Photovoltaic solar panel cleaning robot

Abstract

The utility model relates to the technical field of photovoltaic solar panel cleaning equipment, in particular to a photovoltaic solar panel cleaning robot which comprises a parking frame erected on the surface of a photovoltaic solar panel and a cleaning robot body located on the parking frame. The cleaning robot is provided with walking devices for driving the whole cleaning robot to move along an upper cross rod and a lower cross rod of the parking frame and a cleaning device for cleaning the surface of the photovoltaic solar panel, and the walking devices are of the same structure and are symmetrically arranged on the cross rods located at the upper end and the lower end of the surface of the photovoltaic solar panel. The cleaning device comprises a rolling brush assembly used for removing dust on the surface of the photovoltaic solar panel, a fixed-point cleaning assembly used for removing stains on the surface of the photovoltaic solar panel, and a snow removing assembly used for removing accumulated snow on the photovoltaic solar panel. Different cleaning strategies can be selected according to different cleaning environment requirements of the surface of the photovoltaic solar panel, and automatic and efficient cleaning of the surface of the photovoltaic solar panel is achieved.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic solar panel cleaning equipment technology, and in particular to a photovoltaic solar panel cleaning robot. Background Technology

[0002] Against the backdrop of dwindling non-renewable energy sources, the photovoltaic industry has been vigorously promoted as a major green energy source. However, photovoltaic solar panels need to be exposed to the air during use, and their surfaces are prone to accumulating dirt and dust. Over time, this not only reduces the light transmittance of the photovoltaic solar panel surface but also causes localized overheating, leading to hot spot effects, damaging the photovoltaic solar panel, and even corroding it, thus significantly reducing the power generation of photovoltaic solar panels.

[0003] Traditional cleaning methods for photovoltaic solar panels typically require manual operation, which is not only inefficient and time-consuming but also costly. Utility Model Content

[0004] Based on the above problems, the purpose of this utility model is to provide a photovoltaic solar panel cleaning robot for automatically cleaning dirt and dust on the surface of photovoltaic solar panels.

[0005] The technical solution adopted by this utility model is as follows: a photovoltaic solar panel cleaning robot, including a parking rack mounted on the surface of a photovoltaic solar panel and a cleaning robot located on the parking rack. The cleaning robot is equipped with a walking device that drives the entire cleaning robot to move along the upper and lower crossbars of the parking rack and a cleaning device for cleaning the surface of the photovoltaic solar panel. The walking device adopts the same structure and is symmetrically arranged on the crossbars located at the upper and lower ends of the surface of the photovoltaic solar panel.

[0006] The cleaning device includes a roller brush assembly for removing dust from the surface of the photovoltaic solar panel, a spot cleaning assembly for removing stains from the surface of the photovoltaic solar panel, and a snow removal assembly for removing snow from the photovoltaic solar panel.

[0007] Preferably, the walking device includes a support platform and a plurality of drive wheels rotatably mounted on the support platform and driven by a first servo motor, as well as a support wheel rotatably mounted at the bottom of the support platform. The axis of the drive wheel is parallel to the surface of the photovoltaic solar panel, and the axis of the support wheel is perpendicular to the surface of the photovoltaic solar panel. A connecting rod is provided between the two walking devices, and the two ends of the connecting rod are respectively fixed to the corresponding support platform.

[0008] Furthermore, the cross-section of the support platform is L-shaped;

[0009] Preferably, the roller brush assembly includes a main shaft and brushes evenly arranged on the main shaft, with both ends of the main shaft rotatably fixed on a traveling device in the corresponding direction, and one of the traveling devices being provided with a second servo motor for driving the main shaft to rotate.

[0010] Preferably, the fixed-point cleaning component includes a synchronous belt linear slide rail and a linear slide table located on the synchronous belt linear slide rail and matching therewith, and a slide table motor for driving the synchronous belt linear slide rail, wherein the two ends of the synchronous belt linear slide rail are fixed on the traveling device in the corresponding direction, and the linear slide table is provided with a cleaning component perpendicular to the surface of the photovoltaic solar panel.

[0011] Furthermore, the cleaning component includes a mounting plate fixedly connected to a linear slide on one side, an electric push rod fixedly connected to the other side of the mounting plate, the end of the telescopic rod of the electric push rod being fixedly connected to a slide block via a connecting rod, and the side of the slide block being slidably connected to a dovetail groove block located at the bottom of the electric push rod and fixed to the mounting plate.

