Photovoltaic robot intelligent liquid spraying head
Patent Information
- Application Number
- CN202521706503.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-12
- Publication Date
- 2026-08-21
- Estimated Expiration
- 2035-08-12
AI Technical Summary
[0003]现有光伏清洁湿洗机器人的喷液头其喷射压力多为固定设置或仅能进行简单的高低档调节，无法根据光伏板表面污渍的实际情况动态适配，当喷射压力设置较低时，虽能满足普通灰尘的清洗需求，但对于鸟粪、干涸污渍等顽固异物难以彻底清除，导致清洁不彻底而影响光伏板发电效率，当喷射压力设置较高时，虽可兼顾灰尘与顽固异物的清洗，但会造成清洁液的大量消耗，不仅浪费水资源，还因持续高压喷射增加了动力系统的能耗，不符合光伏电站节能运维的需求，为此提供光伏机器人智能喷液头
[0011]1、本申请中，由于采用了上述该方案，当视觉摄像头检测到广角喷头的低压喷洒无法清除顽固污渍时，角度调节机构中的驱动马达启动，并通过齿轮传动带动供液管道转动，使安装在喷头安装管上的圆形高压喷液头精准对准顽固污渍位置，同时控制对应喷头安装管上的电控阀门打开，圆形高压喷液头随即喷出柱状清洁液，定向冲击顽固污渍，该装置通过广角喷头与圆形高压喷头的交错分布设计，既保证了基础清洁的覆盖范围，又实现了顽固污渍的精准冲击，有效避免了清洁液的无效消耗，实现高效、节水、智能的光伏板清洁效果。
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Figure CN224657501U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of photovoltaic panel cleaning technology, specifically a photovoltaic robot intelligent spray head. Background Technology
[0002] A photovoltaic robot is an intelligent device used in the operation and maintenance of photovoltaic power plants. It can move automatically on the surface of photovoltaic panels and ensure the power generation efficiency of the photovoltaic panels through cleaning operations. When performing photovoltaic panel cleaning tasks (especially wet cleaning mode), it needs to use a spray head to control the spraying of cleaning fluid. The spray head will work in conjunction with the movement of the robot to wet and rinse the dust, stains and other dirt on the surface of the photovoltaic panels, thereby achieving efficient cleaning, ensuring that the photovoltaic panels maintain good light transmittance, and thus improving their power generation performance.
[0003] Existing photovoltaic cleaning robots typically use spray heads with fixed spray pressure settings or only simple high / low adjustment, failing to dynamically adapt to the actual dirt levels on the photovoltaic panel surface. While lower spray pressure settings can meet the cleaning needs of ordinary dust, they struggle to thoroughly remove stubborn debris such as bird droppings and dried stains, resulting in incomplete cleaning and impacting photovoltaic panel power generation efficiency. Higher spray pressure settings, while capable of cleaning both dust and stubborn debris, lead to excessive consumption of cleaning fluid, wasting water resources and increasing the power system's energy consumption due to continuous high-pressure spraying, which does not meet the energy-saving operation and maintenance requirements of photovoltaic power plants. Therefore, we provide intelligent spray heads for photovoltaic robots. Utility Model Content
[0004] The purpose of this application is to provide a photovoltaic robot intelligent spray head in order to solve the problems mentioned above.
[0005] The technical solution adopted in this application is as follows: a photovoltaic robot intelligent spray head, including a photovoltaic mobile robot. A cleaning mounting cover is fixedly installed on the front side of the photovoltaic mobile robot by bolts. A pre-spraying mechanism is set inside the cleaning mounting cover. Two vertical plates are fixedly installed on the inner top surface of the cleaning mounting cover, and a liquid supply pipe is rotatably connected to the side of the two vertical plates that are close to each other. An angle adjustment mechanism connected to the liquid supply pipe is set on one side of the vertical plate. Multiple nozzle mounting tubes are installed in an array at equal intervals on the outer surface of the liquid supply pipe, and an electrically controlled valve is fixedly installed on the outer surface of each of the multiple nozzle mounting tubes. A spray head is fixedly installed at the end of the nozzle mounting tube away from the liquid supply pipe. A liquid supply connection pipe is fixedly installed on the outer surface of the liquid supply pipe and is connected to an external liquid supply pump. A camera bracket is fixedly installed on the front side of the cleaning mounting cover. Multiple vision cameras are fixedly installed through the inner bottom surface of the camera bracket. The vision cameras and the electrically controlled valves are electrically connected to the internal control components of the photovoltaic mobile robot.
