CN114932107A - Device for cleaning solar photovoltaic panel - Google Patents
Device for cleaning solar photovoltaic panel Download PDFInfo
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- CN114932107A CN114932107A CN202210459561.2A CN202210459561A CN114932107A CN 114932107 A CN114932107 A CN 114932107A CN 202210459561 A CN202210459561 A CN 202210459561A CN 114932107 A CN114932107 A CN 114932107A
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- cleaning
- motor
- photovoltaic panel
- crawler robot
- robot
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- 238000004140 cleaning Methods 0.000 title claims abstract description 64
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 230000005611 electricity Effects 0.000 claims abstract description 7
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000003860 storage Methods 0.000 claims abstract description 5
- 230000008093 supporting effect Effects 0.000 claims description 18
- 240000007651 Rubus glaucus Species 0.000 claims description 10
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 10
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 2
- 241001137251 Corvidae Species 0.000 claims 1
- 235000015108 pies Nutrition 0.000 claims 1
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000010248 power generation Methods 0.000 description 4
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006386 neutralization reaction Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
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- 230000000638 stimulation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
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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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- 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 In General (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a device for cleaning a solar photovoltaic panel, which consists of a crawler robot mechanism, a cleaning mechanism, a rotor wing mechanism and a photovoltaic panel mechanism; the crawler robot mechanism is driven by a motor to realize forward, backward, left-turn and right-turn actions; a photovoltaic panel in the photovoltaic panel mechanism is positioned on a shell in the cleaning robot mechanism, and an electricity storage battery in the photovoltaic panel mechanism is connected with the photovoltaic panel through a connecting wire; the cleaning mechanism is connected with the crawler robot mechanism, and a brush in the cleaning mechanism is driven by a motor to rotate; the rotor wing mechanism is connected with the crawler robot mechanism and drives the crawler robot mechanism to take off. The solar photovoltaic panel cleaning device can clean the solar photovoltaic panel and can fly for a short time to realize the crossing of solar panels in different rows.
Description
Technical Field
The invention relates to the field of solar photovoltaic panel cleaning devices, in particular to an unmanned photovoltaic panel cleaning equipment device for cleaning a photovoltaic panel by using a crawler robot and an automatic cleaning mechanism.
Background
With the commitment of 'double carbon target' of 'realizing carbon peak reaching in 2030 years and' realizing carbon neutralization in 2060 years, the reduction of fossil energy consumption, the vigorous development of wind power, solar power generation and other clean energy has become an irreversible national will. The demand for photovoltaic power generation can be more vigorous, and the follow-up prospect is more bright.
However, with the large construction of photovoltaic power plants, the requirements for other operation and maintenance are also highlighted, namely the cleaning of photovoltaic components. As is known, a photovoltaic module is required to convert energy of sunlight into electric energy for power generation, and because photovoltaic power stations are built in an open-air environment, a large amount of dust, soot, fallen leaves and other dirt are accumulated on the surface of the photovoltaic power stations after a long time, and dust traces and the like remained after rainwater volatilizes can seriously affect the sunlight absorption and electric energy conversion of a photovoltaic panel. Therefore, to maintain a high power generation capacity, the photovoltaic panel is cleaned at intervals. For a small power station, manual cleaning is easy to solve, but for a large power station, a large number of hands are needed for cleaning by only manual cleaning, and a lot of labor cost is additionally increased; moreover, the uneven force applied for manual cleaning may cause the hidden crack of the battery plate, and occasionally, the problems of personal safety and the like also occur. Therefore, the development of the cleaning robot for the photovoltaic power station component has great market demand. Therefore, under the stimulation of larger market share, the cleaning robot products of the photovoltaic panel on the market are generated, and the photovoltaic panel can be cleaned under the unmanned and semi-unmanned conditions.
Another problem is that after a row of photovoltaic solar panels are cleaned, the cleaning robot needs to cross over another row of solar panels, and currently, a lot of methods are used in an intelligent ferry vehicle or manual carrying mode, and because the distribution places of the solar photovoltaic panels have diversity, multiple complex application scenes such as gobi beaches, water surfaces, roofs, barren mountains and the like exist, so that other solutions in the cities such as the ferry vehicle, the manual carrying and the like cannot completely solve the technical requirement. In summary, the methods on the market either cannot achieve real unmanned operation or have limited application places, and still require a certain labor force to ensure the smooth operation of the cleaning work. Therefore, the cleaning robot with the rotor wing and capable of autonomously crossing the space can really realize unmanned work, can be suitable for the application scenes of most photovoltaic panels in the current market, greatly meets the current market demand, and has great market competitiveness.
