Solar panel cleaning device

Abstract

The utility model relates to the technical field of solar panel cleaning, in particular to a solar panel cleaning device which comprises a machine frame, walking modules, an airport, an unmanned aerial vehicle, a supporting shell, a control system, a connecting frame, a limiting frame, a fixing frame, a lifting wheel frame and the like. An airport is fixedly arranged in the middle of the outer top of the rack, an unmanned aerial vehicle is parked in the airport, supporting shells are installed on the left side and the right side of the lower portion of the rack correspondingly, and a control system is installed in each supporting shell and electrically connected with a remote monitoring unit. The unmanned aerial vehicle cruises and collects solar panel arrangement and topographic data, constructs a three-dimensional environment map through a digital elevation model and plans an optimal path; double stepping motors of the walking module respectively control power and steering, can rotate in situ, and cooperate with a control system to drive a device to shuttle between plates according to a path, so that the moving flexibility and the path accuracy are improved.

Description

Technical Field

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

[0002] As an important component of clean energy, the power generation efficiency of solar photovoltaic (PV) power generation is closely related to the cleanliness of the PV panel surface. Pollutants such as dust and bird droppings can significantly reduce the light transmittance and power generation efficiency of PV panels; therefore, regular cleaning of PV panels is crucial.

[0003] Currently, photovoltaic panel cleaning mainly relies on manual cleaning, fixed-track automatic cleaning equipment, or cleaning devices mounted on large vehicles. Manual cleaning suffers from low efficiency, high cost, and poor safety; fixed-track equipment lacks flexibility, making it difficult to adapt to complex or expanded power plant layouts, and has high initial installation costs; while large cleaning vehicles are often limited to cleaning ground-mounted photovoltaic arrays and have the disadvantages of being cumbersome and prone to damaging infrastructure.

[0004] While some existing automated mobile cleaning robots possess a certain degree of mobility, their path planning largely relies on preset programs or simple line following, making them unable to intelligently handle the complex layout and terrain variations of photovoltaic panel arrays in large power plants, easily creating cleaning blind spots. Furthermore, the tilt adjustment range of most devices' cleaning mechanisms is limited or the adjustment methods are cumbersome, making it difficult to quickly and accurately adapt to photovoltaic panels with different installation tilt angles, resulting in poor cleaning performance. This problem is particularly prominent when dealing with complex photovoltaic arrays with different orientations and tilt angles.

[0005] In addition, in existing technologies, the functions of cleaning unit inspection, path planning and cleaning execution are often separate, failing to form a highly integrated and intelligent collaborative operating system, resulting in the need to improve the overall cleaning efficiency and intelligence level.

[0006] Therefore, there is an urgent need for an intelligent cleaning device that can autonomously plan its path, flexibly adapt to complex terrain and different slab inclination angles, and integrate inspection and cleaning functions. Utility Model Content

[0007] In order to overcome the shortcomings of existing photovoltaic panel cleaning methods, such as poor flexibility, difficulty in adapting to complex terrain and different panel tilt angles, and low degree of automation, this utility model provides a solar panel cleaning device.

[0008] The technical solution is as follows: A solar panel cleaning device includes a frame, a walking module, an airport, a drone, a support shell, a control system, a connecting frame, a limiting frame, a fixing frame, a lifting wheel frame, a mounting frame, a brushless motor, a cleaning roller, a vision detector, an adjustment component, and a water spray component. Walking modules are symmetrically arranged on both sides of the bottom of the frame. An airport is fixedly installed at the middle of the top of the frame, and a drone is parked inside the airport. Support shells are installed on both sides of the lower part of the frame, and a control system is installed inside the support shells. The control system is electrically connected to a remote monitoring unit. The walking module, the airport, and the drone are all electrically connected to the control system. The upper part of the frame... A visual detector is installed on the front side wall, which is electrically connected to the drone and the control system. Connecting frames are symmetrically installed on the right side wall of the right support shell, and limit frames are rotatably connected to both connecting frames. Fixed frames are symmetrically installed on the top right side of the frame. A lifting wheel frame is slidably connected between the two limit frames and between the two fixed frames. Mounting frames are rotatably connected between the lifting wheel frames on both sides. Brushless motors are symmetrically installed on the right side of the mounting frames. Cleaning rollers are connected to the output shafts of the brushless motors. The brushless motors are electrically connected to the control system. An adjustment component is provided on the frame, and a water spray component is provided on the top of the support shell.

