CN106076900A - A kind of photovoltaic module detection and cleaning equipment - Google Patents

A kind of photovoltaic module detection and cleaning equipment Download PDF

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Publication number
CN106076900A
CN106076900A CN201610647614.8A CN201610647614A CN106076900A CN 106076900 A CN106076900 A CN 106076900A CN 201610647614 A CN201610647614 A CN 201610647614A CN 106076900 A CN106076900 A CN 106076900A
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CN
China
Prior art keywords
photovoltaic module
gear
round brush
mobile platform
headstock side
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201610647614.8A
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Chinese (zh)
Other versions
CN106076900B (en
Inventor
史伟超
鲍庄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changzhou Jiuzhou Yuguang new energy Co.,Ltd.
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Changzhou Intelligent Technology Co Ltd
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Priority to CN201610647614.8A priority Critical patent/CN106076900B/en
Publication of CN106076900A publication Critical patent/CN106076900A/en
Application granted granted Critical
Publication of CN106076900B publication Critical patent/CN106076900B/en
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Classifications

    • B08B1/12
    • B08B1/165
    • B08B1/32
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10Cleaning arrangements
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S50/00Monitoring or testing of PV systems, e.g. load balancing or fault identification
    • H02S50/10Testing of PV devices, e.g. of PV modules or single PV cells
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

The present invention relates to the detection of a kind of photovoltaic module and cleaning equipment, including parking stall, photovoltaic module, mobile platform, mobile platform includes two headstock side plates, and what two headstock side plates were relative is provided with mair motor and gear drive module.Mair motor provides power to gear drive module, and gear drive module drives mobile platform walking and provides power to the round brush cleaning photovoltaic module, and present invention additionally comprises lifting motor and matched row brush and scraping blade, photovoltaic module can be carried out secondary cleaning, and photovoltaic module surface temperature can be detected by heat sensor, the data of detection are timely fed back in switch board, make photovoltaic module operation maintenance personnel can obtain the ruuning situation of photovoltaic module timely, stop the generation of hot spot.The present invention has: can clean photovoltaic module surface voluntarily, and without water source, and can automatically monitor the position that may produce hot spot, facilitate the beneficial effect that maintainer overhauls.

