Photovoltaic panel detection and cleaning integrated device

Abstract

The utility model provides a photovoltaic panel detects and the integrated device of cleaning, including base, adsorption module, detection module, cleaning module, walking module and drive control module. Wherein, adsorption module is located at the top of base and provides the adsorption of device when walking on photovoltaic panel, detection module is symmetrically arranged in the both sides of base, is used for detecting the cleanliness and surface state of photovoltaic panel, cleaning module is placed in the bottom of base, to clean the photovoltaic panel at corresponding position, walking module is arranged in the both sides of base and is located detection module below, and walking module supports the base on the top of photovoltaic panel, drive control module is arranged on the base, and is connected with adsorption, cleaning, detection and walking module communication respectively, to control each module action. The device provided by the utility model automatically completes the cleaning and infrared detection of photovoltaic panel in the operation stroke, improves the operation and maintenance efficiency of photovoltaic panel, and reduces operation and maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of photovoltaic equipment maintenance technology, and in particular to an integrated device for photovoltaic panel testing and cleaning. Background Technology

[0002] With the rapid development of photovoltaic (PV) power generation technology, the installed capacity of PV power generation continues to expand. As the core energy conversion unit, the operating status of PV panels directly determines the power generation efficiency and the lifespan of the power generation system. However, PV panels are exposed to the natural environment for a long time, and their surfaces easily accumulate pollutants such as dust, dirt, and bird droppings. These pollutants can block sunlight and reduce the power generation efficiency of the PV panels. At the same time, the cells inside the panels may develop microcracks due to temperature changes and mechanical stress. These defects can gradually expand and cause hot spot effects, which can lead to the scrapping of the modules and affect the economic benefits of the PV power generation system.

[0003] Traditional photovoltaic (PV) power generation inspection relies on a single infrared thermal imager, which is significantly affected by ambient temperature fluctuations and has a low recognition rate for microcracks. Furthermore, fixed-cycle PV panel cleaning plans do not consider the differences in contamination across different areas, leading to a significant increase in water waste and poor cleaning effectiveness for stubborn local pollutants. Manual inspection of traditional PV panel cleaning operations is inefficient, while emerging drone cleaning of individual panels is energy-intensive, has large positioning errors, and easily results in repetitive work. Moreover, traditional inspection and cleaning operations operate independently, with no data sharing, leading to a high rate of repetitive work in the same area and resulting in substantial maintenance costs. Currently, there is a lack of devices on the market that can simultaneously detect microcracks on PV panel surfaces and clean the panels. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an integrated device for photovoltaic panel testing and cleaning, so as to improve the operation and maintenance efficiency of photovoltaic panels, reduce operation and maintenance costs, and ensure the stable and efficient operation of photovoltaic power stations.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0006] An integrated photovoltaic panel testing and cleaning device includes:

[0007] Base;

[0008] An adsorption module is disposed on the top of the base and is used to provide adsorption force when the device moves on the photovoltaic panel.

[0009] The detection module is symmetrically arranged on both sides of the base and is used to detect the cleanliness and surface condition of the photovoltaic panel.

[0010] A cleaning module is provided at the bottom of the base and is used to clean the photovoltaic panels at the corresponding positions.

[0011] A walking module, wherein the walking module is disposed on both sides of the base and below the detection module, the walking module supports the base above the photovoltaic panel and is used to drive the device to move on the photovoltaic panel; and

[0012] A drive control module is disposed on the base and is communicatively connected to the adsorption module, the cleaning module, the detection module, and the walking module, respectively. The drive control module is used to control the adsorption action of the adsorption module, receive the detection results of the detection module, control the cleaning action of the cleaning module, and control the walking action of the walking module.

[0013] In one embodiment, the adsorption module includes:

[0014] A bracket, the bottom of which is fixed to the base;

[0015] An adsorption module drive motor is fixed to the bracket and is communicatively connected to the drive control module; and

[0016] The blade is located above the support and is connected to the output end of the adsorption module drive motor via a bearing. The drive control module controls the speed of the adsorption module drive motor to drive and control the downward pressure on the device when the blade rotates.

[0017] In one embodiment, the adsorption module further includes:

[0018] A protective cover, one side of which is fixedly connected to the top of the bracket shown, and covers the outside of the blade.

