CN110605269A - Unmanned ship for cleaning waterborne photovoltaic power station assembly - Google Patents
Unmanned ship for cleaning waterborne photovoltaic power station assembly Download PDFInfo
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- CN110605269A CN110605269A CN201910979573.6A CN201910979573A CN110605269A CN 110605269 A CN110605269 A CN 110605269A CN 201910979573 A CN201910979573 A CN 201910979573A CN 110605269 A CN110605269 A CN 110605269A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 78
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 51
- 238000005507 spraying Methods 0.000 claims abstract description 39
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000005406 washing Methods 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 8
- 238000002485 combustion reaction Methods 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010248 power generation Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000005693 optoelectronics Effects 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Cleaning By Liquid Or Steam (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention relates to an unmanned ship for cleaning an underwater photovoltaic power station assembly, which comprises a ship body, wherein a propulsion unit, a cleaning unit, a sensing unit, a navigation unit and a control system are carried on the ship body, and a centralized control center is deployed on the shore; the propulsion unit provides sailing power for the unmanned ship; the cleaning unit is used for cleaning the photovoltaic module; the sensing unit is used for collecting information of the environment and obstacles around the unmanned ship and the photovoltaic module and sending the information to the control system, and simultaneously, the spraying state of the cleaning unit and the cleaning image of the photovoltaic module are uploaded to the centralized control center in real time; the navigation unit is used for acquiring the global pose of the unmanned ship, including the longitude, the latitude, the course and the speed of the unmanned ship; the control system receives the information acquired by the navigation unit and the sensing unit, controls the actions of the propulsion unit and the cleaning unit, and interacts data with the centralized control center; and the centralized control center displays the information acquired by the sensing unit and the navigation unit in real time. The invention realizes unmanned automatic cleaning of the photovoltaic module on water.
Description
Technical Field
The invention relates to the technical field of unmanned ships, in particular to an unmanned ship for cleaning an above-water photovoltaic power station assembly.
Background
The photovoltaic module mainly generates electricity by converting absorbed solar energy into electric energy, if the module has dirt such as dust, bird droppings and the like for a long time, the generated energy is lost, and a hot spot effect is seriously generated, so that the service life of the module is shortened and even the module is damaged. Therefore, photovoltaic power generation related units urgently hope that photovoltaic modules can be automatically or semi-automatically cleaned regularly through unmanned ships, power generation efficiency is improved, and economic benefits are generated.
Disclosure of Invention
Technical problem to be solved
In order to solve the problems in the prior art, the invention provides an unmanned ship for cleaning an underwater photovoltaic power station assembly, which realizes unmanned automatic cleaning of the underwater photovoltaic assembly and improves the power generation efficiency of the photovoltaic assembly.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
the unmanned ship for cleaning the above-water photovoltaic power station components comprises a ship body, wherein a propulsion unit, a cleaning unit, a sensing unit, a navigation unit and a control system are carried on the ship body, and a centralized control center is deployed on the shore; the propulsion unit provides sailing power for the unmanned ship; the cleaning unit is used for cleaning the photovoltaic module; the sensing unit is used for collecting information of the environment and obstacles around the unmanned ship and the photovoltaic module and sending the information to the control system, and simultaneously, the spraying state of the cleaning unit and the cleaning image of the photovoltaic module are uploaded to the centralized control center in real time; the navigation unit is used for acquiring the global pose of the unmanned ship, including the longitude, the latitude, the course and the speed of the unmanned ship; the control system receives the information acquired by the navigation unit and the sensing unit, controls the actions of the propulsion unit and the cleaning unit, and interacts data with the centralized control center; and the centralized control center displays the information acquired by the sensing unit and the navigation unit in real time and issues a control instruction to the control system.
In the above solution, the propulsion unit includes a propeller and a driver, the propeller is installed at the lower end of the tail of the ship body, the propeller is connected with the control system through the driver, and the control system controls the propeller to realize the actions of the unmanned ship including but not limited to forward, stop, right turn, left turn and in-situ rotation.
In the scheme, the propulsion unit adopts a pure electric propulsion mode or a pure internal combustion engine propulsion mode and a hybrid power propulsion mode.
