CN110681622B - Photovoltaic board intelligence cleaning machines people - Google Patents

Photovoltaic board intelligence cleaning machines people Download PDF

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Publication number
CN110681622B
CN110681622B CN201910953426.1A CN201910953426A CN110681622B CN 110681622 B CN110681622 B CN 110681622B CN 201910953426 A CN201910953426 A CN 201910953426A CN 110681622 B CN110681622 B CN 110681622B
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China
Prior art keywords
cleaning
photovoltaic panel
dust
dust collection
water tank
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CN110681622A (en
Inventor
王华山
周家辉
司伟帅
王坤钰
陈瑜航
黄浩宇
杜胜华
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Yanshan University
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Yanshan University
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools
    • B08B1/30Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B08B1/32Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools
    • B08B1/10Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/12Brushes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00Cleaning by methods involving the use of tools
    • B08B1/10Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143Wipes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B13/00Accessories or details of general applicability for machines or apparatus for cleaning
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B08CLEANING
    • B08BCLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B15/00Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
    • B08B15/04Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
    • 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
    • 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

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  • Photovoltaic Devices (AREA)
  • Cleaning In General (AREA)

Abstract

The invention discloses an intelligent cleaning robot for a photovoltaic panel, which belongs to the field of cleaning of solar photovoltaic panels and comprises a dust accumulation degree detection mechanism, a walking mechanism, a cleaning mechanism, a control mechanism and a cleaning robot frame, wherein the dust accumulation degree detection mechanism integrates a Bluetooth transmission function and is in Bluetooth wireless information communication with the control mechanism, and data of the dust accumulation degree on the surface of the photovoltaic panel is wirelessly transmitted to the control mechanism through Bluetooth; the traveling mechanism is provided with a transverse traveling unit and a longitudinal traveling unit; the cleaning mechanism comprises a cleaning mechanism frame, a double-opening dust collection air duct, a herringbone brush, a dust collection motor, a water tank lifter, an electric control leakage water tank, cleaning rags, a dust collection box, a heating dryer and a thin-film battery panel power supply; the control mechanism receives the data of the surface dust deposition degree of the photovoltaic panel sent by the dust deposition degree detector and then compares the data with threshold data set inside the control mechanism, intelligently judges the current dust deposition degree of the photovoltaic panel and gives different instructions according to different dust deposition degrees.

Description

Photovoltaic board intelligence cleaning machines people
Technical Field
The invention relates to the field of solar photovoltaic panel cleaning, in particular to an intelligent cleaning robot for a photovoltaic panel.
Background
With the continuous exploitation and utilization of fossil energy, chemical energy is increasingly in tension; the renewable energy source, solar energy, is a substitute for traditional energy sources due to the characteristics of no pollution and abundant resources, and solar power generation systems are vigorously developed by various countries. The photovoltaic cell panel is the core part among the solar power system, relies on the photovoltaic effect directly to become the electric energy with solar energy, but when solar power system operated, can receive the influence of dust in the surrounding environment, causes the solar panel luminousness to reduce, seriously influences the generating efficiency. At present, operation and maintenance personnel are generally adopted by various photovoltaic power stations to manually observe the dust deposition degree and manually clean the photovoltaic power stations. The manual observation of the dust deposition degree has many subjective factors and is not very accurate. When the photovoltaic panel is further cleaned, the photovoltaic panel is easily cleaned excessively or insufficiently. Moreover, because the photovoltaic panels are numerous, the total area is large, and in addition, the manual cleaning efficiency is low, the situation of serious water resource waste exists.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the intelligent cleaning robot for the photovoltaic panel, which is simple and convenient to operate and high in cleaning efficiency, has a dust deposition degree detection function, has an anhydrous cleaning mode and a water cleaning mode, and can intelligently select different modes according to the dust deposition degree.