[0019] In one embodiment, the detection module includes:

[0020] An infrared detection component; the infrared detection component includes an infrared camera unit and an image analysis and processing unit, both of which are mounted on one side wall of the base. The image analysis and processing unit is communicatively connected to both the infrared camera unit and the drive control module to process the infrared images of the photovoltaic panel surface acquired in real time by the infrared camera unit and feed the processing results back to the drive control module; and

[0021] A microcrack detection component, comprising a laser scanning detector mounted on the other side wall of the base, the laser scanning detector being communicatively connected to the drive control module to scan and detect the surface condition of the photovoltaic panel in real time and feed it back to the drive control module.

[0022] In one embodiment, the cleaning module includes:

[0023] A cleaning roller brush, symmetrically distributed on both sides of the bottom of the base, with both ends of the cleaning roller brush rotatably connected to the two sides of the bottom of the base; and

[0024] A cleaning module drive motor is mounted on the base, and the output end of the cleaning module drive motor is connected to one end of the cleaning roller brush via a transmission component.

[0025] In one embodiment, the cleaning module further includes:

[0026] A cleaning fluid storage tank, which is fixedly connected to the bottom of the base and located between two symmetrically distributed cleaning rollers; and

[0027] A spray pipe is arranged circumferentially along the bottom of the base and surrounds two symmetrically distributed cleaning rollers. The spray pipe is connected to the cleaning liquid storage tank.

[0028] In one embodiment, the transmission assembly includes:

[0029] A drive belt, one end of which is connected to the output end of the drive motor of the cleaning module; and

[0030] A drive wheel is disposed at one end of the cleaning roller brush and is connected to the other end of the drive belt for transmission.

[0031] In one embodiment, the walking module includes:

[0032] The wheels are symmetrically distributed on both sides of the base; and

[0033] A walking module drive motor is located on one side of the base and is connected to the walking wheel via a walking module transmission bearing.

[0034] In one embodiment, the walking wheel includes:

[0035] Two drive wheels are symmetrically distributed on one side of the base and located below the infrared detection component. The two drive wheels are connected to the drive motor of the walking module via a transmission bearing.

[0036] Two driven wheels are symmetrically distributed on the other side of the base and located below the microcrack detection component.

[0037] In one embodiment, the integrated photovoltaic panel testing and cleaning device further includes:

[0038] A power supply module, which is mounted on the base, is used to supply power to each module.

[0039] The above-described solution of this utility model has at least the following beneficial effects:

[0040] 1. By setting up detection and cleaning modules on the base, the photovoltaic panel cleaning and surface inspection can be carried out automatically and simultaneously during the operation of the device, thereby improving the operation and maintenance efficiency of the photovoltaic panel, reducing the operation and maintenance cost, and ensuring the stable and efficient operation of the photovoltaic panel.

[0041] 2. By setting an adsorption module above the base, the drive control module can adjust the speed of the motor in the adsorption module according to the tilt of the photovoltaic panel, thereby controlling the downward pressure of the blades on the overall structure, so that the device can move stably on the surface of the photovoltaic panel and ensure stability during operation.

[0042] 3. After cleaning the photovoltaic panels, the micro-crack detection component is used to identify the damage (cracks, breaks, etc.) on the surface of the photovoltaic panels again and report it to the client so that the photovoltaic panels with cracks or breaks can be replaced or repaired in a timely manner. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the overall structure of the integrated device provided in an embodiment of this utility model;

[0044] Figure 2 A schematic diagram of an adsorption module provided in an optional embodiment of this utility model;

[0045] Figure 3 A bottom view of the integrated device provided in an optional embodiment of this utility model;

[0046] Figure 4 This is a top view of an integrated device provided in an optional embodiment of the present invention.

[0047] Explanation of icon numbers:

[0048] 1. Adsorption module; 11. Adsorption module drive motor; 12. Support; 13. Blades; 14. Protective cover; 15. Fixing bolts; 21. Cleaning roller brush; 22. Cleaning module drive motor; 23. Cleaning fluid storage tank; 24. Spray pipe; 25. Transmission belt; 26. Transmission wheel; 27. External water inlet; 28. Conveying pipe; 31. Drive wheel; 32. Driven wheel; 33. Walking module drive motor; 34. Walking module transmission bearing; 41. Infrared detection component; 42. Microcrack detection component; 5. Power supply module; 6. Drive control module; 7. Base. Detailed Implementation

[0049] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of the present application to those skilled in the art.

