleaning structure, using two photovoltaic panels as cleaning units, achieves full coverage of the cleaning surface with high cleaning efficiency. It integrates three cleaning modes: timed, rain / snow, and stain-specific, which can automatically switch according to the environment and stain status, enabling fully unmanned operation and effectively reducing maintenance costs. Coupled with a rain and snow collection and filtration circulation system, it can utilize natural precipitation for deep cleaning and spray water supply, eliminating the need for external water sources, saving water, protecting the environment, and adapting to water-scarce scenarios. Attached Figure Description

[0016] Figure 1 This is a diagram showing the arrangement of photovoltaic panels in the fully automatic intelligent rotary photovoltaic panel cleaning device of this application; Figure 2 This is the front elevation view of the photovoltaic panel and stainless steel equipment box of this application; Figure 3 This is a side elevation view of the photovoltaic panel and stainless steel equipment box of this application; Figure 4 This is an elevation view of the PLC controller in this application; Figure 5 This is an elevation view of the rain and snow stepped filtration module system of this application.

[0017] Figure labels: 1-PLC controller; 2-Water collection tank; 3-Sweeping arm; 4-Photovoltaic panel; 5-Smart camera; 6-Spray pipe; 7-Spray head; 8-Rain and snow sensor; 9-Water outlet pipe; 10-Inductive proximity switch contact rod; 11-Start inductive proximity switch; 12-Stop inductive proximity switch; 13-Water pump; 14-Motor rotation controller; 15-Fixed bracket; 16-Motor output shaft; 17-Galvanized steel strip; 18-Filter membrane; 19-Filter structure; 20-Water inlet pipe; 21-Water outlet pipe; 22-Water storage tank; 23-Motor; 24-Waterproof housing. Detailed Implementation

[0018] The present application will be further described below with reference to the accompanying drawings. The principles of the present application are very clear to those skilled in the art. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

[0019] Combination Figures 1 to 5 The fully automatic intelligent rotary photovoltaic panel cleaning device described in this application includes a photovoltaic panel assembly, a cleaning actuator, a rain and snow collection and spraying mechanism, and control components. It is suitable for outdoor photovoltaic power stations with multiple rows of stepped arrangements and can achieve unmanned operation and maintenance of the entire process of daily dust removal, deep cleaning of rain and snow, and precise cleaning of stains.

[0020] Combination Figure 1 The photovoltaic panel group includes multiple rows of photovoltaic panel arrays arranged along the first direction (vertical). Adjacent upper and lower rows of photovoltaic panel arrays are separated by a water collection tank 2 and a reserved gap. There are no vertically aligned cleaning actuators, thus avoiding the risk of vertical collision of the cleaning arms from the layout perspective.

[0021] A single-row photovoltaic panel array extends along a second direction (lateral) intersecting the first direction, consisting of several rectangular photovoltaic panels 4, each 2.4m long and 1.2m wide, joined together. Each cleaning unit is formed by joining two adjacent photovoltaic panels 4 along the second direction, covering a 2.4m x 2.4m square area. A 3cm gap is left between the two photovoltaic panels 4, the center of which serves as the installation position for the cleaning actuators. Multiple cleaning actuators within the single-row photovoltaic panel array are sequentially divided into at least one control group along the second direction. Every 20 cleaning actuators form one control group, with the cleaning start-up sequence of adjacent control groups staggered by 10 minutes, and managed uniformly by the control components of the corresponding row.

[0022] Each cleaning unit is equipped with a cleaning actuator, combined with Figure 2 and Figure 3 Each cleaning actuator includes galvanized steel strips 17, a waterproof housing 24, a drive unit, a brush cleaning arm 3, and an origin detection unit.

[0023] The galvanized steel strip 17 is 40cm long, 10cm wide, and 0.8cm thick, and is arranged along the length of the splicing seam. Its two ends are fastened to the lower surface frame area of ​​the two photovoltaic panels 4 by bolts and nuts. The waterproof box 24 is a sealed cuboid structure with a length of 25cm, a width of 20cm, and a height of 15cm. It is fixed in the middle of the galvanized steel strip 17 and located directly below the splicing seam. It is used to accommodate and protect the internal electrical components and is suitable for outdoor rain, snow, and sandstorm environments.