[0012] Preferably, the snow removal assembly includes a rotating shaft and a snow removal plate fixedly mounted on the rotating shaft. The two ends of the rotating shaft are rotatably fixed on a traveling device in the corresponding direction, and one of the traveling devices is equipped with a fourth servo motor that drives the rotating shaft to rotate.

[0013] Preferably, proximity switches are provided at both ends of the upper and lower crossbars of the parking rack;

[0014] Preferably, a waste recycling device is provided between the upper and lower crossbars of the parking rack, at both ends of the photovoltaic solar panel;

[0015] Preferably, the present invention also includes a control system, which includes a motion control module and a computer vision module. The motion control module is used to control the movement of the cleaning robot, and the computer vision module is used to detect contamination or defects on the surface of the photovoltaic solar panel, calculate its area and position, and generate operation instructions for the cleaning robot to be sent to the motion control module.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The photovoltaic solar panel cleaning robot provided by this utility model can select different cleaning strategies according to different cleaning environments. When the dirt on the solar panel is ordinary dust, the photovoltaic solar panel cleaning robot moves with a rotating roller brush to clean it; when the dirt on the solar panel is more stubborn, the photovoltaic solar panel cleaning robot detects and determines the location of the dirt, and then moves the roller brush to the designated location for cleaning; when the dirt on the solar panel is snow, the robot can activate the snow sweeping blade after the snow reaches a certain thickness, and at the same time the roller brush runs, the robot moves to complete the cleaning, realizing automatic and efficient cleaning of the surface of the photovoltaic solar panel. Attached Figure Description

[0018] Figure 1 This is a 3D model of a photovoltaic solar panel cleaning robot in use according to this utility model;

[0019] Figure 2 This is a top view of the structure of a photovoltaic solar panel cleaning robot according to this utility model;

[0020] Figure 3 This is a top view of the structure of a photovoltaic solar panel cleaning robot according to this utility model;

[0021] Figure 4 This is a side view of the structure of a photovoltaic solar panel cleaning robot according to this utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the cleaning component of this utility model;

[0023] Figure 6 This is a schematic diagram of the dovetail groove block.

[0024] In the diagram: 1. Photovoltaic solar panel; 2. Parking frame; 3. Crossbar; 4. Walking device; 5. Cleaning device; 6. Waste collector; 7. Camera; 8. Support platform; 9. Drive wheel; 10. First servo motor; 11. Support wheel; 12. Connecting rod; 13. Roller brush assembly; 14. Fixed-point cleaning assembly; 15. Snow removal assembly; 16. Main shaft; 17. Brush; 18. Second servo motor; 19. Synchronous belt linear slide rail; 20. Linear slide table; 21. Slide table motor; 22. Cleaning component; 23. Mounting plate; 24. Electric push rod; 25. Telescopic rod; 26. Connecting rod; 27. Slide seat; 28. Dovetail groove block; 29. ​​Third servo motor; 30. Brush disc; 31. Rotating shaft; 32. Snow removal plate; 33. Fourth servo motor. Detailed Implementation

[0025] The technical solution adopted by this utility model will be clearly and completely described below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 Taking the structure of the present invention in use as an example, the present invention provides a photovoltaic solar panel cleaning robot, including a parking frame 2 mounted on the surface of a photovoltaic solar panel 1 and a cleaning robot located on the parking frame 2. The parking frame 2 is formed by two parallel horizontal bars 3 and a vertical bar fixed between the two horizontal bars 3 to form the outer frame of the photovoltaic solar panel 1. The horizontal bars 3 are provided with longitudinally arranged support bars so that the entire parking frame 2 can be mounted on the tilted photovoltaic solar panel 1.

[0027] The cleaning robot is equipped with a walking device 4 that moves the entire cleaning robot along the upper and lower crossbars 3 of the parking frame 2, and a cleaning device 5 for cleaning the surface of the photovoltaic solar panel 1.