[0050] like Figure 1 As shown, an embodiment of this utility model proposes an integrated photovoltaic panel detection and cleaning device, which may include a base 7, an adsorption module 1, a detection module, a cleaning module, a walking module, and a drive control module 6. The adsorption module 1 is disposed on the top of the base 7 to provide adsorption force when the device moves on the photovoltaic panel; the detection modules are symmetrically disposed on both sides of the base 7 to detect the cleanliness and surface condition of the photovoltaic panel; the cleaning module is disposed on the bottom of the base 7 to clean the photovoltaic panel at corresponding locations; the walking modules are disposed on both sides of the base 7 and below the detection modules, supporting the base 7 above the photovoltaic panel and driving the device to move on the photovoltaic panel; the drive control module 6 is disposed on the base 7 and is communicatively connected to the adsorption module 1, the cleaning module, the detection module, and the walking module, respectively, and is used to control the adsorption action of the adsorption module 1, receive the detection results of the detection module, control the cleaning action of the cleaning module, and control the walking action of the walking module.

[0051] Here, the drive control module 6, as the core of the entire device, is responsible for coordinating the work of each module. Preferably, the drive control module 6 can employ a high-performance microprocessor, which can communicate with the user terminal. The drive control module 6 has a built-in intelligent control algorithm, capable of receiving position information from the walking module, detection results from the detection module, and operator instructions, and precisely controlling the adsorption module 1, walking module, cleaning module, and detection module based on this information. Here, the base 7 can be configured as a box-like structure, and the bottom of the base 7 can have a groove matching the structure of the cleaning module to facilitate the installation of the cleaning module and prevent the cleaning module from obstructing the normal movement of the device during operation.

[0052] The walking module can be set in the middle of both sides of the base 7, with one side of the walking module sliding in contact with the photovoltaic panel and slightly higher than the bottom of the base 7, so as to support the entire device on the photovoltaic panel and drive the entire device to walk on the photovoltaic panel.

[0053] like Figure 2As shown, preferably, the adsorption module 1 may include a support 12, an adsorption module drive motor 11, and blades 13. The bottom of the support 12 is fixed to the base 7; preferably, it can be screwed to the upper surface of the base 7 using fixing bolts 15. Here, the support 12 can be a U-shaped structure and fixed at the middle position of the upper surface of the base 7 to ensure the stability of the overall structure. The adsorption module drive motor 11 is fixedly connected to the middle of the U-shaped support 12, and its output end can pass through and be located above the support 12. The adsorption module drive motor 11 is communicatively connected to the drive control module 6 to control the start and speed of the adsorption module drive motor 11. The blades 13 are located above the support 12 and can be driven by the output end of the adsorption module drive motor 11 through bearings, so that the adsorption module drive motor 11 drives the blades 13 to rotate.

[0054] When the integrated device moves on the photovoltaic panel, the drive control module 6 can adjust the speed of the adsorption module drive motor 11 in a timely manner according to the tilt of the photovoltaic panel, thereby controlling the downward pressure of the blades 13 on the overall structure of the device. This allows the entire device to adhere to the photovoltaic panel under the action of downward pressure and move stably on the surface of the photovoltaic panel, while also preventing excessive downward pressure from hindering movement. It should be noted that when the integrated device starts up, the adsorption module 1 also starts up. The wind force generated by the rotation of the blades 13 of the adsorption module 1 can also clean the light impurities and dust on the surface of the photovoltaic panel in advance, and at the same time, it can also dry the photovoltaic panel after cleaning, thereby improving cleaning efficiency and the efficient and stable operation of the photovoltaic panel.

[0055] In an optional embodiment of this utility model, the adsorption module 1 may further include a protective cover 14. One side of the protective cover 14 is fixedly connected to the top of the bracket 12 and covers the outside of the blade 13. Preferably, the protective cover 14 may be lantern-shaped. The protective cover 14 can prevent foreign objects from damaging the blade 13 and can also prevent the blade 13 from accidentally injuring the operator when the adsorption module 1 is started.