[0009] Preferably, the frame is made of aluminum alloy, and the inner wall of the frame is provided with several reinforcing ribs at intervals along the length direction. The reinforcing ribs are integrally formed with the frame.

[0010] Preferably, the wheels of the walking module are made of high-elasticity nitrile rubber, and the outer circumference of the wheels is provided with serrated anti-slip patterns.

[0011] Preferably, the adjustment assembly includes an arc-shaped guide rail, a rotating rod, a hydraulic cylinder one, and a hydraulic cylinder two. Two arc-shaped guide rails are installed in the top left area of ​​the frame. A rotating rod is rotatably connected to the top of the limit frame, and the rotating rod is slidably connected to the arc-shaped guide rail on the corresponding side. A hydraulic cylinder one is installed on the right side of the limit frame, and the telescopic rod of the hydraulic cylinder one is fixedly connected to the bottom surface of the lifting wheel frame on the left. A hydraulic cylinder two is installed on the left side of the fixed frame, and the telescopic rod of the hydraulic cylinder two is fixedly connected to the top surface of the lifting wheel frame on the right. Both hydraulic cylinder one and hydraulic cylinder two are electrically connected to the control system.

[0012] Preferably, the inner wall of the guide groove of the arc-shaped guide rail is coated with a polytetrafluoroethylene lubricating coating, and the end of the rotating rod that contacts the arc-shaped guide rail is fitted with a wear-resistant ceramic gasket.

[0013] Preferably, the water spray assembly includes a storage tank, a pump, a telescopic delivery pipe, a spray pipe, a nozzle, and a protective shell. The storage tank is installed on the top of the support shell, and the pump is installed on both the front and rear sides of the storage tank. The pump is connected to and communicates with the telescopic delivery pipe. The protective shell is installed on the front and rear sides of the top of the mounting frame, and the protective shell covers the cleaning roller on the corresponding side. The top of the protective shell is symmetrically equipped with a spray pipe, and several nozzles are installed at intervals on the spray pipe. Each nozzle penetrates the top of the protective shell, and the nozzle nozzle faces upward towards the cleaning roller.

[0014] The beneficial effects of this utility model are as follows: 1. The drone cruises and collects data on the arrangement of solar panels and terrain, constructs a three-dimensional environmental map through a digital elevation model and plans the optimal path; the dual stepper motors of the walking module control the power and steering respectively, and can rotate in place. In conjunction with the control system, it drives the device to shuttle between the panels according to the path, improving the mobility and path accuracy.

[0015] 2. Through the coordinated action of hydraulic cylinder one and hydraulic cylinder two, the lifting wheel frame is driven to slide on the limit frame and the fixed frame, thereby flexibly adjusting the tilt angle of the mounting frame and the cleaning roller. This design enables the cleaning roller to quickly adapt to the installation tilt angle of different solar panels, ensuring that the surface of the cleaning roller is fully in contact with the surface of the photovoltaic panel, thus improving the cleaning effect.

[0016] 3. The cleaning roller is directly driven by a brushless motor, which ensures stable rotation and sufficient torque. During the cleaning process, the water spraying component can continuously and evenly spray the cleaning liquid onto the cleaning roller. Combined with the slow movement of the walking module, it achieves a continuous and uniform operation from wetting to scrubbing on the photovoltaic panel surface, ensuring the consistency of cleaning quality. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0018] Figure 2 This is a three-dimensional structural diagram of the frame, walking module, and airport components of this utility model.

[0019] Figure 3 This is a three-dimensional structural diagram of the connecting frame, limiting frame, and arc-shaped guide rail components of this utility model.

[0020] Figure 4 This is a three-dimensional sectional view of the supporting shell, control system, and connecting frame of this utility model.

[0021] Figure 5 This is a three-dimensional structural diagram of the rotating rod, mounting frame, and lifting wheel frame of this utility model.