In order to realize the purpose, the invention is realized according to the following technical scheme:
the utility model provides a photovoltaic board intelligence cleaning machines people which characterized in that includes: the intelligent cleaning robot for the photovoltaic panel is controlled by the control mechanism, after the intelligent cleaning robot for the photovoltaic panel is started, the dust deposition degree of the photovoltaic panel is detected by the dust deposition degree detection mechanism, then the walking mechanism drives the intelligent cleaning robot for the photovoltaic panel to move, and the cleaning mechanism cleans the photovoltaic panel, wherein the dust deposition degree detection mechanism is powered by the photovoltaic panel fixed with the dust deposition degree detection mechanism, the control mechanism is positioned in the control box and is arranged at the lower part of the cleaning robot frame, and the control mechanism compares the data of the dust deposition degree of the surface of the photovoltaic panel sent by the dust deposition degree detection mechanism with different threshold data set inside the control mechanism, the current dust deposition degree of the photovoltaic panel is intelligently judged, and a water cleaning or water-free cleaning or non-cleaning instruction is given according to different dust deposition degrees.
Among the above-mentioned technical scheme, deposition degree detection mechanism is including fixing support frame, the deposition degree detector in the one end of photovoltaic board, the integrated bluetooth transmission function of deposition degree detector carries out bluetooth wireless information communication with control mechanism, and the data with photovoltaic board surface deposition degree send control mechanism to through bluetooth wireless.
In the technical scheme, the walking mechanism comprises a transverse walking unit and a longitudinal walking unit, wherein the transverse walking unit is arranged on the cleaning robot rack and drives the cleaning robot rack to walk transversely along the photovoltaic panel, and the total length of a walking path is limited by a left limit switch and a right limit switch; the longitudinal walking unit drives the cleaning mechanism to longitudinally walk, and the total length of the walking path is limited by the upper limit switch and the lower limit switch.
In the technical scheme, the transverse walking unit comprises a stepping motor driving wheel set positioned at the upper edge of the photovoltaic panel and a clamping driven wheel set positioned at the lower edge of the photovoltaic panel; the stepping motor driving wheel set and the clamping driven wheel set are provided with corresponding spring clamping devices; the spring clamping device ensures that the two wheel sets are tightly attached to the upper edge and the lower edge of the photovoltaic panel when the two wheel sets walk, so that slipping is prevented;
the longitudinal walking unit comprises a stepping motor synchronous belt driving device and an optical axis sliding block track device; a cleaning mechanism frame of the cleaning mechanism is connected with the sliding block through a bolt, and is driven by a stepping motor synchronous belt driving device to longitudinally reciprocate along an optical axis.
In the technical scheme, the cleaning mechanism comprises a cleaning mechanism frame, a double-opening dust collection air duct, a herringbone hairbrush, a dust collection motor, a water tank lifter, an electric control leakage water tank, cleaning rags, a dust collection box, a heating dryer and a thin film battery panel power supply;
the double-port dust collection air duct, the dust collection motor, the water tank lifter, the dust collection box, the heating dryer and the thin film battery panel power supply are fixedly arranged on the cleaning mechanism frame; the double-port dust collection air duct is fixed at the lower part of the cleaning mechanism frame through a bolt, the dust collection box is fixed at the upper part of the cleaning mechanism frame through a bolt, the dust collection motor is arranged between the double-port dust collection air duct and the dust collection box, the water tank lifter and the heating dryer are positioned at the rear part of the cleaning mechanism frame, and the thin-film battery panel power supply device is positioned at the top of the cleaning mechanism frame; the herringbone hairbrush is fixed on the double-opening dust collection air duct and is sealed by the double-opening dust collection air duct in a surrounding manner;
the cleaning rag is fixed at the bottom of the electric control leakage water tank in a buckling connection mode and is driven by the water tank lifter together with the electric control leakage water tank;
when the water tank lifter receives a lifting instruction sent by the control mechanism, the electric control water leakage tank is driven to move upwards or downwards;
when a cleaning agent leakage instruction sent by a control mechanism is received, the electric control water leakage tank leaks cleaning agent with preset metering;
when a drying instruction sent by the control mechanism is received, the heating dryer heats the air flow which is filtered by the dust collecting box and cleaned, and blows the air flow to the surface of the photovoltaic panel, and the evaporation of the residual cleaning agent on the surface of the photovoltaic panel is accelerated by utilizing the waste heat;
the film cell panel power supply device supplies power for the cleaning mechanism, and when light is sufficient and the photovoltaic panel intelligent cleaning robot does not work, the film cell panel of the film cell panel power supply device is automatically charged.