Description

A kind of photovoltaic module detection and cleaning equipment
Technical field
The present invention relates to clearing apparatus technical field, especially a kind of photovoltaic module detection and cleaning equipment.
Background technology
In known technical field, photovoltaic module surface sediment drifts along and photovoltaic power station power generation efficiency can be caused on the low side, concentrates The easy dust stratification of formula photovoltaic components in photovoltaic plant, does not the most clear up the generated energy that will affect whole electric station, to power station O&M Management brings immeasurable loss.Present stage photovoltaic module cleaning method has artificial and mechanical two kinds, divides according to cleaning mode For having water and anhydrous cleaning.Wherein the shortcoming of hand sweeping includes: 1. cleaning quality can not control;2. cost of labor height, the cycle Long.The shortcoming having water to clean is: serious by place restriction, is difficult to carry out in water-deficient area.
Photovoltaic module has damage in daily power generation process unavoidably, easily produces heat when photovoltaic module is appendiculate Speckle thus damage photovoltaic module, and manually can not detect the generation of hot spot in time.
Summary of the invention
The deficiency existed for prior art, it is an object of the invention to provide a kind of a kind of light solving the problems referred to above Photovoltaic assembly detection and cleaning equipment.
The technical solution adopted for the present invention to solve the technical problems is: a kind of photovoltaic module detection and cleaning equipment, bag Including parking stall, photovoltaic module, mobile platform, mobile platform includes two headstock side plates, connects between two headstock side plates Having some aluminum section bar frames, mobile platform, across on photovoltaic module, aluminum section bar frame is provided with the heat for detecting hot spot Sensor;Accumulator it is provided with and for carrying photovoltaic module to battery-driven on aluminum section bar frame;Two headstock sides Being respectively arranged with mair motor outside plate, mair motor connects main drive gear, and main drive gear both sides engage connection respectively biography Moving gear, travelling gear engages connection respectively walking gear, is provided with synchronizing bar between two relative walking gears, synchronizes Bar two ends are arranged with road wheel;Being additionally provided with round brush gear outside headstock side plate, round brush gear engages with main drive gear, and two Connect between individual relative round brush gear and have quick change round brush;It is respectively arranged with lifting motor outside two headstock side plates, promotes Motor connects through headstock side plate cam, is provided with push rod outside cam, and push rod both sides are arranged with cam tracks in parallel, top Bar can slide up and down along cam tracks, and push rod lower end connects has extension bar, extension bar both sides are arranged with row brush respectively in parallel and scrape Sheet;Being provided with change gear hanger outside headstock side plate at proximal edge, change gear hanger is provided with change gear, change gear can be along photovoltaic module Side roll, change gear hanger is additionally provided with anti-cladding plate, the free end of anti-cladding plate to photovoltaic module bottom side extend.
The present invention is further arranged to: be additionally provided with control chamber on aluminum section bar frame, and control chamber is with thermal sensor signal even Connect.
The present invention is further arranged to: be additionally provided with range sensor, range sensor and control chamber on aluminum section bar frame Signal connects.
The present invention is further arranged to: quick change round brush includes two and half round brush sheets and round brush core bar, and two and half round brush sheets can Being connected on round brush core bar of dismounting.
The present invention is further arranged to: the intermediate sleeve of synchronizing bar is provided with center row travelling wheel.
The present invention is further arranged to: the outer surface of headstock side plate is provided with some limit switches, limit switch with Control chamber signal connects.
The invention has the beneficial effects as follows: photovoltaic module surface can be cleaned voluntarily, and without water source, and can be automatic Monitoring may produce the position of hot spot, facilitates maintainer to overhaul.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the structural representation of middle gear running part of the present invention;
Fig. 3 is the part-structure schematic diagram of the present invention;
Fig. 4 is the partial enlarged drawing of A in Fig. 3;
Fig. 5 is the structural representation of quick change round brush in the present invention;