[0006] In a preferred embodiment, the angle adjustment mechanism includes a pinion, a main drive shaft, a large gear, a drive pinion, a transverse support plate, a drive motor, and a drive large gear. The left and right ends of the liquid supply pipe extend to the outside of the vertical plate, and pinions are fixedly installed at both ends of the liquid supply pipe. A main drive shaft is rotatably connected to one side of the vertical plate above the liquid supply pipe. The left and right ends of the main drive shaft extend to the outside of the vertical plate, and large gears are fixedly installed at both ends of the main drive shaft. The large gear meshes with the pinion. A drive pinion is fixedly installed near the middle outer surface of the main drive shaft. A transverse support plate is fixedly installed above the main drive shaft on one side of the vertical plate. A drive motor is fixedly installed on the bottom surface of the transverse support plate. A drive large gear is fixedly installed at the drive end of the drive motor, and the drive large gear meshes with the drive pinion.
[0007] In a preferred embodiment, the pre-spraying mechanism includes an L-shaped bracket, a pre-spraying pipe, and wide-angle nozzles. The L-shaped bracket is fixedly installed on the inner wall of the cleaning mounting cover. The pre-spraying pipe is fixedly installed at one end of the L-shaped bracket. Multiple wide-angle nozzles are evenly arrayed on the outer surface of the pre-spraying pipe. A liquid supply pipe is fixedly installed at one end of the pre-spraying pipe.
[0008] In a preferred embodiment, two mounting plates are fixedly mounted on the inner top surface of the cleaning mounting cover, and cleaning rollers are rotatably connected to the sides of the two mounting plates that are close to each other.
[0009] In a preferred embodiment, the photovoltaic mobile robot has two handles fixedly installed on its top surface, and a fault light is fixedly installed near the center of the top surface of the photovoltaic mobile robot.
[0010] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are:
[0011] 1. In this application, due to the adoption of the above-mentioned solution, when the visual camera detects that the low-pressure spray of the wide-angle nozzle cannot remove stubborn stains, the drive motor in the angle adjustment mechanism starts and drives the liquid supply pipe to rotate through gear transmission, so that the circular high-pressure spray head installed on the nozzle mounting pipe is precisely aligned with the location of the stubborn stain. At the same time, the electronically controlled valve on the corresponding nozzle mounting pipe is opened, and the circular high-pressure spray head then sprays out a columnar cleaning liquid, which is directed to impact the stubborn stain. Through the staggered distribution design of the wide-angle nozzle and the circular high-pressure nozzle, this device not only ensures the coverage of basic cleaning, but also achieves precise impact on stubborn stains, effectively avoiding the ineffective consumption of cleaning liquid, and achieving a high-efficiency, water-saving, and intelligent photovoltaic panel cleaning effect. Attached Figure Description
[0012] Figure 1 This is a schematic diagram of the overall structure of this application;
[0013] Figure 2 This is a schematic diagram of the internal structure of the cleaning installation cover in this application;
[0014] Figure 3 For the purposes of this application Figure 1 Enlarged structural diagram at point A in the middle;
[0015] Figure 4 This is a schematic diagram of the camera bracket without installation as described in this application.
[0016] The diagram shows the following components: 1. Photovoltaic mobile robot; 2. Cleaning mounting cover; 3. Vertical plate; 4. Liquid supply pipe; 5. Angle adjustment mechanism; 501. Small gear; 502. Main drive shaft; 503. Large gear; 504. Drive small gear; 505. Horizontal support plate; 506. Drive motor; 507. Drive large gear; 6. Nozzle mounting pipe; 7. Electrically controlled valve; 8. Spray head; 9. Liquid supply connection pipe; 10. Pre-spraying mechanism; 101. L-shaped bracket; 102. Pre-spraying pipe; 103. Wide-angle nozzle; 11. Camera bracket; 12. Vision camera; 13. Mounting plate; 14. Cleaning roller; 15. Handle. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0018] refer to Figures 1-4 As shown, the photovoltaic robot intelligent spray head includes a photovoltaic mobile robot 1. Two handles 15 are fixedly installed on the top surface of the photovoltaic mobile robot 1, and a fault light is fixedly installed near the center of the top surface of the photovoltaic mobile robot 1. The handles 15 facilitate the operator to move or move the equipment, improving ease of use. The fault light can promptly issue a warning when the equipment is malfunctioning, facilitating quick troubleshooting and ensuring the continuity of cleaning operations.