[0028] The walking device 4 adopts the same structure and is symmetrically arranged on the crossbars 3 located at the upper and lower ends of the photovoltaic solar panel 1. Specifically, as shown in the figure... Figure 2-4 As shown, it includes: a support platform 8 and a plurality of drive wheels 9 rotatably mounted on the support platform 8 and driven by a first servo motor 10, and a support wheel 11 rotatably mounted at the bottom of the support platform 8;

[0029] The axis of the drive wheel 9 is set parallel to the surface of the photovoltaic solar panel 1, so that it can be vertically supported on the crossbar 3, and the crossbar 3 serves as the moving track of the drive wheel 9;

[0030] The axis of the support wheel 11 is perpendicular to the surface of the photovoltaic solar panel 1, so that it can be supported on the crossbar 3 parallel to the surface of the photovoltaic solar panel 1, which serves to fix the entire cleaning robot on the parking frame 2, and also provides guidance when the drive wheel 9 moves along the crossbar 3.

[0031] In this embodiment, the cross-section of the support platform 8 is preferably L-shaped and can be formed by vertically welding two steel plates. The base plate of the support platform 8 is used to place the first servo motor 10. The output shaft of the first servo motor 10 is fixedly connected to the drive wheel 9 through the bearing set on the web plate of the support platform 8. The support wheel 11 is rotatably set below the base plate of the support platform 8. That is, by controlling the first servo motor 10 to drive the drive wheel 9 to move along the crossbars 3 at the upper and lower ends of the parking frame 2, the entire photovoltaic cleaning robot is moved.

[0032] A connecting rod 12 is provided between the two walking devices 4. The two ends of the connecting rod 12 are fixed on the corresponding support platform 8 to connect the two walking devices 4.

[0033] The cleaning device 5 is positioned between two walking devices 4, directly above the surface of the photovoltaic solar panel 1. When the walking devices 4 move along the crossbar 3, they can drive the cleaning device 5 to move, gradually cleaning the stains or dust and other impurities on the surface of the photovoltaic solar panel 1. It includes: a roller brush assembly 13, a fixed-point cleaning assembly 14, and a snow removal assembly 15. The roller brush assembly 13 is used to remove dust from the surface of the photovoltaic solar panel 1, the fixed-point cleaning assembly 14 is used to remove stains from a certain spot on the surface of the photovoltaic solar panel 1, and the snow removal assembly 15 is used to remove snow from the photovoltaic solar panel 1.

[0034] The roller brush assembly 13 is preferably arranged between the fixed-point cleaning assembly 14 and the snow removal assembly 15, so as to facilitate secondary cleaning of the surface of the photovoltaic solar panel 1 after the fixed-point cleaning assembly 14 and the snow removal assembly 15 have cleaned it.

[0035] Specifically, the roller brush assembly 13 includes a main shaft 16 and brushes 17 evenly arranged on the main shaft 16. The axis of the main shaft 16 spans the surface of the photovoltaic solar panel 1, and its two ends are rotatably fixed on support platforms 8 in the corresponding directions. One of the support platforms 8 is equipped with a second servo motor 18 that drives the main shaft 16 to rotate. That is, by controlling the second servo motor 18 to drive the main shaft 16 to rotate, the brushes 17 on the main shaft 16 can clean the dust and other impurities on the surface of the photovoltaic solar panel that are easy to clean.

[0036] The fixed-point cleaning component 14 includes a synchronous belt linear slide rail 19 and a linear slide table 20 located on the synchronous belt linear slide rail 19 and matching therewith, and a slide table motor 21 for driving the synchronous belt linear slide rail 19. The synchronous belt linear slide rail 19 spans the surface of the photovoltaic solar panel 1 vertically, and its two ends are fixed on the support platform 8 in the corresponding direction. The linear slide table 20 is provided with a cleaning component 22 perpendicular to the surface of the photovoltaic solar panel 1. That is, by controlling the slide table motor 21, the linear slide table 20 can move along the synchronous belt linear slide rail 19, thereby driving the cleaning component 22 to move above a stain on the surface of the photovoltaic solar panel 1.