In figure: 1. parking stall, 2. photovoltaic module, 3. mobile platform, 4. headstock side plate, 5. aluminum section bar frame, 6. heat passes Sensor, 7. accumulator, 8. carry photovoltaic module, 9. mair motor, 10. main drive gear, 11. travelling gears, 12. walking gears, 13. synchronizing bars, 14. road wheels, 15. round brush gears, 16. quick change round brush, 17. lifting motors, 18. cams, 19. push rods, 20. is convex Wheel guide rail, 21. extension bars, 22. row brushes, 23. scraping blades, 24. change gear hangers, 25. change gears, 26. anti-cladding plates, 27. control chambers, 28. Half round brush sheet, 29. round brush core bars, 30. center row travelling wheels, 31. limit switches.
Detailed description of the invention
In conjunction with the accompanying drawings, the present invention is further detailed explanation.These accompanying drawings are the schematic diagram of simplification, only with The basic structure of the illustration explanation present invention, therefore it only shows the composition relevant with the present invention.
The preferred embodiments of the present invention as Figure 1-5, a kind of photovoltaic module detection and cleaning equipment, including parking stall 1, photovoltaic module 2, mobile platform 3, mobile platform 3 includes two headstock side plates 4, and connecting between two headstock side plates 4 has Some aluminum section bar frames 5, mobile platform 3, across on photovoltaic module 2, aluminum section bar frame 5 is provided with for detecting hot spot Heat sensor 6.The present invention, when cleaning gap, rests on parking stall 1, will not the block sunlight irradiation to photovoltaic module 2.Aluminum Section material framework 5 uses aluminium section bar to make, lightweight, good corrosion resistance, and ductility is strong, alleviate mobile platform 3 from body weight, It also is adapted in outdoor environment using.
It is provided with accumulator 7 on aluminum section bar frame 5 and carries photovoltaic module 8 for power to accumulator 7, carrying photovoltaic Assembly 8 utilizes solar electrical energy generation, can be charged accumulator 7, enable the invention to autologous power supply, it is not necessary to external electricity Source.
Being respectively arranged with mair motor 9 outside two headstock side plates 4, mair motor 9 can use motor, two main electricity Machine 9 is connected to main drive gear 10, and main drive gear 10 both sides engage connection respectively travelling gear 11, travelling gear 11 Engagement connection has walking gear 12 respectively, is provided with synchronizing bar 13, synchronizing bar 13 two ends between two relative walking gears 12 It is arranged with road wheel 14.Synchronizing bar 13 and road wheel 14 can use flat key to connect, and the power of mair motor 9 passes through main drive gear 10 are respectively sent on two travelling gears 11, and travelling gear 11 engages with walking gear 12, drive walking gear 12 to rotate, with Time walking gear 12 drive synchronizing bar 13 to rotate, so that mobile platform 3 can move along photovoltaic module.Utilize synchronizing bar 13, can effectively synchronize both sides mair motor 9, make road wheel 14 can be unlikely to stuck on photovoltaic module 2 with synchronous walking.
Being additionally provided with round brush gear 15 outside headstock side plate 4, round brush gear 15 engages with main drive gear 10, two phases To round brush gear 15 between connect have quick change round brush 16.Main drive gear 10 rotates and drives the round brush gear 15 turns being engaged with Dynamic, make quick change round brush 16 can carry out along the surface of photovoltaic module 2 rolling cleaning, and in transmission process, round brush gear 15 Always rotate backward with walking gear 12 so that quick change round brush 16 turns to reversely with road wheel 14, adds quick change round brush 16 Cleaning intensity.
Being respectively arranged with lifting motor 17 outside two headstock side plates 4, lifting motor 17 connects through headstock side plate 4 Having cam 18, be provided with push rod 19 outside cam 18, push rod 19 both sides are arranged with cam tracks 20 in parallel, and push rod 19 can be along cam Guide rail 20 slides up and down, and push rod 19 lower end connects has extension bar 21, extension bar 21 both sides are arranged with row brush 22 respectively in parallel and scrape Sheet 23.Lifting motor 17 band moving cam 18 rotates, and cam 18 drives push rod 19 to slide up and down along cam tracks 20, thus push rod Drive extension bar 21 to move up and down, i.e. can complete moving up and down, when needs row brush 22 and scraping blade row brush 22 and scraping blade 23 When 23 pairs of photovoltaic modulies 2 clean, cam 18 turns to correct position, makes row brush 22 and scraping blade laminating photovoltaic module 2;When not When needing row brush 22 and scraping blade 23 to clean photovoltaic module 2, cam 18 turns to other position, drives extension bar 21 to mention row Brush 22 and scraping blade 23.