In the technical scheme, two operation modes are provided according to different received commands, when the cleaning mechanism frame receives a waterless cleaning command, the cleaning mechanism frame walks along a bow-shaped route, and the herringbone hairbrush and the dust collection motor are sequentially started, wherein the herringbone hairbrush and the dust collection motor operate at eighty percent of full power to save energy; when the cleaning mechanism frame receives a water cleaning instruction, the cleaning mechanism frame walks along an M-shaped route, and the herringbone hairbrush, the dust collection motor, the electric control leakage water tank and the heating dryer are sequentially started, wherein the herringbone hairbrush and the dust collection motor run at full power.
Compared with the prior art, the invention has the following beneficial effects:
the operation of the intelligent photovoltaic panel cleaning robot is controlled automatically, a cleaning mode is intelligently selected from the detection of the dust deposition degree of the photovoltaic panel, and finally the cleaning of the photovoltaic panel is completed, so that the intelligent degree of the whole process is high, and the operation is convenient. Different cleaning modes are selected according to different dust deposition degrees of the photovoltaic panel, the effects of water saving and electricity saving can be achieved, the waste of resources is reduced, and the practical performance and the environmental protection performance of the robot are enhanced. The transverse walking unit and the longitudinal walking unit are adopted to enable the frame of the cleaning robot to be stressed averagely, the problem that the robot can press the photovoltaic panel heavily is solved, and damage to the solar photovoltaic panel possibly caused in the cleaning process is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a general assembly view of the present invention;
FIG. 2 is a partial view of the mechanism for detecting the degree of deposition in accordance with the present invention;
FIG. 3 is a partial view of the upper half of the present invention;
FIG. 4 is a structural view of a step motor driving wheel group of the lateral traveling unit in the present invention;
FIG. 5 is a partial view of the lower half of the present invention;
FIG. 6 is a structural view of a clamping driven wheel set of the lateral traveling unit of the present invention;
FIG. 7 is a block diagram of a cleaning mechanism of the present invention;
FIG. 8 is a top view of the cleaning mechanism of the present invention;
reference numerals: 1-photovoltaic panel, 11-support frame, 112-dust-deposition degree detector, 12-limit collision point, 2-cleaning robot frame, 21-transverse walking unit, 211-stepping motor driving wheel set, 2111-spring tightening device, 212-tightening driven wheel set, 2121-left limit switch, 2122-right limit switch, 2123-spring tightening device, 22-longitudinal walking unit, 221-stepping motor synchronous belt driving device, 222-optical axis slide block track device, 2221-optical axis, 2222-slide block, 23-control box, 24-upper limit switch, 25-lower limit switch, 3-cleaning mechanism frame, 31-double-port dust collection air duct, 311-herringbone brush, 32-dust collection motor, 33-water tank lifter, 331-an electric control leakage water tank, 332-cleaning rag, 34-a dust collecting box, 35-a heating dryer and 36-a thin film battery panel power supply device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, the intelligent cleaning robot for photovoltaic panels of the present invention is characterized by comprising: the intelligent cleaning robot for the photovoltaic panel is controlled by the control mechanism, after the intelligent cleaning robot for the photovoltaic panel is started, the dust deposition degree of the photovoltaic panel 1 is detected by the dust deposition degree detection mechanism, then the walking mechanism drives the intelligent cleaning robot for the photovoltaic panel to move, and the cleaning mechanism cleans the photovoltaic panel 1, wherein the dust deposition degree detection mechanism is powered by the photovoltaic panel 1 fixed with the dust deposition degree detection mechanism, the control mechanism is positioned in the control box 23 and is arranged at the lower part of the cleaning robot frame 2, and the control mechanism compares the data of the dust deposition degree on the surface of the photovoltaic panel 1 sent by the dust deposition degree detection mechanism with different threshold data set inside the control box, the current dust deposition degree of the photovoltaic panel 1 is intelligently judged, and a water cleaning or water-free cleaning or non-cleaning instruction is given according to different dust deposition degrees.
As shown in fig. 2, the dust deposition degree detection mechanism comprises a support frame 11 fixed at one end of the photovoltaic panel 1 and a dust deposition degree detector 112, wherein the dust deposition degree detector 112 integrates a bluetooth transmission function, performs bluetooth wireless information communication with the control mechanism, and wirelessly transmits data of the dust deposition degree on the surface of the photovoltaic panel 1 to the control mechanism through bluetooth.