[0037] Furthermore, such as Figure 5 As shown, the cleaning component 22 includes a mounting plate 23 fixedly connected to a linear slide 20 on one side, and an electric push rod 24 fixedly connected to the other side of the mounting plate 23. The end of the telescopic rod 25 of the electric push rod 24 is fixedly connected to a slide block 27 via a connecting rod 26. The side of the slide block 27 is slidably engaged with a dovetail groove block 28 located at the bottom of the electric push rod 24 and fixed on the mounting plate 23. The dovetail groove block 28 is shaped as follows: Figure 6 As shown, when the telescopic rod 25 extends upward, it drives the slide block 27 to slide along the dovetail groove block 28 via the connecting rod 26. The third servo motor 29 is fixedly installed on the slide block 27. The output shaft of the third servo motor 29 is perpendicular to the surface of the photovoltaic solar panel 1 and is fixedly connected to the brush plate 30. In this way, the telescopic rod 25 of the electric push rod 24 can be controlled to separate the contact between the brush plate 30 and the surface of the photovoltaic solar panel 1. When the two are in contact, the third servo motor 29 is started to drive the brush plate 30 to rotate and clean the dirt on the surface of the photovoltaic solar panel 1.

[0038] The snow removal assembly 15 includes a rotating shaft 31 and a snow removal plate 32 fixedly mounted on the rotating shaft 31. The axis of the rotating shaft 31 spans the surface of the photovoltaic solar panel 1, and its two ends are rotatably fixed on the support platform 8 in the corresponding direction. One of the support platforms 8 is equipped with a fourth servo motor 33 that drives the rotating shaft 31 to rotate. The shape of the snow removal plate 32 is preferably a minor arc shape. When the fourth servo motor 33 is controlled to drive the rotating shaft 31 to rotate to a certain angle, the rotating shaft 31 drives one end of the snow removal plate 32 to come close to the surface of the photovoltaic solar panel 1. When the walking device 4 moves, the snow on the surface of the photovoltaic solar panel 1 is removed.

[0039] In addition, as a preferred technical solution, proximity switches can be installed at both ends of the upper and lower crossbars 3 of the parking rack 2 to limit the travel of the cleaning robot on the crossbars 3.

[0040] Furthermore, between the upper and lower crossbars 3 of the parking rack 2, at both ends of the photovoltaic solar panel 1, there is a waste collector 6 fixed on the upper and lower crossbars 3 of the parking rack 2. The waste collector 6 can be funnel-shaped or groove-shaped, and its surface is lower than the photovoltaic solar panel 1, so as to facilitate the collection of cleaning robots to clean the dust on the surface of the photovoltaic solar panel 1 and avoid environmental pollution.

[0041] Furthermore, the photovoltaic solar panel cleaning robot provided by this utility model also includes a control system, which includes a motion control module and a computer vision module. The motion control module is used to control the cleaning robot to perform the above-mentioned motion process, and the computer vision module is used to detect contamination or defects on the surface of the photovoltaic solar panel 1, calculate its area and position, and generate operation instructions for the cleaning robot to be sent to the motion control module.

[0042] In this embodiment, C++ can be selected as the development language for the motion control module, ROS (Robot Operating System) can be used as the platform development environment for the motion control module, and vscode (Visual Studio Code) integrated development environment management tool can be used for development to improve development efficiency and code maintainability.

[0043] The computer vision module uses Gaussian segmentation and region growing algorithms based on computer vision to identify and locate dirt or defects on the surface of photovoltaic solar panel 1.

[0044] The specific implementation is as follows: First, a high-resolution RGB camera 7 installed at the front end of the walking device 4 captures images of the photovoltaic solar panel 1 under uniform lighting conditions. The captured images should cover the entire surface of the photovoltaic solar panel 1, ensuring no blind spots. Then, the captured images are converted to grayscale to simplify the image information. Next, a Gaussian filter is used to remove noise and improve image clarity. After image preprocessing, a Gaussian bandpass filter is applied to enhance the mid-frequency information of the image. First, a Gaussian low-pass filter is used to remove high-frequency noise from the image. Then, important high-frequency information is extracted by subtracting the original image from the low-pass filtered image. This preserves image details while removing interference from low-frequency backgrounds. Finally, the image is segmented using a region growing method. The pixel with the highest pixel value is selected as the seed point, and the region growing method is used to expand the segmentation step by step. Based on grayscale similarity, adjacent pixels are grouped into the same contaminated area. Finally, the contaminated areas are marked, and their area and location are calculated. Operation instructions for the cleaning robot are then generated and sent to the motion control module. Through precise image processing technology, the automated detection of contamination and defects in photovoltaic solar panel 1 was achieved, providing reliable data support for the cleaning of photovoltaic solar panel 1.