In the above scheme, the cleaning unit comprises a water pump and a spraying mechanism; the water outlet of the water pump is communicated with the water inlet of the spraying mechanism, and the water pump provides water source for the spraying mechanism; the spraying mechanism comprises a horizontal motor, a pitching motor, a flange plate, a spraying pipe and a nozzle, wherein the horizontal motor is used for controlling horizontal rotation of the spraying pipe, the pitching motor is used for controlling the pitching angle of the spraying pipe, a water inlet of the spraying pipe is connected with the flange plate, the nozzle is connected with a water outlet of the spraying pipe, the horizontal motor and the pitching motor are fixed on the flange plate, and the flange plate is fixedly connected with the ship body.
In the above scheme, the water pump is a single-phase water pump, the actual lift of the single-phase water pump is controlled by a single-phase frequency converter, and the control system controls the output frequency of the single-phase frequency converter.
In the above scheme, the sensing unit includes a laser radar and a photoelectric system; the photoelectric system is a photoelectric camera and is used for collecting the spraying state of the cleaning unit and the cleaning image of the photovoltaic module, an Ethernet interface is adopted to access the control system, the control system divides the data of the photoelectric camera into two paths through an Ethernet switch, one path is sent to a centralized control center, and the other path is subjected to image processing by the control system; the laser radar is a multi-line laser radar and is used for sensing the environment and obstacles around the ship body and the photovoltaic module.
In the above scheme, the navigation unit is an assembly of a satellite navigation system and an inertial navigation system, and is used for acquiring longitude, latitude, course and speed of the unmanned ship.
In the scheme, the control system is a main controller, and the main controller interacts data with a centralized control center through a radio station; the control system collects data acquired by the sensing unit and the navigation unit and sends the data to the centralized control center; the centralized control center displays the information acquired by the current sensing unit and the navigation unit; the centralized control center issues related control instructions to the main controller according to the information acquired by the current sensing unit and the navigation unit, and the main controller adjusts and controls the actions of the propulsion unit and the cleaning unit according to the instructions.
In the above solution, the radio station is used for transmitting high bandwidth signals, and includes an ethernet and an RS232 interface; the video data output by the Ethernet transmission sensing unit comprises the surrounding environment of the unmanned ship and the photovoltaic assembly, the spraying state of the cleaning unit and the cleaning image of the photovoltaic assembly; and the RS232 interface transmits control instruction data issued by the centralized control center and the global pose of the unmanned ship acquired by the navigation unit.
(III) advantageous effects
The invention has the beneficial effects that:
1. according to the unmanned ship navigation system, the unmanned ship can automatically navigate in the photovoltaic array at high precision according to a preset track through the cooperation of the photoelectric camera, the laser radar and the navigation unit with the control system; when an accident condition exists on the air route, such as a bridge, a fence or other operation ships in front, the unmanned ship can make a prejudgment in time, and the safety of the cleaning process is ensured.
2. The unmanned ship can be remotely and centrally controlled, the navigation state of the unmanned ship and the record of the cleaning operation of the unmanned ship can be monitored, the graphical interface is visual and concise, and the operation personnel can be facilitated.
3. The spraying mechanism can control the roll angle, the pitch angle and the height of a water column of spraying, and can be applied to various overwater photovoltaic module cleaning projects.
4. The unmanned ship can be completely unmanned, the unmanned ship can independently and autonomously complete a cleaning task according to a preset route, the traditional manpower cleaning is replaced, the manpower cost is saved, the personal safety is guaranteed, and the accident risk is reduced.
Drawings
FIG. 1 is a schematic structural view of an unmanned ship for cleaning above-water photovoltaic power plant components;
FIG. 2 is a schematic block diagram of an unmanned ship for cleaning above-water photovoltaic power plant components;
fig. 3 is a schematic structural view of the spraying mechanism in fig. 1.
In the figure: the system comprises a photoelectric system 1, a ship body 2, a navigation unit 3, a radio station 4, a main controller 5, a water pump 6, a propeller 7, a spraying mechanism 8 (wherein, a horizontal motor 8.1, a pitching motor 8.2, a flange plate 8.3, a spraying pipe 8.4 and a nozzle 8.5), a laser radar 9, an antenna 10, a centralized control center 11 and a driver 12.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
As shown in fig. 1-2, the invention provides an unmanned ship for cleaning an above-water photovoltaic power station assembly, which comprises a ship body (2), wherein a propulsion unit, a cleaning unit, a sensing unit, a navigation unit (3) and a control system are loaded on the ship body (2), and a centralized control center is deployed on the shore; the propulsion unit provides sailing power for the unmanned ship; the cleaning unit is used for cleaning the photovoltaic module; the sensing unit is used for collecting information of the environment and obstacles around the unmanned ship and the photovoltaic module and sending the information to the control system, and simultaneously, the spraying state of the cleaning unit and the cleaning image of the photovoltaic module are uploaded to the centralized control center in real time; the navigation unit (3) is used for acquiring the global pose of the unmanned ship, including the longitude, the latitude, the course and the speed of the unmanned ship; the control system receives the information acquired by the navigation unit (3) and the sensing unit, controls the actions of the propulsion unit and the cleaning unit, and interacts data with the centralized control center (11); the centralized control center (11) displays the navigation state of the unmanned ship, the spraying state of the cleaning unit and the cleaning state of the photovoltaic module in real time and sends a control instruction to the control system.