[0022] Figure 6 This is a three-dimensional structural diagram of the brushless motor, cleaning roller, and hydraulic cylinder of this utility model.

[0023] Figure 7 This is a three-dimensional structural diagram of the telescopic delivery pipe, spray pipe, and nozzle of this utility model.

[0024] Reference numerals: 1_Frame, 2_Walking Module, 3_Airport, 4_UAV, 5_Support Shell, 6_Control System, 7_Connecting Frame, 8_Limiting Frame, 81_Fixed Frame, 9_Arc-shaped Guide Rail, 10_Rotating Rod, 11_Lifting Wheel Frame, 12_Mounting Frame, 14_Brushless Motor, 15_Cleaning Roller, 16_Hydraulic Cylinder 1, 17_Hydraulic Cylinder 2, 18_Reservoir Tank, 19_Liquid Pump, 20_Telescopic Conveying Pipe, 22_Nozzle, 23_Spray Nozzle, 24_Protective Shell, 25_Visual Detector. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Example: A solar panel cleaning device, such as Figures 1-7As shown, the device includes a frame 1, a walking module 2, an airport 3, a drone 4, a support shell 5, a control system 6, a connecting frame 7, a limiting frame 8, a fixing frame 81, a lifting wheel frame 11, a mounting frame 12, a brushless motor 14, a cleaning roller 15, a vision detector 25, an adjustment component, and a water spray component. The frame 1 has an inverted U-shaped structure. The walking module 2 is symmetrically arranged on the left and right sides of the bottom of the frame 1 along the front-back direction. The walking module 2 consists of two stepper motors and wheels. One stepper motor provides driving force to the wheels, and the other stepper motor controls the steering of the wheels, enabling the wheels to rotate in place, thereby improving the flexibility of the device in moving between solar panels. The wheels of the walking module 2 are made of high-elasticity nitrile rubber, and the outer circumference of the wheels is serrated. The anti-slip texture, made of highly elastic nitrile rubber, enhances the wheel's grip on complex outdoor surfaces such as gravel and slopes. An airport 3 is fixedly mounted at the top center of the frame 1, housing a drone 4. The airport 3 is equipped with an opening and closing mechanism; initially, this mechanism is closed, providing enclosed protection for the drone 4. The drone 4 is used for patrolling and collecting data on solar panel layout and terrain. Support shells 5 are installed on the lower left and right sides of the frame 1. A control system 6 is bolted into each support shell 5 and electrically connected to a remote monitoring unit. The dual stepper motors of the walking module 2, the opening and closing mechanism of the airport 3, and the drone 4 are all electrically connected to the control system 6, which controls the various actuators. Centralized control is implemented. A vision detector 25 is installed on the upper front side wall of the frame 1. The vision detector 25 is electrically connected to the drone 4 and the control system 6. The function of the vision detector 25 includes measuring the tilt angle of the solar panel and guiding the entire device to align with the center of the solar panel, ensuring the accuracy of the device's position during cleaning operations. Connecting frames 7 are symmetrically installed on the front and back of the right side wall of the right support shell 5. Limiting frames 8 are rotatably connected to both connecting frames 7. Fixed frames 81 are symmetrically installed on the front and back of the top right side of the frame 1. The fixed frames 81 and the limiting frames 8 are symmetrically distributed from left to right. A lifting wheel frame 11 is slidably connected between the two limiting frames 8 and the two fixed frames 81. In the initial state, the lifting wheel frame 1 on the left side... The frame 1 is positioned at a higher level, while the right-side lifting wheel frame 11 is positioned at a lower level. A mounting frame 12 is rotatably connected between the two lifting wheel frames 11. The mounting frame 12 is tilted, with the left side higher than the right. A brushless motor 14 is symmetrically mounted on the right side of the mounting frame 12 via bolts. Cleaning rollers 15 are connected to the output shafts of the brushless motors 14. The left end of each cleaning roller 15 is rotatably connected to the left side of the mounting frame 12 via a bearing seat. The two cleaning rollers 15 are symmetrically distributed front and back. The brushless motor 14 is electrically connected to the control system 6, which controls its start, stop, and speed. An adjustment assembly is provided on the frame 1, and a water spray assembly is provided on the top of the support shell 5. The frame 1 is made of aluminum alloy, and several reinforcing ribs are spaced along the length of the inner wall of the frame 1. These reinforcing ribs are integrally formed with the frame 1.The aluminum alloy material combines lightweight and high strength, making it suitable for long-term outdoor use. Reinforcing ribs further enhance the frame's resistance to deformation, preventing bending during equipment movement or cleaning operations.