It is provided with change gear hanger 24 outside headstock side plate 4 at proximal edge, change gear hanger 24 is provided with change gear 25, change gear 25 can roll along the side of photovoltaic module 2, and change gear hanger 24 is additionally provided with anti-cladding plate 26, and the free end of anti-cladding plate 26 is to photovoltaic Assembly 2 bottom side extends.Because photovoltaic module 2 has certain gradient arranging when more, at mobile platform 3 along photovoltaic group The when that part 2 moving, change gear 25 rolls also along the side of photovoltaic module 2, makes mobile platform 3 to produce and topples, Ke Yiping Sliding motion.And anti-cladding plate 26 extend into the bottom of photovoltaic module 2, can preferably prevent under extreme weather, such as strong wind Weather in, the impact on the present invention, make the present invention will not topple from photovoltaic module 2 and throw, further protection this Bright safety.
Being additionally provided with control chamber 27 on aluminum section bar frame 5, control chamber 27 is connected with heat sensor 6 signal, to photovoltaic group Photovoltaic module 2 surface also can be detected by the cleaning process of part 2, when there being the photovoltaic panel temperature in part photovoltaic module 2 Time abnormal, the photovoltaic module 2 that heat sensor 6 meeting sends alert notification operation maintenance personnel specifically which region to control chamber 27 has different Often, need to be serviced.
Being additionally provided with range sensor on aluminum section bar frame 5, range sensor is connected with control chamber 27 signal, and poly-power senses Device can coordinate heat sensor 6 to use.Because there is gap, so distance-sensor may determine that not in the middle of photovoltaic module 2 Same distance, when being photovoltaic module 2 when near, is the gap of photovoltaic module 2 when remote, and such control chamber 27 can give light In photovoltaic assembly 2, every piece of photovoltaic panel is numbered, and makes in cleaning process, utilizes distance-sensor to know the photovoltaic group of current cleaning The position of part 2, and judge which part photovoltaic module 2 will occur in that hot spot effect according to infrared sensor 2, need to safeguard.
Quick change round brush 16 includes that two and half round brush sheets 28 and round brush core bar 29, two and half round brush sheets 28 are removably attachable to On round brush core bar 29.Round brush sheet is easily-consumed products, needs often to safeguard replacing, but the workload that entirety pulls down quick change round brush 16 is non- Chang great, and use half round brush sheet 28, so can change round brush sheet in the case of not detachable rolling brush core bar 29.Half is rolled Brushing piece 28 can use and be bolted on round brush core bar 29, conveniently removes and installs.
The intermediate sleeve of synchronizing bar 13 is provided with center row travelling wheel 30, further increases the locomotivity of mobile platform 3, also carries Rise the load capacity of mobile platform 3, when mobile platform 3 is long, it is also possible to effective plays a role.
The outer surface of headstock side plate 4 is provided with some limit switches 31, and limit switch 31 is with control chamber 27 signal even Connecing, when mobile platform 3 advances to certain position, limit switch 31 works, and stops mobile platform 3 and moves.Both sides are all arranged Limit switches 31, can effectively prevent mobile platform 3 from running over boundary, ensure the safety of the present invention.
The specific embodiment of the invention: main motor 9 drive mobile platform 3 from 1, parking stall, along photovoltaic module 2 Mobile, quick change round brush 16 this photovoltaic module 2 of fitting rotates towards the direction contrary with mobile platform 3 traffic direction, to light simultaneously Photovoltaic assembly 2 cleans, and the heat sensor 6 on aluminum section bar frame 5 carries out temperature detection to each piece of photovoltaic module 2 simultaneously, when Find when temperature is too high, in time by signal return to control chamber 27, remind operation maintenance personnel to safeguard.When mobile platform 2 from Setting out in arrival this section of edge of photovoltaic module 2 running in parking stall, lifting motor 17 band moving cam 18 upgrades row brush 22 With scraping blade 23, now photovoltaic module is not cleaned by row brush 22 and scraping blade 23.And when mobile platform 3 is from photovoltaic module 2 edge During place's backhaul, lifting motor 17 band moving cam 18 rotates, and puts down row brush 22 and scraping blade 23 by push rod 19, and scraping blade 23 is to photovoltaic group Part 2 surface carries out spatula cleaning, and the surface of photovoltaic module 2 is scraped the pollutant scooped up and cleaned further by row brush 22, and When row brush 22 and scraping blade 23 arrive gap between photovoltaic module 2 when, row brush 22 and scraping blade 23 act on, by sweep out simultaneously Pollutant are transferred at gap from the surface of photovoltaic module 2, make the surface of photovoltaic module 2 will not produce laying dust, further Enhance cleaning dynamics.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete Entirely can carry out various change and amendment in the range of without departing from this invention technological thought.The technology of this invention The content that property scope is not limited in description, it is necessary to determine its technical scope according to right.