The propulsion unit comprises a propeller (7) and a driver (12), wherein the propeller (7) is installed at the lower end of the tail part of the ship body (2), the propeller (7) is connected with a main controller (5) through the driver (12), and the main controller (5) controls the propeller (7) to realize actions of the unmanned ship including but not limited to forward movement, stop, right turn, left turn and in-situ rotation. The propulsion unit adopts a pure electric propulsion mode or a pure internal combustion engine propulsion mode and a hybrid power propulsion mode according to requirements. In the embodiment of the invention, the unmanned ship adopts two sets of propulsion units, thus improving the sailing power and the motion flexibility, and steering can be controlled by a rudder and differential steering can also be adopted.
The control system is a main controller (5), and the main controller (5) interacts data with a centralized control center (11) through a radio station (4); the main controller (5) collects data acquired by the sensing unit and the navigation unit (3) and sends the data to the centralized control center (11); the centralized control center (11) displays the navigation condition of the current unmanned ship, the field cleaning condition of the photovoltaic module and the spraying state of the cleaning unit; the centralized control center (11) issues relevant control instructions to the main controller (5) according to the navigation condition of the current unmanned ship, the field cleaning condition of the photovoltaic module and the spraying state of the cleaning unit, the main controller (5) adjusts and controls the actions of the propulsion unit and the cleaning unit according to the instructions, the unmanned ship is automatically navigated in the photovoltaic array according to the preset track at high precision, the spraying roll angle and the pitch angle of the spraying mechanism (8) and the height of a water column are controlled, and the unmanned automatic thorough cleaning of the waterborne photovoltaic module is realized.
The sensing unit comprises a laser radar (9) and an optoelectronic system (1). Optoelectronic system (1) is high definition photoelectric camera for gather wash unit's injection state and photovoltaic module wash the image, adopt ethernet interface to insert main control unit (5), main control unit (5) divide into two the tunnel through the data of ethernet switch with high definition photoelectric camera: one path of the signal is sent to the radio station (4), the radio station (4) is wirelessly transmitted to the centralized control center (11) through the antenna (10), and an operator can observe the current on-site cleaning condition of the photovoltaic module and the spraying state of the cleaning unit conveniently; and the other route is processed by a CPU in the main controller (5) to analyze whether the spraying state of the cleaning unit is matched with the cleaning state of the photovoltaic module. The laser radar (9) is a multi-line laser radar, and the multi-line laser radar can more reliably and comprehensively sense the environment and obstacles around the ship body (2) and the photovoltaic module, such as broken photovoltaic whole-column cement piles and aerial bridges just leaking out of the water surface, so that the target of the obstacle can be effectively prevented from being lost. The main controller (5) collects data obtained by the laser radar (9) and the photoelectric system (1), and provides reliable guarantee for the unmanned ship to finish automatic navigation and thoroughly clean the photovoltaic module.
The navigation unit (3) is an assembly of a satellite navigation system and an inertial navigation system and is used for collecting longitude, latitude, course and speed of the unmanned ship. The navigation unit (3) can receive differential position signals, centimeter-level positioning is realized to the highest degree, the position accuracy of the unmanned ship in the photovoltaic array is guaranteed, and the unmanned ship is guaranteed to reliably run according to a preset track in the photovoltaic array.