[0027] like Figures 3-7 As shown, the adjustment assembly includes an arc-shaped guide rail 9, a rotating rod 10, a hydraulic cylinder 16, and a hydraulic cylinder 17. The arc-shaped guide rail 9 is symmetrically mounted on the top left side of the frame 1 using bolts. The top of the limiting frame 8 is rotatably connected to the rotating rod 10, which slides against the corresponding side of the arc-shaped guide rail 9. A hydraulic cylinder 16 is mounted on the right side of the limiting frame 8 using bolts. The telescopic rod of hydraulic cylinder 16 is fixedly connected to the bottom surface of the left-side lifting wheel frame 11. A hydraulic cylinder 17 is mounted on the left side of the fixed frame 81 using bolts. The telescopic rod of hydraulic cylinder 17 is fixedly connected to the top surface of the right-side lifting wheel frame 11. The hydraulic cylinder 16 and the hydraulic cylinder 17 are connected... Both cylinder 17 and hydraulic cylinder 16 are electrically connected to the control system 6. By extending and retracting the telescopic rods of hydraulic cylinder 16 and hydraulic cylinder 17, the lifting wheel frame 11 can be driven to slide along the limit frame 8 and the fixed frame 81, thereby adjusting the tilt angle of the mounting frame 12. The inner wall of the guide groove of the arc-shaped guide rail 9 is coated with a polytetrafluoroethylene lubricating coating, and the end of the rotating rod 10 that contacts the arc-shaped guide rail 9 is fitted with a wear-resistant ceramic gasket. The polytetrafluoroethylene coating can reduce the sliding friction resistance between the rotating rod 10 and the guide groove, making the angle adjustment of the cleaning roller 15 smoother. The wear-resistant ceramic gasket can reduce the wear at the end of the rotating rod 10 and extend the overall service life of the adjustment component.

[0028] like Figures 4-7 As shown, the water spray assembly includes a storage tank 18, a pump 19, a telescopic delivery pipe 20, a spray pipe 22, a nozzle 23, and a protective shell 24. The storage tank 18, containing clean water, is mounted on the top of the support shell 5. Pumps 19 are screwed onto both the front and rear sides of the storage tank 18. The telescopic delivery pipe 20 is connected to and communicates with the pump 19. The telescopic delivery pipe 20 has a telescopic section, allowing it to adjust its length to accommodate changes in position after the mounting bracket 12's angle is adjusted. The mounting bracket 12 has a top section on both the front and rear sides... A protective shell 24 is installed on top of the cleaning roller 15 on the corresponding side, forming a protective layer for the upper part of the cleaning roller 15. Spray pipes 22 are symmetrically installed on the top of the protective shell 24, and several nozzles 23 are installed at intervals along the length of the spray pipes 22. Each nozzle 23 penetrates the top of the protective shell 24, and the nozzle of the nozzle 23 faces upward towards the cleaning roller 15 to ensure that the cleaning liquid is accurately sprayed onto the surface of the cleaning roller 15. Four telescopic conveying pipes 20 are connected to and communicate with the four spray pipes 22 respectively.