The walking mechanism comprises a transverse walking unit 21 and a longitudinal walking unit 22, wherein the transverse walking unit 21 is arranged on the cleaning robot frame 2 to drive the cleaning robot frame 2 to walk transversely along the photovoltaic panel 1, and the total walking path length is limited by a left limit switch 2121 and a right limit switch 2122; the longitudinal traveling unit 22 drives the cleaning mechanism to travel longitudinally, and the total length of the traveling path is limited by an upper limit switch 24 and a lower limit switch 25.
As shown in fig. 4 and 6, the transverse traveling unit 21 includes a stepping motor driving wheel set 211 located at the upper edge of the photovoltaic panel 1 and a clamping driven wheel set 212 located at the lower edge of the photovoltaic panel; the stepping motor driving wheel set 211 and the clamping driven wheel set 212 are provided with corresponding spring clamping devices 2111 and 2123; the spring clamping devices 2111 and 2123 ensure that the two wheel sets are tightly attached to the upper edge and the lower edge of the photovoltaic panel 1 when the two wheel sets walk, so that the two wheel sets are prevented from slipping;
as shown in fig. 3 and 5, the longitudinal traveling unit 22 includes a stepping motor synchronous belt driving device 221 and an optical axis slider rail device 222; the cleaning mechanism frame 3 is connected to the slider 2222 by a bolt, and is driven by the stepping motor synchronous belt driving device 221 to reciprocate longitudinally along the optical axis 2221.
As shown in fig. 7 and 8, the cleaning mechanism includes a cleaning mechanism frame 3, a dual-port dust collection duct 31, a herringbone brush 311, a dust collection motor 32, a water tank lifter 33, an electric control leakage water tank 331, a cleaning rag 332, a dust collection box 34, a heating dryer 35, and a thin film battery panel power supply 36;
the double-port dust collection air duct 31, the dust collection motor 32, the water tank lifter 33, the dust collection box 34, the heating dryer 35 and the thin film battery panel power supply 36 are fixedly arranged on the cleaning mechanism frame 3;
the double-port dust collection air duct 31, the dust collection motor 32, the water tank lifter 33, the dust collection box 34, the heating dryer 35 and the thin film battery panel power supply 36 are fixedly arranged on the cleaning mechanism frame 3; the double-port dust collection air duct 31 is fixed at the lower part of the cleaning mechanism frame 3 through a bolt, the dust collection box 34 is fixed at the upper part of the cleaning mechanism frame 3 through a bolt, the dust collection motor 32 is arranged between the double-port dust collection air duct 31 and the dust collection box 34, the water tank lifter 33 and the heating dryer 35 are positioned at the rear part of the cleaning mechanism frame 3, and the thin-film battery panel power supply 36 is positioned at the top part of the cleaning mechanism frame 3;
the herringbone brush 311 is fixed on the double-opening dust collection air duct 31 and is surrounded and sealed by the double-opening dust collection air duct 31;
the cleaning rag 332 is fixed at the bottom of the electric control leakage water tank 331 in a buckling connection mode and is driven by the water tank lifter 33 together with the electric control leakage water tank 331;
when the water tank lifter 33 receives a lifting instruction sent by the control mechanism, the electric control leakage water tank 331 is driven to move upwards or downwards;
the electric control leakage water tank 331 is controlled by the control mechanism, and when receiving a cleaning agent leakage instruction sent by the control mechanism, the electric control leakage water tank 331 starts to work to leak cleaning agent with preset metering;
the thin film battery panel power supply device 36 supplies power to the cleaning mechanism, when a drying instruction sent by the control mechanism is received, the heating dryer 35 heats the airflow which is filtered by the dust collecting box 34 and cleaned, blows the airflow to the surface of the photovoltaic panel 1, and accelerates the evaporation of the residual cleaning agent on the surface of the photovoltaic panel 1 by using the waste heat;
the thin film battery panel power supply device 36 supplies power to the cleaning mechanism, and when light is sufficient and the photovoltaic panel intelligent cleaning robot does not work, the thin film battery panel of the thin film battery panel power supply device 36 is automatically charged.