Claims (6)

1. photovoltaic module detection and a cleaning equipment, including parking stall (1), photovoltaic module (2), mobile platform (3), its feature It is:
Described mobile platform (3) includes two headstock side plates (4), and connecting between two described headstock side plates (4) has Some aluminum section bar frames (5), described mobile platform (3) across on described photovoltaic module (2), described aluminum section bar frame (5) heat sensor (6) for detecting hot spot it is provided with on;
Accumulator (7) it is provided with and for carrying photovoltaic module to what accumulator (7) was powered on described aluminum section bar frame (5) (8);
Two described headstock side plate (4) outsides are respectively arranged with mair motor (9), and described mair motor (9) connects main biography Moving gear (10), described main drive gear (10) both sides engage connection respectively travelling gear (11), described travelling gear (11) engagement connection has walking gear (12) respectively, is provided with synchronizing bar between described relative two walking gear (12) (13), described synchronizing bar (13) two ends are arranged with road wheel (14);
Described headstock side plate (4) outside is additionally provided with round brush gear (15), described round brush gear (15) and main transmission tooth Wheel (10) engagement, connects between two described relative round brush gears (15) and has quick change round brush (16);
Two described headstock side plate (4) outsides are respectively arranged with lifting motor (17), and described lifting motor (17) passes Described headstock side plate (4) connects cam (18), and described cam (18) outside is provided with push rod (19), described push rod (19) both sides are arranged with cam tracks (20) in parallel, and described push rod (19) can slide up and down along described cam tracks (20), Described push rod (19) lower end connects has extension bar (21), described extension bar (21) both sides to be arranged with row brush (22) respectively in parallel With scraping blade (23);
It is provided with change gear hanger (24) at described headstock side plate (4) outside proximal edge, described change gear hanger (24) sets Being equipped with change gear (25), described change gear (25) can roll along the side of described photovoltaic module (2), described change gear hanger (24) On be additionally provided with anti-cladding plate (26), the free end of described anti-cladding plate (26) extends to described photovoltaic module (2) bottom side.
2. a kind of photovoltaic module detection as claimed in claim 1 and cleaning equipment, it is characterised in that: described aluminum section bar frame (5) being additionally provided with control chamber (27) on, described control chamber (27) is connected with heat sensor (6) signal.
3. a kind of photovoltaic module detection as claimed in claim 1 and cleaning equipment, it is characterised in that: described aluminum section bar frame (5) being additionally provided with range sensor on, described range sensor is connected with control chamber (27) signal.
4. a kind of photovoltaic module detection as claimed in claim 1 and cleaning equipment, it is characterised in that: described quick change round brush (16) include that two and half round brush sheets (28) and round brush core bar (29), two and half described round brush sheets (28) are removably attachable to institute On the round brush core bar (29) stated.
5. a kind of photovoltaic module detection as claimed in claim 1 and cleaning equipment, it is characterised in that: described synchronizing bar (13) Intermediate sleeve be provided with center row travelling wheel (30).
6. a kind of photovoltaic module detection as claimed in claim 1 and cleaning equipment, it is characterised in that: described headstock side plate (4) outer surface is provided with some limit switches (31), and described limit switch (31) is connected with control chamber (27) signal.
CN201610647614.8A 2016-08-09 2016-08-09 A kind of photovoltaic module detection and cleaning equipment Active CN106076900B (en)

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Cited By (14)