As shown in fig. 3, the cleaning unit includes a water pump (6) and a spray mechanism (8); the water pump (6) is a single-phase water pump, the actual lift of the single-phase water pump is controlled by a single-phase frequency converter, and the main controller (5) controls the output frequency of the single-phase frequency converter; a water outlet of the water pump (6) is communicated with a water inlet of the spraying mechanism (8), and the water pump (6) provides a water source for the spraying mechanism (8); spray mechanism (8) including horizontal motor (8.1), every single move motor (8.2), ring flange (8.3), shower (8.4), shower nozzle (8.5), wherein, horizontal motor (8.1) is used for controlling the horizontal rotation of shower (8.4), every single move motor (8.2) are used for controlling the every single move angle of shower (8.4), the water inlet and the ring flange (8.3) of shower (8.4) are connected, the delivery port at shower (8.4) is connected in shower nozzle (8.5), horizontal motor (8.1), every single move motor (8.2) are fixed on ring flange (8.3), ring flange (8.3) and hull (2) fixed connection. The spray pipe (8.4) can effectively shrink the water column to improve the spray range and can also change the shape of the water column. In the cleaning process of the unmanned ship, the roll angle and the pitch angle of the spray pipes (8.4) and the spray heads (8.5) are properly adjusted, and the cleaning surface can cover the width of the whole photovoltaic panel.
The radio station (4) is used for transmitting high-bandwidth signals and comprises an Ethernet and an RS232 interface, the Ethernet is used for transmitting video data output by a high-definition photoelectric camera, and the video data comprise the unmanned ship and the photovoltaic assembly surrounding environment, the cleaning unit spraying state and the photovoltaic assembly cleaning image which are acquired by the sensing unit. And the RS232 interface transmits control instruction data issued by the centralized control center (11) and the global pose of the unmanned ship acquired by the navigation unit (3).
The centralized control center (11) interacts data with the main controller (5) through the radio station (4), states of the current unmanned ship position, course, navigational speed, course and the like can be visually displayed on a background of the centralized control center (11), and the current field cleaning condition of the photovoltaic module and the spraying state of the cleaning unit can also be displayed; the centralized control center (11) issues control instructions to the main controller (5) according to the current navigation condition of the unmanned ship, the field cleaning condition of the photovoltaic module and the spraying state of the cleaning unit, such as setting the air line and the navigation speed of the unmanned ship, the spraying height, the roll angle and the pitch angle of the spraying mechanism (8), and the instructions can also be sent through local manual remote control. And the main controller (5) adjusts and controls the actions of the propulsion unit and the cleaning unit according to the instructions.
The invention can automatically complete the cleaning process according to a set route in the photovoltaic module array, and can also manually and remotely control to a target point to complete the cleaning task. In the cleaning process, set up the output of single-phase converter, adjust output frequency to suitable parameter, guarantee that the water column height is suitable, the cooperation sprays the roll angle and the pitch angle of assembly and transfers to suitable position to the washing face of mechanism (8) is sprayed in the assurance can cover whole photovoltaic board.
While the present invention has been described with reference to the particular embodiments illustrated in the drawings, which are meant to be illustrative only and not limiting, it will be apparent to those of ordinary skill in the art in light of the teachings of the present invention that numerous modifications can be made without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An unmanned ship for cleaning an underwater photovoltaic power station assembly comprises a ship body (2), and is characterized in that a propulsion unit, a cleaning unit, a sensing unit, a navigation unit (3) and a control system are mounted on the ship body (2), and a centralized control center is deployed on the shore; the propulsion unit provides sailing power for the unmanned ship; the cleaning unit is used for cleaning the photovoltaic module; the sensing unit is used for collecting information of the environment and obstacles around the unmanned ship and the photovoltaic module and sending the information to the control system, and simultaneously, the spraying state of the cleaning unit and the cleaning image of the photovoltaic module are uploaded to the centralized control center in real time; the navigation unit (3) is used for acquiring the global pose of the unmanned ship, including the longitude, the latitude, the course and the speed of the unmanned ship; the control system receives the information acquired by the navigation unit (3) and the sensing unit, controls the actions of the propulsion unit and the cleaning unit, and interacts data with the centralized control center (11); the centralized control center (11) displays the information acquired by the sensing unit and the navigation unit (3) in real time and issues a control instruction to the control system.
2. The unmanned vessel for washing modules of an above-water photovoltaic power plant according to claim 1, characterized in that the propulsion unit comprises a propeller (7), a driver (12), the propeller (7) is installed at the lower end of the tail of the hull (2), the propeller (7) is connected with a control system through the driver (12), and the control system controls the propeller (7) to realize the actions of the unmanned vessel including but not limited to forward, stop, right turn, left turn, and in-situ rotation.
3. Unmanned vessel for washing of above-water photovoltaic power plant components according to claim 1 or 2, characterized in that the propulsion unit is of pure electric propulsion or pure internal combustion engine propulsion and hybrid propulsion.