The control mechanism integrates a Bluetooth transmission function and a data processing function, and after receiving the data of the surface dust deposition degree of the photovoltaic panel 1 sent by the dust deposition degree detector 112 by using a Bluetooth wireless communication technology, the data can be compared with threshold data A and threshold data B which are arranged inside the data.
The threshold data a is a criterion for judging whether the photovoltaic panel 1 needs to be cleaned, and if the data value of the surface dust deposition degree of the photovoltaic panel 1 sent by the dust deposition degree detector 112 is greater than the threshold data a, it indicates that the photovoltaic panel 1 currently has more dust deposition and needs to be cleaned. And if the data value of the dust deposition degree is smaller than the threshold value data A, the surface of the photovoltaic panel 1 is relatively clean at present and does not need to be cleaned.
And comparing the accumulated dust degree data with threshold data B under the condition that the accumulated dust degree data is greater than a threshold A, and if the numerical value of the accumulated dust degree data is greater than the threshold B, indicating that the accumulated dust of the photovoltaic panel 1 is serious at present, and sending a water cleaning instruction by a control mechanism. If the data value of the dust deposition degree is smaller than the threshold value B, the dust deposition of the photovoltaic panel is generally serious at present, and the control mechanism sends out a waterless cleaning instruction.
According to different received commands, the cleaning mechanism has two operation modes, when the cleaning mechanism frame 3 receives a waterless cleaning command, the cleaning mechanism frame travels along a zigzag path, and the herringbone hairbrush 311 and the dust collection motor 32 are sequentially started, wherein the herringbone hairbrush 311 and the dust collection motor 32 operate at eighty percent of full power to save energy; when receiving a water cleaning instruction, the cleaning mechanism frame 3 walks along an M-shaped route, and sequentially starts the herringbone hairbrush 311, the dust collection motor 32, the electric control leakage water tank 331 and the heating dryer 35, wherein the herringbone hairbrush 311 and the dust collection motor 32 run at full power.
The working process of the invention is roughly as follows:
the intelligent cleaning robot for the photovoltaic panel provided by the invention mainly works at night in order to avoid influencing the power generation of a photovoltaic power station in the daytime. Firstly, the dust deposition degree detection mechanism detects the dust deposition degree of the photovoltaic panel of the power station, detected data results are transmitted to the control mechanism through the Bluetooth wireless communication technology, the control mechanism judges the detected data, intelligently determines whether the photovoltaic panel 1 needs to be cleaned and selects which cleaning mode to clean, the control mechanism judges that the dust deposition of the photovoltaic panel of the photovoltaic power station is serious, the cleaning mode with water is selected, and otherwise, the cleaning mode without water is selected. After the cleaning mode is determined, the control mechanism sends a command of returning to the original point to the traveling mechanism, the transverse traveling unit 21 drives the cleaning robot frame 2 to move to the left side, and the left limit switch 2121 stops working after touching the limit collision point 12. The longitudinal traveling unit 22 drives the cleaning mechanism frame 2 to move downwards, the lower limit switch 25 touches the limit collision point 12 and then stops working, and at the moment, the control mechanism obtains a traveling mechanism ready signal. The control mechanism then issues a preparation command to the cleaning mechanism.
When the photovoltaic panel intelligent cleaning robot works in the water cleaning mode, the cleaning mechanism sequentially starts the herringbone hairbrush 311, the dust collection motor 32, the electric control leakage water tank 331 and the heating dryer 35, and the electric control leakage water tank 331 and the cleaning rag 332 fall down by the water tank lifter 33, so that the cleaning rag 332 is close to the surface of the photovoltaic panel 1. Wherein the herringbone brush 311 and the dust suction motor 32 run at full power.
When the photovoltaic panel intelligent cleaning robot works in the waterless cleaning mode, the cleaning mechanism starts the herringbone hairbrush 311 and the dust collection motor 32 in sequence, and the water tank lifter 33 lifts the electric control leakage water tank 331 and the cleaning rag 331 to enable the cleaning rag 331 to leave the surface of the photovoltaic panel. Wherein the herringbone brush 311 and the dust collection motor 32 are operated with eighty percent of the full power energy-saving power. After the cleaning mechanism preparation action is completed, the control mechanism obtains a cleaning mechanism preparation ready signal. And finally, the control mechanism sends a starting instruction to the travelling mechanism.