[0056] In an optional embodiment of this utility model, the above-mentioned photovoltaic panel detection and cleaning integrated device may further include a power supply module 5, which is installed on the upper surface of the base 7 and located on one side of the bracket 12; the power supply module serves as the power support component of the entire device and can supply power to each module; preferably, the power supply module 5 may be a rechargeable power battery, such as a lithium battery pack.

[0057] See Figure 1 and Figure 4In an optional embodiment of this utility model, the detection module may include an infrared detection component 41 and a microcrack detection component 42. The infrared detection component 41 may include an infrared camera unit and an image analysis and processing unit, both mounted on one side wall of the base 7. Here, the infrared camera unit may be an infrared camera. The image analysis and processing unit is communicatively connected to both the infrared camera unit and the drive control module 6 to process the infrared images of the photovoltaic panel surface acquired in real time by the infrared camera unit and feed the processing results back to the drive control module 6.

[0058] Preferably, the image analysis and processing unit stores an image recognition processing algorithm to perform real-time analysis and processing on the acquired infrared images, so as to quickly and accurately identify whether there are hot spots, micro-cracks in the cells, aging, or other problems on the photovoltaic panel, and promptly feed the detection results back to the drive control module 6. Preferably, the detection speed of the infrared detection component 41 can be dynamically adjusted according to the actual situation. When an abnormal area is detected on the photovoltaic panel, the detection speed can be automatically reduced to facilitate more detailed detection and thus improve the accuracy of the detection.

[0059] Here, the microcrack detection component 42 may include a laser scanning detector, which is mounted on the other side wall of the base 7 and faces the infrared detection component 41. The laser scanning detector is communicatively connected to the drive control module 6 to scan and detect the surface condition of the photovoltaic panel in real time and feed it back to the drive control module 6. Due to the high directionality and high brightness of lasers, they can accurately detect minute structural changes, resulting in high accuracy in detecting microcracks. The laser scanner can accurately detect and determine whether microcracks exist on the surface of the photovoltaic panel. Simultaneously, the laser scanner can also detect the cleanliness of the panel after cleaning, thereby improving the operation and maintenance efficiency of the photovoltaic panel.

[0060] See Figure 3 In an optional embodiment of this utility model, the cleaning module may include a cleaning roller brush 21 and a cleaning module drive motor 22. The cleaning roller brush 21 is symmetrically distributed on both sides of the bottom of the base 7, with both ends of the cleaning roller brush 21 rotatably connected to the two sides of the bottom of the base 7. The cleaning module drive motor 22 is disposed on the upper surface of the base 7 and located on the other side of the bracket 12, and the output end of the cleaning module drive motor 22 is connected to one end of the cleaning roller brush 21 via a transmission assembly.

[0061] Here, the cleaning roller brush 21 can be connected to the base 7 via two electric telescopic rods. These rods are controlled by the drive control module 6 to automatically adjust the position of the cleaning roller brush 21 according to the actual height and tilt angle of the photovoltaic panel, allowing the cleaning roller brush 21 to make contact with the photovoltaic panel and thus improve cleaning efficiency. Preferably, the roller of the cleaning roller brush 21 is connected to the transmission assembly via a spring similar to that used in vehicle suspension shock absorbers, facilitating position adjustment of the cleaning roller brush 21. Furthermore, the brushes on the cleaning roller brush 21 are made of a relatively soft material, providing a certain degree of adjustability.

[0062] Preferably, the cleaning module may further include a cleaning fluid storage tank 23 and a spray pipe 24. The cleaning fluid storage tank 23 is fixedly connected to the bottom of the base 7 and located between two symmetrically distributed cleaning rollers 21. The spray pipe 24 is arranged circumferentially along the bottom of the base 7 and surrounds the two symmetrically distributed cleaning rollers 21. The spray pipe 24 can be connected to the cleaning fluid storage tank 23 via a delivery pipe 28. Preferably, an electric valve can be installed on the delivery pipe 28, which is communicatively connected to the drive control module 6. After the device moves to a designated position, the drive control module 6 controls the electric valve to open, allowing the cleaning fluid storage tank 23 to supply water to the spray pipe 24 through the delivery pipe 28. Here, the cleaning fluid storage tank 23 has a modular structure and can be fixedly connected to a groove on the bottom of the base 7 using bolts. Preferably, the spray pipe 24 has multiple through holes evenly distributed towards the photovoltaic panel.