[0024] The drive unit is located inside the waterproof enclosure 24 and includes a motor 23 and a motor rotation controller 14. The motor 23 is a DC 12V geared motor with a rated speed of 40 rpm and a rated torque of 32 kg / cm. Its body is fixedly installed on the bottom plate inside the waterproof enclosure 24. Its motor output shaft 16 extends upwards through the top plate of the waterproof enclosure 24 and into the splicing gap. The axis of the motor output shaft 16 is perpendicular to the surface of the photovoltaic panel 4. The motor rotation controller 14 is fixed inside the waterproof enclosure 24, and its input terminal is electrically connected to the PLC controller 1. Figure 2 The connection relationship is not shown in the text. Figure 3 As shown in the figure, the output terminal is electrically connected to the power supply terminal of the motor 23, and is used to receive control commands and drive the motor 23 to start and stop.

[0025] The root of the brush cleaning arm 3 is fixedly connected to the upper end of the motor output shaft 16, with an overall length of 1.8m. The brush cleaning arm 3 extends along the upper surface of the photovoltaic panel 4, and the plane of the arm is parallel to the upper surface of the photovoltaic panel 4. The lower surface of the brush cleaning arm 3 is equipped with flexible wear-resistant brushes, which are assembled by detachable connectors consisting of bolts and nuts, facilitating disassembly and replacement after wear. The rotation radius of the brush cleaning arm 3 is larger than the circumscribed circle radius of the cleaning unit. When the motor 23 drives the motor output shaft 16 to rotate, it can drive the brush cleaning arm 3 to rotate 360° around the center of the splicing gap in the plane containing the upper surface of the photovoltaic panel 4, sweeping across the entire upper surface of the photovoltaic panel 4 within the cleaning unit, achieving full coverage cleaning.

[0026] The origin detection unit includes a fixed bracket 15, an inductive proximity switch 11 for starting, an inductive proximity switch 12 for stopping, and an inductive proximity switch contact rod 10.

[0027] The fixed bracket 15 is fixed to the upper surface of the motor 23 body and is arranged perpendicular to the axial direction of the motor output shaft 16. The start inductive proximity switch 11 and the stop inductive proximity switch 12 are both normally open inductive sensors. They are arranged close to each other on the fixed bracket 15 along the rotation circumference of the motor output shaft 16, and the sensing surfaces are both facing upwards along the axial direction of the motor output shaft 16.

[0028] It should be noted that the fixing bracket 15 in this application can be an independent bracket, located inside the waterproof housing 24 and fixed to the upper surface of the motor 23 (see details). Figure 3 It can also be a frame-style support (see details). Figure 4 This frame-like bracket can cover components such as the water pump 13. However, regardless of the type of fixed bracket, the components inside the waterproof housing 24 can be fixed to the inner wall of the waterproof housing by welding.

[0029] The inductive proximity switch contact rod 10 is a metal rod, one end of which is fixedly sleeved on the lower part of the motor output shaft 16 and located inside the waterproof housing 24, while the other end extends outward along the radial direction of the motor output shaft 16. The inductive proximity switch contact rod 10 maintains a fixed phase relationship with the brush cleaning arm 3. When it rotates synchronously with the motor output shaft 16, the rod sweeps over the sensing surfaces of the start inductive proximity switch 11 and the stop inductive proximity switch 12 in sequence, triggering the switch to output a detection signal through the eddy current effect.

[0030] The stop inductive proximity switch 12 is positioned to correspond to the preset initial position (6 o'clock position) of the brush cleaning arm 3. When the contact rod 10 of the inductive proximity switch triggers the stop inductive proximity switch 12, the brush cleaning arm 3 is exactly at the preset initial position. The start inductive proximity switch 11 is used for origin positioning and position verification of the brush cleaning arm 3 when the device is powered on.

[0031] The rain and snow collection and spraying mechanism includes a water collection tank 2, a water outlet pipe 21, a filter structure 19, a filter membrane 18, a water storage tank 22, a water inlet pipe 20, a water pump 13, a water outlet pipe 9, a spray pipe 6, and a spray head 7. It is used to collect natural rain and snow and circulate and filter them, providing a spray water source for cleaning stains without relying on external water supply.

[0032] The water collection tank 2 also serves as a separator between adjacent photovoltaic panel arrays, and is inclined along the second direction to facilitate the gravity flow and collection of rainwater and snowmelt. The outlet of the water collection tank 2 is connected to the filter structure 19 and the filter membrane 18 in sequence through the outlet pipe 21, and the filtered water is connected to the water storage tank 22. The filter structure 19 is a multi-stage filter structure connected in series, with the filtration accuracy increasing step by step along the water flow direction. The filter membrane 18 is a fine filter element used to prevent the spray pipe from being blocked.