Photovoltaic board intelligence cleaning machines people work when having water clean mode, clean mechanism frame 3 is with M style of calligraphy route, walks in proper order across photovoltaic board 1 surface. The water tank lifter 33 further drops the electric control leakage water tank 331 and the cleaning rag 332, so that the cleaning rag 332 slightly contacts the surface of the photovoltaic panel 1, then the longitudinal walking unit 22 moves upwards at a low speed, the herringbone brush rotates 311 in the moving process, so that the dust is swept up and gathered towards the middle, and the dust enters from the double-opening dust collection air duct 31 and is collected in the dust collection box 34 under the driving of the dust collection motor 32. The electric control leakage water tank 331 uniformly and quantitatively leaks the pre-loaded cleaning agent onto the cleaning rag according to an instruction sent by the control mechanism, and finally, the heating dryer 35 heats the air flow which is filtered by the dust collecting box 34 and is cleaned, and blows the air flow to the surface of the photovoltaic panel 1, so that the evaporation of the residual cleaning agent on the surface of the photovoltaic panel 1 is accelerated by using the waste heat. When the longitudinal traveling unit 22 moves upwards to touch the upper limit switch 24, the water tank lifter 33 then lifts the electric control leakage water tank 331 and the cleaning rag 332 upwards to enable the cleaning rag 332 to leave the surface of the photovoltaic panel 1, then the transverse traveling unit 21 moves rightwards by one machine position, and the longitudinal traveling unit 22 moves downwards at a high speed until the lower limit switch 25 is touched. And then enters the next work cycle.
The photovoltaic panel intelligent cleaning robot works in the non-cleaning mode, the cleaning mechanism frame 3 travels in a zigzag path at an increased speed, the longitudinal traveling unit 22 first moves upwards at a medium speed to touch the upper limit switch 24, and then the transverse traveling unit 21 moves rightwards by one machine position. Then the longitudinal walking unit 22 moves downwards at a medium speed, the lower limit switch 25 is touched, and the transverse walking unit 22 moves rightwards by one machine position. And then enters the next work cycle. In the non-cleaning mode, only the chevron brush 311 and the dust suction motor operate 32 in the cleaning mechanism. Only dust sweeping and absorbing work is carried out, and the photovoltaic panel 1 is not scrubbed and dried.
Finally, when the limit switch on the right side of the transverse walking unit 22 touches the limit collision point 12, the intelligent photovoltaic panel cleaning robot finishes all cleaning works.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (5)

1. The utility model provides a photovoltaic board intelligence cleaning machines people which characterized in that includes: the intelligent cleaning robot for the photovoltaic panel is controlled by the control mechanism, after the intelligent cleaning robot is started, the dust deposition degree of the photovoltaic panel (1) is firstly detected by the dust deposition degree detection mechanism, then the intelligent cleaning robot for the photovoltaic panel is driven by the walking mechanism to move, and the cleaning mechanism cleans the photovoltaic panel (1), wherein the dust deposition degree detection mechanism is powered by the photovoltaic panel (1) fixed with the dust deposition degree detection mechanism, the control mechanism is positioned in the control box (23) and is arranged at the lower part of the cleaning robot frame (2), and the control mechanism compares the data of the dust deposition degree on the surface of the photovoltaic panel (1) sent by the dust deposition degree detection mechanism with different threshold data set inside the control mechanism, intelligently judging the current dust deposition degree of the photovoltaic panel (1), and giving a water cleaning or water-free cleaning or non-cleaning instruction according to different dust deposition degrees; the cleaning mechanism comprises a cleaning mechanism frame (3), a double-port dust collection air duct (31), a herringbone hairbrush (311), a dust collection motor (32), a water tank lifter (33), an electric control leakage water tank (331), cleaning rags (332), a dust collection box (34), a heating dryer (35) and a thin film battery panel power supply device (36);