[0063] Here, the transmission assembly may include a transmission belt 25 and a transmission pulley 26. One end of the transmission belt 25 is connected to the output end of the cleaning module drive motor 22; the transmission pulley 26 is disposed at one end of the cleaning roller brush 21 and is connected to the other end of the transmission belt 25. Each transmission pulley 26 corresponds to a cleaning roller brush 21, and the transmission pulley 26 is fixedly connected to the roller shaft of the cleaning roller brush 21. One end of the transmission belt 25 is sleeved on the transmission pulley 26, and the other end is sleeved on the output end of the cleaning module drive motor 22. When the cleaning module drive motor 22 starts, it drives the cleaning roller brush 21 to rotate via the transmission belt 25.

[0064] See Figure 1 and Figure 3 In an optional embodiment of this utility model, the walking module may include walking wheels and a walking module drive motor 33. The walking wheels are symmetrically distributed on both sides of the base 7; the walking module drive motor 33 is disposed on one side of the base 7 and is connected to the walking wheels via a walking module transmission bearing 34.

[0065] Preferably, the walking wheels may include two driving wheels 31 and two driven wheels 32. The two driving wheels 31 are symmetrically distributed on one side of the base 7 and located below the infrared detection component 41, and are connected to the walking module drive motor 33 via a walking module transmission bearing 34. The two driven wheels 32 are symmetrically distributed on the other side of the base 7 and located below the microcrack detection component 42.

[0066] Here, the walking module drive motor 33 is a dual-rotor motor, with both ends of the motor connected to two drive wheels 31 at both ends of the motor via the walking module transmission bearing 34. Preferably, the drive wheels 31 may include drive wheels and steering wheels. The walking module drive motor 33 drives the drive wheels 31 at both ends to rotate, and the rotation of the drive wheels 31 drives the driven wheels 32 to rotate, thereby driving the entire device to move and turn on the photovoltaic panel. Preferably, the surfaces of both the drive wheels 31 and the driven wheels 32 are covered with silicone material to prevent slippage and protect the panel surface.

[0067] The integrated detection and cleaning device provided in the above embodiments operates as follows:

[0068] The drive control module 6 can control the rotation speed of the blades 13 in the adsorption module 1 according to the tilt of the photovoltaic panel, thereby adjusting the pressure applied by the adsorption module 1 and enabling the entire device to move smoothly on the photovoltaic panel. During startup and movement, the drive control module 6 controls the infrared detection component 41 to scan the surface of the photovoltaic panel, detect contaminants on the surface of the photovoltaic panel, and transmit the data back to the drive control module 6. The drive control module 6 processes the data through an intelligent algorithm and drives the drive motor 33 of the walking module to rotate. At the same time, it controls the steering wheel to turn towards the contaminants through the transmission line, so that the entire device moves closer to the contaminants. When the contaminants are reached, the drive control module 6 controls the electric valve on the delivery pipe 28 to open, and sprays cleaning fluid through the spray pipe 24, which, combined with the cleaning roller brush 21, performs cleaning.

[0069] After cleaning, the surface of the photovoltaic panel is inspected by the micro-crack detection component 42 on the other side of the base. Based on the inspection results, it is determined whether the area needs to be cleaned again or whether there are cracks or damage in the area. At the same time, the inspection results are sent back to the drive control module 6. The drive control module 6 summarizes and feeds back to the client so as to control the secondary cleaning or replace or repair the photovoltaic panels with cracks or damage.

[0070] The aforementioned device integrates cleaning and testing, solving problems such as low cleaning efficiency, untimely and inaccurate testing, and inconvenience in relocation operations during existing photovoltaic panel maintenance. Through this device, the cleaning and testing of photovoltaic panels can be automatically completed during the operation process, reducing reliance on manual labor, improving the operation and maintenance efficiency of photovoltaic panels, reducing operation and maintenance costs, and ensuring the stable and efficient operation of photovoltaic power stations. It has significant engineering value for improving power generation efficiency, reducing operation and maintenance costs, and extending equipment life.