[0019] refer to Figures 1-4As shown, a cleaning mounting cover 2 is fixedly installed on the front side of the photovoltaic mobile robot 1 by bolts. A pre-spraying mechanism 10 is installed inside the cleaning mounting cover 2. The pre-spraying mechanism 10 includes an L-shaped bracket 101, a pre-spraying pipe 102, and wide-angle nozzles 103. The L-shaped bracket 101 is fixedly installed on the inner wall of the cleaning mounting cover 2. The pre-spraying pipe 102 is fixedly installed at one end of the L-shaped bracket 101. Multiple wide-angle nozzles 103 are evenly arrayed on the outer surface of the pre-spraying pipe 102. A liquid supply pipe is fixedly installed at one end of the pre-spraying pipe 102. The cleaning mechanism 10 is equipped with a pre-spraying mechanism 10. The cleaning cover 2 provides a protective shell for the cleaning components, preventing interference from external debris during operation. The L-shaped bracket 101 provides a stable installation support for the pre-spray pipe 102, ensuring that it does not shake during spraying. The liquid supply pipe is connected to an external cleaning liquid delivery pump. In this way, through the cooperation of the pre-spray pipe 102 and multiple wide-angle nozzles 103, the multiple wide-angle nozzles 103 can spray a fan-shaped wide-angle water flow onto the photovoltaic panel surface, achieving large-area pre-wetting, softening the surface dust and lightly dried stains in advance, and reducing the difficulty of subsequent deep cleaning.
[0020] refer to Figures 1-4 As shown, two mounting plates 13 are fixedly installed on the inner top surface of the cleaning mounting cover 2, and cleaning rollers 14 are rotatably connected to the side of the two mounting plates 13 that are close to each other. The cleaning rollers 14 rotate through the bearings. The cleaning rollers 14 can roll and wipe the surface of the photovoltaic panel after spraying liquid. On the one hand, they can remove the stubborn stains that remain, and on the other hand, they can absorb the excess cleaning liquid, so as to avoid the liquid remaining on the panel for a long time and forming watermarks, thus improving the cleaning effect.
[0021] refer to Figures 1-4 As shown, two vertical plates 3 are fixedly installed on the inner top surface of the cleaning installation cover 2, and the sides of the two vertical plates 3 that are close to each other are rotatably connected to the liquid supply pipes 4. An angle adjustment mechanism 5 connected to the liquid supply pipes 4 is provided on one side of the vertical plate 3. The liquid supply pipes 4 generally use bearings to achieve rotation. The vertical plates 3 can provide symmetrical rotation fulcrums for the liquid supply pipes 4. The use of bearings to achieve rotation of the liquid supply pipes 4 ensures that the liquid supply pipes 4 can rotate flexibly. The angle adjustment mechanism 5 can drive the liquid supply pipes 4 to change the angle, so that the subsequent liquid head can accurately aim at the stain area and improve the targeting of the spray.
[0022] refer to Figures 1-4As shown, the angle adjustment mechanism 5 includes a pinion 501, a main drive shaft 502, a large gear 503, a drive pinion 504, a transverse support plate 505, a drive motor 506, and a drive large gear 507. The left and right ends of the liquid supply pipe 4 extend to the outside of the vertical plate 3. Pinions 501 are fixedly installed at the left and right ends of the liquid supply pipe 4. The main drive shaft 502 is rotatably connected to one side of the vertical plate 3 above the liquid supply pipe 4. The left and right ends of the main drive shaft 502 extend to the outside of the vertical plate 3. Large gears 503 are fixedly installed at the left and right ends of the main drive shaft 502, and the large gears 503 mesh with the pinions 501. A drive pinion 504 is fixedly installed near the middle outer surface of the main drive shaft 502. The side of the vertical plate 3 is located above the main drive shaft 505. A horizontal support plate 505 is fixedly installed above 02, and a drive motor 506 is fixedly installed on the bottom surface of the horizontal support plate 505. A drive gear 507 is fixedly installed on the drive end of the drive motor 506, and the drive gear 507 meshes with the drive gear 504. The horizontal support plate 505 provides a stable installation base for the drive motor 506. Through the multi-stage gear transmission of the drive motor 506, drive gear 507, drive gear 504, main drive shaft 502, large gear 503 and small gear 501, the driving force of the motor can be smoothly transmitted to the liquid supply pipe 4, realizing the precise angle adjustment of the liquid supply pipe 4. The gear transmission has the characteristics of stable transmission ratio and large driving torque, ensuring reliable and slip-free angle adjustment.