the double-port dust collection air duct (31), the dust collection motor (32), the water tank lifter (33), the dust collection box (34), the heating dryer (35) and the thin-film battery panel power supply (36) are fixedly arranged on the cleaning mechanism rack (3); the double-opening dust collection air duct (31) is fixed at the lower part of the cleaning mechanism rack (3) through bolts, the dust collection box (34) is fixed at the upper part of the cleaning mechanism rack (3) through bolts, the dust collection motor (32) is installed between the double-opening dust collection air duct (31) and the dust collection box (34), the water tank lifter (33) and the heating dryer (35) are positioned at the rear part of the cleaning mechanism rack (3), and the thin-film battery panel power supply (36) is positioned at the top part of the cleaning mechanism rack (3); the herringbone hairbrush (311) is fixed on the double-opening dust collection air duct (31) and is surrounded and sealed by the double-opening dust collection air duct (31);
the cleaning rag (332) is fixed at the bottom of the electric control leakage water tank (331) in a buckling connection mode and is driven by the water tank lifter (33) together with the electric control leakage water tank (331);
when the water tank lifter (33) receives a lifting instruction sent by the control mechanism, the electric control leakage water tank (331) is driven to move upwards or downwards;
when receiving a cleaning agent leakage instruction sent by a control mechanism, the electric control leakage water tank (331) leaks cleaning agent with preset metering;
when a drying instruction sent by a control mechanism is received, the heating dryer (35) heats the air flow which is filtered by the dust collecting box (34) and cleaned, blows the air flow to the surface of the photovoltaic panel (1), and accelerates the evaporation of the residual cleaning agent on the surface of the photovoltaic panel (1) by using waste heat;
the film battery panel power supply device (36) supplies power for the cleaning mechanism, and when light is sufficient and the photovoltaic panel intelligent cleaning robot does not work, the film battery panel of the film battery panel power supply device (36) is automatically charged.
2. The intelligent cleaning robot for the photovoltaic panel as recited in claim 1, wherein the dust deposition degree detection mechanism comprises a support frame (11) fixed at one end of the photovoltaic panel (1) and a dust deposition degree detector (112), the dust deposition degree detector (112) integrates a bluetooth transmission function, performs bluetooth wireless information communication with the control mechanism, and wirelessly transmits the data of the dust deposition degree on the surface of the photovoltaic panel (1) to the control mechanism through bluetooth.
3. The photovoltaic panel intelligent cleaning robot as claimed in claim 1, wherein the walking mechanism comprises a transverse walking unit (21) and a longitudinal walking unit (22), wherein the transverse walking units (21) are all mounted on the cleaning robot frame (2) to drive the cleaning robot frame (2) to walk transversely along the photovoltaic panel (1) and the total walking path length is limited by a left limit switch (2121) and a right limit switch (2122); the longitudinal walking unit (22) drives the cleaning mechanism to walk longitudinally, and the total length of the walking path is limited by an upper limit switch (24) and a lower limit switch (25).
4. The intelligent photovoltaic panel cleaning robot as claimed in claim 3, wherein the transverse walking unit (21) comprises a stepping motor driving wheel set (211) at the upper edge of the photovoltaic panel (1) and a clamping driven wheel set (212) at the lower edge of the photovoltaic panel; the stepping motor driving wheel set (211) and the clamping driven wheel set (212) are provided with corresponding spring clamping devices (2111, 2123); the spring clamping devices (2111 and 2123) ensure that the two wheel sets are tightly attached to the upper edge and the lower edge of the photovoltaic panel (1) when the two wheel sets walk, so that slipping is prevented;
the longitudinal walking unit (22) comprises a stepping motor synchronous belt driving device (221) and an optical axis slider rail device (222); a cleaning mechanism frame (3) of the cleaning mechanism is connected with a sliding block (2222) through a bolt, is driven by a stepping motor synchronous belt driving device (221), and longitudinally reciprocates along an optical axis (2221).
5. The intelligent photovoltaic panel cleaning robot as claimed in claim 1, wherein there are two operation modes according to different received commands, when the cleaning mechanism frame (3) receives a waterless cleaning command, the cleaning mechanism frame travels along a bow-shaped path, and sequentially starts the herringbone brush (311) and the dust collection motor (32), wherein the herringbone brush (311) and the dust collection motor (32) operate at eighty percent of full power energy-saving power; when the cleaning mechanism frame (3) receives a water cleaning instruction, the cleaning mechanism frame walks along an M-shaped route, the herringbone hairbrush (311), the dust collection motor (32), the electric control leakage water tank (331) and the heating dryer (35) are sequentially started, wherein the herringbone hairbrush (311) and the dust collection motor (32) run at full power.
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