[0033] The water storage tank 22 is fixed below the photovoltaic panel support. Its side wall has an overflow outlet for overflow when the water level is too high. A drain outlet is located at the bottom for periodically removing sediment. The water pump 13 is fixedly installed inside the waterproof housing 24. Its inlet is connected to the water storage tank 22 via an inlet pipe 20, and its outlet is connected to the spray pipe 6 via an outlet pipe 9. The control terminal of the water pump 13 is electrically connected to the control component, which directly controls its start and stop.

[0034] The spray pipe 6 is fixed to the upper part of the splicing seam along the length of the splicing seam, and a number of spray heads 7 are arranged on the spray pipe 6. The spraying direction of the spray heads 7 is all towards the upper surface of the photovoltaic panel 4 of the cleaning unit, and the spraying range covers the entire cleaning unit.

[0035] The control components include a PLC controller 1, a smart camera 5, and a rain and snow sensor 8.

[0036] Each row of photovoltaic panel arrays is independently equipped with a PLC controller 1, which only controls all cleaning actuators within its own row. The PLC controllers 1 operate independently and do not interfere with each other. Each cleaning unit is equipped with at least one smart camera 5, fixed to the front side of the cleaning unit with its lens facing the upper surface of the corresponding photovoltaic panel 4, used to collect surface images of the cleaning unit and identify stains. The rain and snow sensor 8 is fixed to the top of the seam between the photovoltaic panels 4, used to detect environmental rainfall and snowfall in real time.

[0037] The PLC controller 1 in the single-row array is electrically connected to the motor rotation controller 14, the start inductive proximity switch 11, the stop inductive proximity switch 12, the smart camera 5, the rain and snow sensor 8, and the water pump 13 in the same row. The PLC controller 1 indirectly controls the start and stop of the motor 23 through the motor rotation controller 14, collects the position signal of the origin detection unit in real time, receives the stain recognition signal from the smart camera 5 and the weather signal from the rain and snow sensor 8, and independently controls the start and stop of the water pump 13.

[0038] The device achieves multi-mode automatic cleaning through PLC controller 1. After all cleaning modes are completed, a unified reset logic is executed, as follows: In any cleaning mode, when the cleaning duration reaches the preset value, the PLC controller 1 controls the corresponding brush cleaning arm 3 to keep rotating through the motor rotation controller 14 and enter the return process; until the inductive proximity switch contact rod 10 triggers the stop inductive proximity switch 12 and the PLC controller 1 receives the origin signal, it immediately controls the motor 23 to stop, so that the brush cleaning arm 3 accurately returns to the preset initial position.

[0039] 1. Timed cleaning mode: PLC controller 1 triggers cleaning once every hour according to the preset time cycle, and starts a total of 24 times a day. It sends start commands to each motor rotation controller 14 in the same control group that meets the start conditions, driving multiple motors 23 to run synchronously, driving the brush cleaning arms 3 to rotate and clean the floating dust on the surface of the photovoltaic panel 4. After the preset cleaning time (preset is 5 seconds), each brush cleaning arm 3 stops and returns to its original position one by one according to the above-mentioned return process.

[0040] 2. Rain and snow cleaning mode: After receiving the rain and snow signal output by the rain and snow sensor 8, the PLC controller 1 pauses the unexecuted timed cleaning task and controls the brush cleaning arms 3 in the corresponding range of this row to start rotating cleaning, so as to achieve deep cleaning in conjunction with natural rain and snow; after the preset cleaning time is reached, the brush cleaning arms 3 are controlled to return to their positions; after the rain and snow signal disappears, the timed cleaning mode is restored.

[0041] 3. Targeted Stain Cleaning Mode: During the device debugging phase, an effective recognition area is pre-defined in the image captured by the corresponding smart camera 5 based on the boundary corners of each cleaning unit. Image recognition is only performed on the image within the effective recognition area. When the smart camera 5 detects a stain, it sends a cleaning request containing the cleaning unit number and recognition time to the corresponding row of PLC controllers 1. The PLC controller 1 adds the request to the task queue in chronological order and sequentially starts the water pump 13 and motor 23 of the corresponding cleaning unit. The preset cleaning time for a single session is 5 seconds, with spraying combined with rotating brushing. After cleaning is completed, the water pump 13 is turned off and the brush cleaning arm 3 is controlled to return to its position before executing the next queue task.

[0042] During operation, if the target cleaning unit is already in a cleaning state or already exists in the task queue, PLC controller 1 will not add requests repeatedly; when adjacent smart cameras 5 identify the same stain, the ownership is determined according to the center point of the stain, and only one request is generated; when the stain spans two cleaning units, two requests are generated respectively and executed in sequence.

[0043] The technical scope of this application is not limited to the contents of the above specification. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this application, and all such modifications and variations should fall within the scope of this application.