[0029] The operation of this cleaning device requires coordinated control by a remote monitoring unit and a control system 6. In specific use, the remote monitoring unit sends a work command to the control system 6. The control system 6 first controls the opening mechanism of airport 3 to open, allowing drone 4 within airport 3 to take off. After takeoff, drone 4 cruises around the solar panel base station. During this cruise, drone 4 begins to identify visual symbols on the apron at a predetermined altitude (e.g., 30m) and collects data on the solar panel layout and terrain of the entire base station. It processes the collected data by establishing a digital elevation model to construct a three-dimensional environmental map model required for path planning, thereby analyzing and determining the optimal cleaning path. Drone 4 transmits the three-dimensional environmental map model and the optimal cleaning path data to the remote monitoring unit, which then forwards it to the control system 6. Based on the optimal cleaning path, the control system 6 controls the dual stepper motors of the walking module 2 to operate, driving the entire cleaning device to freely move between the solar panels along the planned path. During this process, the visual detector 25 operates in real time, measuring the tilt angle of the solar panel to be cleaned and guiding the device to adjust its position, ensuring the device is precisely aligned with the center of the solar panel, laying the positional foundation for subsequent cleaning operations.

[0030] Next, the control system 6, based on the tilt angle data of the solar panel detected by the vision detector 25, drives the adjustment component to work. By controlling the extension and retraction of the telescopic rod of hydraulic cylinder 16, the left lifting wheel frame 11 is driven to slide up and down along the limit frame 8. By controlling the extension and retraction of the telescopic rod of hydraulic cylinder 2 17, the right lifting wheel frame 11 is driven to slide up and down along the fixed frame 81. Since the mounting frame 12 is rotatably connected between the two lifting wheel frames 11, the sliding of the lifting wheel frame 11 causes the mounting frame 12 to rotate around its connection point with the lifting wheel frame 11, thereby adjusting the tilt angle of the mounting frame 12 so that the tilt angle of the cleaning roller 15 is consistent with the tilt angle of the solar panel to be cleaned. During this process, the limit frame 8 rotates synchronously around its rotation point with the connecting frame 7, and the rotating rod... The 10 slides along the arc-shaped guide rail 9 to adapt to the rotation of the limiting frame 8. The telescopic conveying pipe 20 adapts to the position change of the spray pipe 22 after the angle of the mounting frame 12 is adjusted by the extension and retraction of its own telescopic section, ensuring that the relative position of the water spraying component and the cleaning roller 15 is stable. When the tilt angle of the cleaning roller 15 is adjusted to be in contact with the surface of the solar panel, the control system 6 starts the liquid pump 19 of the water spraying component. The liquid pump 19 draws the cleaning liquid in the storage tank 18 to the telescopic conveying pipe 20, and then delivers it to the spray pipe 22 through the telescopic conveying pipe 20. Finally, it is sprayed onto the surface of the cleaning roller 15 through the nozzle 23. At the same time, the control system 6 starts the brushless motor 14. The output shaft of the brushless motor 14 drives the cleaning roller 15 to rotate, and the cleaning roller 15 performs rolling brushing on the surface of the solar panel.

[0031] Meanwhile, the control system 6 controls the walking module 2 to drive the entire device to move slowly along the extension direction of the solar panel, achieving full coverage and uniform cleaning of the solar panel surface. During the cleaning process, if solar panels with different tilt angles are encountered, the vision detector 25 updates the angle data in real time, and the control system 6 synchronously drives the adjustment component to adjust the angle of the cleaning roller 15 to ensure that the cleaning roller 15 is always in contact with the surface of the solar panel. The entire device can also adjust its horizontal orientation and angle through the walking module 2 to adapt to photovoltaic panels with different orientations and angles. When the cleaning operation of a certain area of ​​solar panels is completed, the control system 6 first turns off the liquid pump 19 and the brushless motor 14 to stop the spraying of cleaning liquid and the rotation of the cleaning roller 15. Then, the control system 6 controls the walking module 2 to drive the device to move to the next cleaning area or the initial parking position. If the cleaning operation of the entire base station is completed, the UAV 4 executes the return procedure and lands in the airport 3. The control system 6 then controls the opening and closing mechanism of the airport 3 to close, forming a closed protection for the UAV 4, and the device returns to its initial state.