[0071] The above are preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the protection scope of this utility model.

Claims

1. An integrated device for photovoltaic panel testing and cleaning, characterized in that, include: Base; An adsorption module is disposed on the top of the base and is used to provide adsorption force when the device moves on the photovoltaic panel. The detection module is symmetrically arranged on both sides of the base and is used to detect the cleanliness and surface condition of the photovoltaic panel. A cleaning module is provided at the bottom of the base and is used to clean the photovoltaic panels at the corresponding positions. A walking module is disposed on both sides of the base and located below the detection module. The walking module supports the base above the photovoltaic panel and is used to drive the device to walk on the photovoltaic panel. as well as A drive control module is disposed on the base and is communicatively connected to the adsorption module, the cleaning module, the detection module, and the walking module, respectively. The drive control module is used to control the adsorption action of the adsorption module, receive the detection results of the detection module, control the cleaning action of the cleaning module, and control the walking action of the walking module.

2. The integrated photovoltaic panel testing and cleaning device according to claim 1, characterized in that, The adsorption module includes: A bracket, the bottom of which is fixed to the base; An adsorption module drive motor is fixed to the bracket and is communicatively connected to the drive control module; and The blade is located above the support and is connected to the output end of the adsorption module drive motor via a bearing. The drive control module controls the speed of the adsorption module drive motor to drive and control the downward pressure on the device when the blade rotates.

3. The integrated photovoltaic panel testing and cleaning device according to claim 2, characterized in that, The adsorption module further includes: A protective cover, one side of which is fixedly connected to the top of the bracket shown, and covers the outside of the blade.

4. The integrated photovoltaic panel testing and cleaning device according to claim 1, characterized in that, The detection module includes: An infrared detection component; the infrared detection component includes an infrared camera unit and an image analysis and processing unit, both of which are mounted on one side wall of the base. The image analysis and processing unit is communicatively connected to both the infrared camera unit and the drive control module to process the infrared images of the photovoltaic panel surface acquired in real time by the infrared camera unit and feed the processing results back to the drive control module; and A microcrack detection component, comprising a laser scanning detector mounted on the other side wall of the base, the laser scanning detector being communicatively connected to the drive control module to scan and detect the surface condition of the photovoltaic panel in real time and feed it back to the drive control module.

5. The integrated photovoltaic panel testing and cleaning device according to claim 1, characterized in that, The cleaning module includes: A cleaning roller brush, symmetrically distributed on both sides of the bottom of the base, with both ends of the cleaning roller brush rotatably connected to the two sides of the bottom of the base; and A cleaning module drive motor is mounted on the base, and the output end of the cleaning module drive motor is connected to one end of the cleaning roller brush via a transmission component.

6. The integrated photovoltaic panel testing and cleaning device according to claim 5, characterized in that, The cleaning module also includes: A cleaning fluid storage tank, which is fixedly connected to the bottom of the base and located between two symmetrically distributed cleaning rollers; and A spray pipe is arranged circumferentially along the bottom of the base and surrounds two symmetrically distributed cleaning rollers. The spray pipe is connected to the cleaning liquid storage tank.

7. The integrated photovoltaic panel testing and cleaning device according to claim 5, characterized in that, The transmission assembly includes: A drive belt, one end of which is connected to the output end of the drive motor of the cleaning module; and A drive wheel is disposed at one end of the cleaning roller brush and is connected to the other end of the drive belt for transmission.

8. The integrated photovoltaic panel testing and cleaning device according to claim 4, characterized in that, The walking module includes: The wheels are symmetrically distributed on both sides of the base; and A walking module drive motor is located on one side of the base and is connected to the walking wheel via a walking module transmission bearing.

9. The integrated photovoltaic panel testing and cleaning device according to claim 8, characterized in that, The traveling wheels include: Two drive wheels are symmetrically distributed on one side of the base and located below the infrared detection component. The two drive wheels are connected to the drive motor of the walking module via a transmission bearing. Two driven wheels are symmetrically distributed on the other side of the base and located below the microcrack detection component.

10. The integrated photovoltaic panel testing and cleaning device according to claim 1, characterized in that, Also includes: A power supply module, which is mounted on the base, is used to supply power to each module.

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