[0023] refer to Figures 1-4As shown, multiple nozzle mounting pipes 6 are evenly spaced and arrayed on the outer surface of the liquid supply pipe 4, and each nozzle mounting pipe 6 has an electrically controlled valve 7 fixedly mounted on its outer surface. A spray head 8 is fixedly mounted on the end of the nozzle mounting pipe 6 away from the liquid supply pipe 4. A liquid supply connection pipe 9 is fixedly mounted on the outer surface of the liquid supply pipe 4, and the liquid supply connection pipe 9 is connected to an external liquid supply pump. The multiple spray heads 8 adopt a design of alternating wide-angle spray heads and circular high-pressure spray heads, that is, a circular high-pressure spray head is installed next to each wide-angle spray head. The wide-angle spray head is the same type as the spray head of the pre-spraying mechanism 10 and can spray a fan-shaped low-pressure water flow, which is suitable for large-area wetting and light stain cleaning. The circular high-pressure spray head can spray a columnar high-pressure water flow, and the high-pressure water flow pressure value can be set within a reasonable range. Inside, to minimize impact on the photovoltaic panels, the cleaning process can target stubborn stains (such as dried crystals and sticky deposits). Multiple nozzle mounting pipes 6, combined with different types of spray heads 8, enable simultaneous spraying at multiple points, significantly expanding the coverage of a single cleaning session. The different nozzle types can also be adapted to the cleaning needs of various stains. Furthermore, each nozzle mounting pipe 6 has an electrically controlled valve 7 fixedly installed on its outer surface. By individually controlling the opening and closing of the corresponding electrically controlled valve 7, the spray head 8 in the target area can be precisely activated (e.g., only the circular high-pressure nozzle for stubborn stains, or the wide-angle nozzle for large dusty areas). This effectively avoids water waste caused by spraying unrelated areas, achieving energy-saving effects through on-demand liquid supply and precise cleaning.
[0024] refer to Figures 1-4As shown, a camera bracket 11 is fixedly installed on the front side of the cleaning mounting cover 2. Multiple vision cameras 12 are fixedly installed inside the bottom surface of the camera bracket 11. The vision cameras 12 and the electrically controlled valve 7 are electrically connected to the internal control components of the photovoltaic mobile robot 1. The camera bracket 11 provides a stable mounting angle for the vision cameras 12, ensuring they can clearly capture images of the photovoltaic panel surface. The multiple vision cameras 12 can acquire images of the photovoltaic panel surface from different angles, accurately identifying the location, size, and type of stains (such as ordinary dust, bird droppings, dried stains, etc.). The multiple vision cameras 12 can be of model MV-CA016-10GM. The internal control components of the photovoltaic mobile robot 1 are electrically connected to the internal control components of the photovoltaic mobile robot 1. The system includes an STM32H743 microcontroller, a DM8168 video processing chip, a relay module, a power management module, and a wireless communication module. The electrically controlled valve 7 is model 2W-160-15. Image data acquired by the aforementioned vision camera 12 is preprocessed by the video processing chip and then transmitted to the STM32H743 microcontroller. The microcontroller analyzes the image based on its built-in stain recognition algorithm, quickly determines the stain information, and generates corresponding control commands. Subsequently, the relay module controls the target electrically controlled valve 7 to open, achieving fully automated linkage of recognition, decision-making, and execution. The entire process can complete intelligent spray control without manual intervention, improving the accuracy and efficiency of cleaning operations. The basic working principles of the video processing chip, microcontroller, and other control components are existing mature technologies and will not be elaborated further here.
[0025] The implementation principle of this photovoltaic robot intelligent spray head embodiment is as follows: The user first places the photovoltaic mobile robot 1 stably on the photovoltaic panel to be cleaned. After starting the device, the photovoltaic mobile robot 1 moves the entire device at a constant speed along the surface of the photovoltaic panel. During the movement, the wide-angle nozzle 103 in the pre-spraying mechanism 10 sprays a fan-shaped low-pressure cleaning liquid onto the photovoltaic panel surface, pre-wetting a large area and softening the surface dust and light stains. Subsequently, the cleaning roller 14 inside the cleaning mounting cover 2 follows closely, rolling and wiping to thoroughly remove the pre-wetted dust, completing the basic cleaning. At this time, multiple vision cameras 12 work synchronously, capturing real-time images of the photovoltaic panel surface from different angles and transmitting the image data to the control elements inside the photovoltaic mobile robot 1. This facilitates the identification of stubborn stains (such as bird droppings, dried crystals, etc.) that have not been removed by the basic cleaning. The device determines the specific location and type of the stain. When the low-pressure spray of the wide-angle nozzle 103 fails to remove stubborn stains, the control element activates the drive motor 506 in the angle adjustment mechanism 5. Through gear transmission (drive large gear 507, drive small gear 504, main drive shaft 502, large gear 503, small gear 501), the liquid supply pipe 4 rotates, causing the circular high-pressure spray head 8 installed on the nozzle mounting pipe 6 to precisely align with the stubborn stain. Simultaneously, the corresponding electrically controlled valve 7 on the nozzle mounting pipe 6 opens, and the circular high-pressure spray head 8 sprays out a columnar cleaning liquid, directionally impacting the stubborn stain. This device, through the staggered distribution design of the wide-angle nozzle and the circular high-pressure nozzle, ensures both the coverage of basic cleaning and the precise impact of stubborn stains, effectively avoiding the ineffective consumption of cleaning liquid and achieving a highly efficient, water-saving, and intelligent photovoltaic panel cleaning effect.