4. Unmanned ship for washing modules of an above-water photovoltaic power plant according to claim 1, characterized in that the washing unit comprises a water pump (6) and a spraying mechanism (8); a water outlet of the water pump (6) is communicated with a water inlet of the spraying mechanism (8), and the water pump (6) provides a water source for the spraying mechanism (8); spray mechanism (8) including horizontal motor (8.1), every single move motor (8.2), ring flange (8.3), shower (8.4), shower nozzle (8.5), wherein, horizontal motor (8.1) is used for controlling the horizontal rotation of shower (8.4), every single move motor (8.2) are used for controlling the every single move angle of shower (8.4), the water inlet and the ring flange (8.3) of shower (8.4) are connected, the delivery port at shower (8.4) is connected in shower nozzle (8.5), horizontal motor (8.1), every single move motor (8.2) are fixed on ring flange (8.3), ring flange (8.3) and hull (2) fixed connection.
5. Unmanned ship for cleaning of above-water photovoltaic power plant components according to claim 4, characterized in that the water pump (6) is a single-phase water pump, the actual lift of which is controlled by a single-phase frequency converter, the control system controlling the output frequency of the single-phase frequency converter.
6. Unmanned ship for washing modules of an above-water photovoltaic power plant according to claim 1, characterized in that the sensing unit comprises a lidar (9) and a photovoltaic system (1); the photovoltaic system (1) is a photoelectric camera and is used for collecting the spraying state of the cleaning unit and the cleaning image of the photovoltaic module, an Ethernet interface is used for accessing a control system, the control system divides the data of the photoelectric camera into two paths through an Ethernet switch, one path is sent to a centralized control center (11), and the other path is subjected to image processing by the control system; the laser radar (9) is a multi-line laser radar and is used for sensing the environment and obstacles around the ship body (2) and the photovoltaic assembly.
7. Unmanned ship for washing modules of an above-water photovoltaic power plant, according to claim 1, characterized in that the navigation unit (3) is an aggregate of satellite navigation systems and inertial navigation systems for collecting longitude, latitude, heading and speed of the unmanned ship.
8. Unmanned ship for washing above-water photovoltaic power plant components, according to claim 1, characterized in that the control system is a master controller (5), the master controller (5) interacting data with a centralized control center (11) through radio stations (4); the control system collects data acquired by the sensing unit and the navigation unit (3) and sends the data to the centralized control center (11); the centralized control center (11) displays the information acquired by the current sensing unit and the navigation unit (3); the centralized control center (11) issues related control instructions to the main controller (5) according to the information acquired by the current sensing unit and the navigation unit (3), and the main controller (5) adjusts and controls the actions of the propulsion unit and the cleaning unit according to the instructions.
9. Unmanned ship for washing components of a photovoltaic power plant above water according to claim 8, characterized in that the station (4) is used for transmitting high bandwidth signals, comprising ethernet and RS232 interface; the video data output by the Ethernet transmission sensing unit comprises the surrounding environment of the unmanned ship and the photovoltaic assembly, the spraying state of the cleaning unit and the cleaning image of the photovoltaic assembly; and the RS232 interface transmits control instruction data issued by the centralized control center (11) and the global pose of the unmanned ship acquired by the navigation unit (3).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112688636A (en) * | 2021-01-25 | 2021-04-20 | 湖北孚尧绿色电力有限公司 | Surface of water photovoltaic power plant photovoltaic module cleaning system |
| CN113118113A (en) * | 2021-05-25 | 2021-07-16 | 中广核新能源蚌埠有限公司 | Photovoltaic module washs ship on water |
| CN115027636A (en) * | 2022-07-21 | 2022-09-09 | 上海大学 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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| CN109412529A (en) * | 2018-12-18 | 2019-03-01 | 上海电力设计院有限公司 | Photovoltaic cleaning device on a kind of movable type water |
| CN110203340A (en) * | 2019-06-13 | 2019-09-06 | 北京中科利丰科技有限公司 | A kind of patrol unmanned ship of photovoltaic plant |
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| CN112688636A (en) * | 2021-01-25 | 2021-04-20 | 湖北孚尧绿色电力有限公司 | Surface of water photovoltaic power plant photovoltaic module cleaning system |
| CN113118113A (en) * | 2021-05-25 | 2021-07-16 | 中广核新能源蚌埠有限公司 | Photovoltaic module washs ship on water |
| CN115027636A (en) * | 2022-07-21 | 2022-09-09 | 上海大学 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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