[0045] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A photovoltaic solar panel cleaning robot, comprising a parking rack (2) mounted on the surface of a photovoltaic solar panel (1) and a cleaning robot located on the parking rack (2), wherein the cleaning robot is provided with a walking device (4) for moving the entire cleaning robot along two horizontal bars (3) on the upper and lower sides of the parking rack (2) and a cleaning device (5) for cleaning the surface of the photovoltaic solar panel (1), wherein the walking device (4) adopts the same structure and is symmetrically arranged on the horizontal bars (3) located at the upper and lower ends of the surface of the photovoltaic solar panel (1); Its features are, The cleaning device (5) includes a roller brush assembly (13) for removing dust from the surface of the photovoltaic solar panel (1), a spot cleaning assembly (14) for removing stains from the surface of the photovoltaic solar panel (1), and a snow removal assembly (15) for removing snow from the photovoltaic solar panel (1). The fixed-point cleaning component (14) includes a synchronous belt linear slide rail (19) and a linear slide table (20) located on the synchronous belt linear slide rail (19) and matching it, as well as a slide table motor (21) for driving the synchronous belt linear slide rail (19). The synchronous belt linear slide rail (19) spans the surface of the photovoltaic solar panel (1) vertically, and its two ends are fixed on the walking device (4) in the corresponding direction. The linear slide table (20) is provided with a cleaning component (22) perpendicular to the surface of the photovoltaic solar panel (1). The cleaning component (22) includes a mounting plate (23) fixedly connected to a linear slide (20) on one side, an electric push rod (24) fixedly connected to the other side of the mounting plate (23), the end of the telescopic rod (25) of the electric push rod (24) being fixedly connected to a slide block (27) via a connecting rod (26), the side of the slide block (27) being slidably connected to a dovetail groove block (28) located at the bottom of the electric push rod (24) and fixed on the mounting plate (23); a third servo motor (29) is fixedly mounted on the slide block (27), the output shaft of the third servo motor (29) being perpendicular to the surface of the photovoltaic solar panel (1) and fixedly connected to the brush plate (30).

2. The solar panel cleaning robot according to claim 1, characterized in that, The walking device (4) includes a support platform (8) and a plurality of drive wheels (9) driven by a first servo motor (10) rotatably mounted on the support platform (8), and a support wheel (11) rotatably mounted at the bottom of the support platform (8). The axis of the drive wheel (9) is parallel to the surface of the photovoltaic solar panel (1), and the axis of the support wheel (11) is perpendicular to the surface of the photovoltaic solar panel (1). A connecting rod (12) is provided between the two walking devices (4), and the two ends of the connecting rod (12) are respectively fixed on the corresponding support platform (8).

3. The photovoltaic solar panel cleaning robot according to claim 2, characterized in that, The cross-section of the support platform (8) is L-shaped.

4. The photovoltaic solar panel cleaning robot according to claim 1, characterized in that, The roller brush assembly (13) includes a main shaft (16) and brushes (17) evenly arranged on the main shaft (16). The axis of the main shaft (16) spans the surface of the photovoltaic solar panel (1), and its two ends are rotatably fixed on the corresponding walking device (4). One of the walking devices (4) is provided with a second servo motor (18) that drives the main shaft (16) to rotate.

5. The photovoltaic solar panel cleaning robot according to claim 1, characterized in that, The snow removal assembly (15) includes a rotating shaft (31) and a snow removal plate (32) fixedly mounted on the rotating shaft (31). The two ends of the rotating shaft (31) are rotatably fixed on a traveling device (4) in the corresponding direction. One of the traveling devices (4) is equipped with a fourth servo motor (33) that drives the rotating shaft (31) to rotate.

6. The photovoltaic solar panel cleaning robot according to claim 1, characterized in that, The parking rack (2) has proximity switches at both ends of the two horizontal bars (3) above and below.

7. The photovoltaic solar panel cleaning robot according to claim 1, characterized in that, Between the upper and lower crossbars (3) of the parking rack (2), at both ends of the photovoltaic solar panel (1), there is a garbage collector (6) fixed on the upper and lower crossbars (3) of the parking rack (2).

8. The photovoltaic solar panel cleaning robot according to claim 1, characterized in that, It also includes a control system, which includes a motion control module and a computer vision module, wherein the motion control module is used to control the movement of the cleaning robot, and the computer vision module is used to detect contamination or defects on the surface of the photovoltaic solar panel (1).

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