Claims

1. A fully automatic intelligent rotary photovoltaic panel cleaning device, comprising a photovoltaic panel assembly, a cleaning actuator, and a control component, characterized in that: The photovoltaic panel group includes multiple rows of photovoltaic panel arrays arranged along the first direction, with adjacent rows of photovoltaic panel arrays separated by a water collection tank (2) and a reserved gap; a single row of photovoltaic panel arrays extends along a second direction intersecting the first direction, and every two photovoltaic panels (4) adjacent along the second direction are spliced ​​together to form a cleaning unit, with a splicing gap left between the two photovoltaic panels (4), the center of which is the installation position of the cleaning actuator; The cleaning actuator is set for each cleaning unit and includes a drive unit, a brush cleaning arm (3) and an origin detection unit; the drive unit is fixed below the splicing gap and is used to drive the brush cleaning arm (3) to rotate and clean the upper surface of the photovoltaic panel (4) with the center of the splicing gap as the center; the origin detection unit is used to detect whether the brush cleaning arm (3) has reached the preset initial position. The control component includes a PLC controller (1), which is electrically connected to the drive unit and the origin detection unit in this row. The PLC controller (1) is used to control the drive unit to continue rotating the brush cleaning arm (3) in response to the end of the cleaning operation, and to control the drive unit to stop based on the signal detected by the origin detection unit that the brush cleaning arm (3) has reached the preset initial position, so that the brush cleaning arm (3) returns to the preset initial position.

2. The fully automatic intelligent rotary photovoltaic panel cleaning device according to claim 1, characterized in that, The drive unit includes a motor (23), which is fixed below the splicing seam. Its motor output shaft (16) extends upward into the splicing seam and is perpendicular to the surface of the photovoltaic panel (4) in the axial direction. The root of the brush cleaning arm (3) is fixedly connected to the motor output shaft (16). The brush cleaning arm (3) extends along the upper surface of the photovoltaic panel (4) and its lower surface is provided with a flexible wear-resistant brush. The brush is assembled by a detachable connector. The rotation radius of the brush cleaning arm (3) is greater than the outer circle radius of the cleaning unit, so that the brush cleaning arm (3) can rotate once and sweep across the entire upper surface of the photovoltaic panel (4) in the cleaning unit.

3. The fully automatic intelligent rotary photovoltaic panel cleaning device according to claim 1, characterized in that, The cleaning actuator also includes a galvanized steel strip (17) and a waterproof housing (24); the galvanized steel strip (17) is arranged along the length of the splicing seam and fixed to the lower surface of the two photovoltaic panels (4); the waterproof housing (24) is fixed in the middle of the galvanized steel strip (17) and located directly below the splicing seam; the drive unit is located inside the waterproof housing (24).

4. The fully automatic intelligent rotary photovoltaic panel cleaning device according to claim 2, characterized in that, The origin detection unit includes a fixed bracket (15), a start inductive proximity switch (11), a stop inductive proximity switch (12), and an inductive proximity switch contact rod (10). The fixed bracket (15) is fixed to the body of the motor (23). The start inductive proximity switch (11) and the stop inductive proximity switch (12) are arranged adjacent to each other on the fixed bracket (15) along the circumferential direction of the motor output shaft (16). The inductive proximity switch contact rod (10) is a metal rod, one end of which is fixedly sleeved on the motor output shaft (16), and the other end is arranged radially. Extending outwards, the inductive proximity switch contact rod (10) rotates synchronously with the motor output shaft (16) and sequentially sweeps over the start inductive proximity switch (11) and the stop inductive proximity switch (12) to generate a detection signal; the stop inductive proximity switch (12) is set in a position corresponding to the preset initial position. When the inductive proximity switch contact rod (10) triggers the stop inductive proximity switch (12), the brush cleaning arm (3) is in the preset initial position; the start inductive proximity switch (11) is used for the origin positioning and position verification of the brush cleaning arm (3) when the device is powered on.

5. The fully automatic intelligent rotary photovoltaic panel cleaning device according to claim 1, characterized in that, It also includes a rain and snow collection and spraying mechanism, which includes the water collection tank (2), a filter structure (19), a filter membrane (18), a water storage tank (22), a water pump (13), a spray pipe (6), and a spray head (7); the water collection tank (2) is inclined along the second direction, and its outlet is connected to the water storage tank (22) through a pipeline via the filter structure (19) and the filter membrane (18); the water storage tank (22) is fixed below the bracket of the photovoltaic panel group, with an overflow outlet on the side wall and a drain outlet at the bottom; The filter structure (19) is a multi-stage structure connected in series; the water inlet of the water pump (13) is connected to the water storage tank (22) through the water inlet pipe (20), and the water outlet is connected to the spray pipe (6) through the water outlet pipe (9); the spray pipe (6) is fixed at the upper part of the splicing gap along the length direction of the splicing gap, and several spray heads (7) are set on the spray pipe (6), and the spray direction of the spray head (7) is towards the upper surface of the photovoltaic panel (4) of the cleaning unit; the control terminal of the water pump (13) is electrically connected to the PLC controller (1).