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CN106345712A (en) * 2016-11-11 2017-01-25 国网山东省电力公司招远市供电公司 Washing method of electric power generation and energy storage equipment
CN106695886A (en) * 2017-02-17 2017-05-24 常州索拉克林智能科技有限公司 Photovoltaic intelligent operation and maintenance robot
CN106807669A (en) * 2017-03-24 2017-06-09 济南纽兰数控机械有限公司 A kind of scavenging machine for photovoltaic panel
CN107171629A (en) * 2016-11-10 2017-09-15 上海电力新能源发展有限公司 A kind of photovoltaic battery panel cleaning car and its application method
CN107241062A (en) * 2017-08-08 2017-10-10 上海安乃基能源科技有限公司 Photovoltaic panel detection means and system
CN107528541A (en) * 2017-09-22 2017-12-29 南京天创电子技术有限公司 The hot spot detection means and detection method of a kind of photovoltaic module
CN108563257A (en) * 2018-03-21 2018-09-21 苏州至禅光纤传感技术有限公司 A kind of thermostatically-controlled equipment of photoelectric device
CN108722929A (en) * 2018-07-16 2018-11-02 厦门蓝旭科技有限公司 A kind of photovoltaic clean robot running gear and method
CN108868266A (en) * 2018-05-15 2018-11-23 江苏瑞安特重型机械有限公司 Underground parking space bottom plate and its detection system with automatically cleaning and self-checking function
CN109940016A (en) * 2019-05-06 2019-06-28 甘肃银虹机器人科技开发有限公司 A kind of photovoltaic panel assembly clean robot
CN110624873A (en) * 2019-11-05 2019-12-31 北京中科利丰科技有限公司 Be applied to photovoltaic power plant photovoltaic module's self-cleaning device
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CN113037206A (en) * 2021-03-30 2021-06-25 广东科技学院 Photovoltaic board cleaning trolley
CN116883406A (en) * 2023-09-08 2023-10-13 中交第一航务工程勘察设计院有限公司 Photovoltaic power station hot spot detection device and method based on cleaning robot

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CN107171629A (en) * 2016-11-10 2017-09-15 上海电力新能源发展有限公司 A kind of photovoltaic battery panel cleaning car and its application method
CN106423929A (en) * 2016-11-11 2017-02-22 国网山东省电力公司招远市供电公司 Photovoltaic power generation panel cleaning device
CN106345712A (en) * 2016-11-11 2017-01-25 国网山东省电力公司招远市供电公司 Washing method of electric power generation and energy storage equipment
CN106695886A (en) * 2017-02-17 2017-05-24 常州索拉克林智能科技有限公司 Photovoltaic intelligent operation and maintenance robot
CN106807669A (en) * 2017-03-24 2017-06-09 济南纽兰数控机械有限公司 A kind of scavenging machine for photovoltaic panel
CN107241062A (en) * 2017-08-08 2017-10-10 上海安乃基能源科技有限公司 Photovoltaic panel detection means and system
CN107528541A (en) * 2017-09-22 2017-12-29 南京天创电子技术有限公司 The hot spot detection means and detection method of a kind of photovoltaic module
CN108563257B (en) * 2018-03-21 2023-12-12 杭州标彰电子科技有限公司 Constant temperature control device of photoelectric device
CN108563257A (en) * 2018-03-21 2018-09-21 苏州至禅光纤传感技术有限公司 A kind of thermostatically-controlled equipment of photoelectric device
CN108868266A (en) * 2018-05-15 2018-11-23 江苏瑞安特重型机械有限公司 Underground parking space bottom plate and its detection system with automatically cleaning and self-checking function
CN108722929A (en) * 2018-07-16 2018-11-02 厦门蓝旭科技有限公司 A kind of photovoltaic clean robot running gear and method
CN109940016A (en) * 2019-05-06 2019-06-28 甘肃银虹机器人科技开发有限公司 A kind of photovoltaic panel assembly clean robot
DE102019206931A1 (en) * 2019-05-14 2020-11-19 Thomas Bellrich Device and method for detecting a defect in a photovoltaic cell
CN110624873A (en) * 2019-11-05 2019-12-31 北京中科利丰科技有限公司 Be applied to photovoltaic power plant photovoltaic module's self-cleaning device
CN113037206A (en) * 2021-03-30 2021-06-25 广东科技学院 Photovoltaic board cleaning trolley
CN116883406A (en) * 2023-09-08 2023-10-13 中交第一航务工程勘察设计院有限公司 Photovoltaic power station hot spot detection device and method based on cleaning robot
CN116883406B (en) * 2023-09-08 2023-12-12 中交第一航务工程勘察设计院有限公司 Photovoltaic power station hot spot detection device and method based on cleaning robot

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