[0026] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.
Claims
1. A photovoltaic robot intelligent spray head, comprising a photovoltaic mobile robot (1), characterized in that: The front side of the photovoltaic mobile robot (1) is fixedly mounted with a cleaning mounting cover (2) by bolts. The cleaning mounting cover (2) is equipped with a pre-spraying mechanism (10). Two vertical plates (3) are fixedly mounted on the top surface of the cleaning mounting cover (2), and the sides of the two vertical plates (3) that are close to each other are rotatably connected to a liquid supply pipe (4). An angle adjustment mechanism (5) connected to the liquid supply pipe (4) is provided on one side of the vertical plate (3). Multiple nozzle mounting pipes (6) are installed in an array at equal intervals on the outer surface of the liquid supply pipe (4), and an electric control valve (7) is fixedly mounted on the outer surface of each of the multiple nozzle mounting pipes (6). The nozzle mounting pipe (6) is fixedly installed with a spray head (8) at one end away from the liquid supply pipe (4). The multiple spray heads (8) are designed with a wide-angle nozzle and a circular high-pressure nozzle in an alternating pattern. The liquid supply pipe (4) is fixedly installed with a liquid supply connection pipe (9) on its outer surface. The liquid supply connection pipe (9) is connected to an external liquid supply pump. The front side of the cleaning mounting cover (2) is fixedly installed with a camera bracket (11). Multiple vision cameras (12) are fixedly installed through the bottom surface of the camera bracket (11). The vision cameras (12) and the electric control valve (7) are electrically connected to the internal control components of the photovoltaic mobile robot (1).
2. The photovoltaic robot intelligent spray head as described in claim 1, characterized in that: The angle adjustment mechanism (5) includes a pinion (501), a main drive shaft (502), a large gear (503), a drive pinion (504), a transverse support plate (505), a drive motor (506), and a drive large gear (507). The left and right ends of the liquid supply pipe (4) extend to the outside of the vertical plate (3), and the left and right ends of the liquid supply pipe (4) are respectively fixedly installed with pinions (501). The main drive shaft (502) is rotatably connected to one side of the vertical plate (3) above the liquid supply pipe (4). The left and right ends of the main drive shaft (502) extend to the outside of the vertical plate (3), and the main drive... Large gears (503) are fixedly installed at the left and right ends of the drive shaft (502), and the large gears (503) mesh with the small gears (501). A drive small gear (504) is fixedly installed on the outer surface of the main drive shaft (502) near the middle. A horizontal support plate (505) is fixedly installed on one side of the vertical plate (3) above the main drive shaft (502). A drive motor (506) is fixedly installed on the bottom surface of the horizontal support plate (505). A drive large gear (507) is fixedly installed at the drive end of the drive motor (506), and the drive large gear (507) meshes with the drive small gear (504).
3. The photovoltaic robot intelligent spray head as described in claim 1, characterized in that: The pre-spraying mechanism (10) includes an L-shaped bracket (101), a pre-spraying pipe (102), and wide-angle nozzles (103). The L-shaped bracket (101) is fixedly installed on the inner wall of the cleaning mounting cover (2). The pre-spraying pipe (102) is fixedly installed at one end of the L-shaped bracket (101). Multiple wide-angle nozzles (103) are evenly arrayed on the outer surface of the pre-spraying pipe (102). A liquid supply pipe is fixedly installed at one end of the pre-spraying pipe (102).
4. The photovoltaic robot intelligent spray head as described in claim 1, characterized in that: Two mounting plates (13) are fixedly installed on the inner top surface of the cleaning mounting cover (2), and cleaning rollers (14) are rotatably connected to the side of the two mounting plates (13) that are close to each other.
5. The photovoltaic robot intelligent spray head as described in claim 1, characterized in that: The photovoltaic mobile robot (1) has two handles (15) fixedly installed on its top surface, and a fault light is fixedly installed on the top surface of the photovoltaic mobile robot (1) near the middle.