6. The fully automatic intelligent rotary photovoltaic panel cleaning device according to claim 5, characterized in that, The spray head (7) is fixed at both ends of the upper part of the splicing seam, and the spray range of the spray head (7) covers the upper surface of the photovoltaic panel (4) of the entire cleaning unit.

7. The fully automatic intelligent rotary photovoltaic panel cleaning device according to claim 1, characterized in that, The control components also include a smart camera (5) and a rain and snow sensor (8); each cleaning unit is equipped with at least one smart camera (5) for collecting images of the surface of the corresponding cleaning unit; the rain and snow sensor (8) is located on the top of the splicing gap of the photovoltaic panel (4) for detecting the environmental rain and snow conditions; the PLC controller (1) is electrically connected to the smart camera (5) and the rain and snow sensor (8) respectively.

8. The fully automatic intelligent rotary photovoltaic panel cleaning device according to any one of claims 1 to 7, characterized in that, Multiple cleaning actuators in a single-row photovoltaic panel array are sequentially divided into at least one control group along the second direction and controlled by the corresponding row of PLC controllers (1); the cleaning start-up sequence of adjacent control groups is staggered by a preset time interval.

9. A fully automatic intelligent rotary photovoltaic panel cleaning method, applied to the fully automatic intelligent rotary photovoltaic panel cleaning device as described in any one of claims 1 to 8, characterized in that, include: Establish the correspondence between each smart camera and the cleaning unit, and delineate the effective recognition area in the image captured by the corresponding smart camera based on the boundary corner point of each cleaning unit, so that image recognition is only performed on the image within the effective recognition area. The PLC controller selectively executes at least one of the following modes based on preset conditions or received signals: timed cleaning mode, rain and snow cleaning mode, and stain-specific cleaning mode. In any cleaning mode, when the cleaning duration reaches the preset value, the PLC controller controls the corresponding brush cleaning arm to keep rotating and enter the return process until it receives a signal from the origin detection unit that it has reached the preset initial position. Then, the PLC controller controls the corresponding drive unit to stop, so that the brush cleaning arm returns to the preset initial position.

10. The photovoltaic panel cleaning method according to claim 9, characterized in that, The timed cleaning mode specifically includes: the PLC controller sends a start command to each drive unit that meets the start conditions within the same control group according to a preset time period, driving multiple corresponding drive units to operate synchronously and rotating the brush cleaning arm to perform cleaning; after the preset cleaning time is reached, the PLC controller controls each drive unit within the group to enter the return process, and when each brush cleaning arm rotates to its corresponding origin detection unit and triggers the preset initial position signal, the PLC controller controls the corresponding drive unit to stop one by one. The rain and snow cleaning mode specifically includes: after receiving the rain and snow signal output by the rain and snow sensor, the PLC controller pauses the timed cleaning mode and controls the brush cleaning arms in the corresponding range of the row to start rotating cleaning; after the preset cleaning time is reached, the PLC controller controls each brush cleaning arm to perform the return process, so that it stops at the preset initial position; when the rain and snow signal disappears, the PLC controller resumes the timed cleaning mode. The targeted stain cleaning mode specifically includes: A smart camera identifies stains in the image within the effective recognition area. When a stain is detected, a stain cleaning request is sent to the corresponding PLC controller. This request includes at least the cleaning unit number and the recognition time. The PLC controller adds the received stain cleaning requests to the task queue in chronological order of recognition time and executes cleaning operations sequentially according to the task queue: For each cleaning unit in the queue, the water pump is first activated for spraying, and simultaneously the drive unit is activated to rotate the brush cleaning arm for cleaning. After the preset cleaning time is reached, the water pump is turned off and the brush cleaning arm returns to its preset initial position. If the target cleaning unit is already in a cleaning operation state or a corresponding stain cleaning request already exists in the task queue, the PLC controller will not add the stain cleaning request for that cleaning unit again. When two adjacent smart cameras produce duplicate recognition results for the same stain, the PLC controller determines the ownership based on the cleaning unit where the stain's center point is located and generates only one corresponding stain cleaning request. When the identified stain spans two adjacent cleaning units, the PLC controller generates two stain cleaning requests respectively and executes them sequentially.

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