Claims

1. A solar panel cleaning device, characterized in that, The utility model provides a unmanned aerial vehicle cleaning device, including organic frame (1), walking module (2), airport (3), unmanned aerial vehicle (4), support shell (5), control system (6), connecting frame (7), limiting frame (8), fixed frame (81), lifting wheel frame (11), mounting frame (12), brushless motor (14), cleaning roller (15), visual detector (25), adjusting assembly and water spraying assembly, frame (1) bottom both sides symmetry is provided with walking module (2), frame (1) outer top middle position fixedly installed with airport (3), and the unmanned aerial vehicle (4) is parked in airport (3), frame (1) lower part both sides are installed with support shell (5), and support shell (5) is installed with control system (6) inside, and control system (6) is electrically connected with remote monitoring unit, and walking module (2), airport (3) and unmanned aerial vehicle (4) are electrically connected with control system (6) respectively, and the visual detector (25) is installed on the front side wall of frame (1) upper part, and the visual detector (25) is electrically connected with unmanned aerial vehicle (4) and control system (6) respectively, and the right side wall of right side support shell (5) is installed with connecting frame (7) symmetry, and the limiting frame (8) of two connecting frames (7) is rotatably connected, and the right side of frame (1) top is installed with fixed frame (81) symmetry, and one lifting wheel frame (11) is slidably connected between two limiting frames (8), and one lifting wheel frame (11) is also slidably connected between two fixed frames (81), and the mounting frame (12) is rotatably connected between the lifting wheel frame (11) of both sides, and the brushless motor (14) is installed on the mounting frame (12) right side symmetry, and the cleaning roller (15) is connected on the output shaft of brushless motor (14), and brushless motor (14) is electrically connected with control system (6), and the adjusting assembly is arranged on frame (1), and the water spraying assembly is arranged on the top of support shell (5).

2. A solar panel cleaning device according to claim 1, wherein, The frame (1) is made of aluminum alloy material, and a plurality of reinforcing ribs are arranged on the inner wall of the frame (1) along the length direction and are integrally formed with the frame (1).

3. A solar panel cleaning device according to claim 2, wherein, The wheels of the walking module (2) are made of high-elasticity nitrile rubber material, and the outer circumferential surface of the wheels is provided with sawtooth anti-skid lines.

4. A solar panel cleaning device according to claim 3, wherein, The adjusting assembly comprises arc-shaped guide rails (9), rotating rods (10), a first hydraulic cylinder (16) and a second hydraulic cylinder (17). Two arc-shaped guide rails (9) are installed in the left area of the top of the frame (1). The top of the limiting frame (8) is rotatably connected with a rotating rod (10). The rotating rod (10) is slidably connected with the corresponding arc-shaped guide rail (9). The right side of the limiting frame (8) is provided with the first hydraulic cylinder (16). The telescopic rod of the first hydraulic cylinder (16) is fixedly connected with the bottom surface of the left lifting wheel frame (11). The left side of the fixed frame (81) is provided with the second hydraulic cylinder (17). The telescopic rod of the second hydraulic cylinder (17) is fixedly connected with the top surface of the right lifting wheel frame (11). The first hydraulic cylinder (16) and the second hydraulic cylinder (17) are electrically connected with the control system (6).

5. A solar panel cleaning device according to claim 4, wherein, The inner wall of the guide rail groove of the arc-shaped guide rail (9) is coated with a polytetrafluoroethylene lubricating coating, and a wear-resistant ceramic gasket is sleeved on the end of the rotating rod (10) in contact with the arc-shaped guide rail (9).

6. A solar panel cleaning device according to claim 5, wherein, The water spraying assembly comprises a liquid storage tank (18), a liquid pumping device (19), an extendable conveying pipe (20), a spraying pipe (22), a spraying head (23) and a protective shell (24), the support shell (5) is provided with the liquid storage tank (18) on the top, the liquid storage tank (18) is provided with the liquid pumping device (19) on the front side and the rear side, the liquid pumping device (19) is connected with the extendable conveying pipe (20), the mounting frame (12) is provided with the protective shell (24) on the top of the front side and the rear side, the protective shell (24) covers the corresponding side cleaning roller (15) above, the spraying pipe (22) is symmetrically arranged on the top of the protective shell (24), a plurality of spraying heads (23) are arranged on the spraying pipe (22) at intervals, each spraying head (23) penetrates the top of the protective shell (24), and the spraying head (23) is arranged towards the cleaning roller (15) above.

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