Disclosure of Invention
The invention aims to provide a device for cleaning a solar photovoltaic panel, which is based on a rotor wing and can realize a flight function, aiming at the defect that the existing photovoltaic panel cleaning robot cannot realize the automatic replacement of a cleaning area.
The invention can be realized by the following technical scheme:
a device for cleaning a solar photovoltaic panel comprises a track robot mechanism, a cleaning mechanism, a rotor wing mechanism and a photovoltaic panel mechanism; wherein the content of the first and second substances,
the crawler robot mechanism is driven by the motor to realize forward, backward, left-turn and right-turn actions;
a photovoltaic panel in the photovoltaic panel mechanism is positioned on a shell in the cleaning robot mechanism, and an electricity storage battery in the photovoltaic panel mechanism is connected with the photovoltaic panel through a connecting wire;
the cleaning mechanism is connected with the tracked robot mechanism, and a brush in the cleaning mechanism is driven by a motor to rotate;
the rotor wing mechanism is connected with the crawler robot mechanism and drives the crawler robot mechanism to take off.
Further, the track robot mechanism includes: 4 idler wheels, idler wheel shaft positioning clamping plates, a motor driver, a crawler robot body, wheel shafts, 4 driving wheels, a motor, a raspberry section and a crawler robot shell.
Furthermore, 4 motor installation shaft holes and 4U-shaped grooves are formed in two sides of the crawler robot body respectively; the driving wheels are respectively arranged on the four motors after being provided with wheel shafts; the 4 idler wheels are installed on the vehicle body through idler wheel shafts, and the four idler wheel shafts are installed and fixed in U-shaped grooves in two sides of the vehicle body of the crawler robot by adopting the idler wheel shaft positioning clamping plates.
Further, the motor passes through the power cord and links to each other with motor driver, motor driver links to each other with the raspberry group through the power cord, and motor driver and raspberry group are connected with the power respectively.
Further, the cleaning mechanism includes: brush driving motor, connecting plate, backup pad, shaft coupling, bearing frame and 2 brushes.
Furthermore, the brush is provided with an intermediate shaft for connecting a brush driving motor, the supporting parts between the 2 brushes are connected through a shaft coupling and a bearing seat, the trundles are installed between the two supporting plates and have a supporting effect on the whole vehicle body, and the supporting plates are connected with the connecting plate through a first connecting rod, so that the crawler is connected with the brush cleaning mechanism.
Further, the rotor mechanism includes: the support connecting rod, the support trundle, the rotor motor shaft sleeve, the blade, the rotor motor and the second connecting rod; the blades are sleeved on the motor connecting shaft sleeve, the rotor motor is fixed on a second connecting rod, and the second connecting rod is connected with the crawler robot shell.
Advantageous effects
The cleaning robot moves on the photovoltaic panel by driving the hairbrush through the tracked robots on the two sides, the hairbrush mechanism cleans the photovoltaic panel by rotating the hairbrush in the moving process, and after one row of continuous photovoltaic panels is cleaned, the rotor wing mechanism drives the cleaning robot to fly to the other row of photovoltaic panels to be cleaned. The design of rotor mechanism both can avoid after the cleaning work of accomplishing one row of solar panel, need artificially carry, consumes the labour, also can solve the convenience of using in extreme places such as mountain region, sea.
Drawings
FIG. 1A perspective view of a tracked robot
FIG. 2A perspective view of a photovoltaic panel cleaning robot
FIG. 3 top plan view of a photovoltaic panel cleaning robot
FIG. 4 is a plan view of the brush arrangement
In the figure: idler 1, idler shaft positioning splint 2, motor driver 3, crawler robot body 4, wheel shaft 5, driving wheel 6, motor 7, raspberry group 8, crawler robot shell 9, photovoltaic plate 10, support connecting rod 11, support caster 12, rotor motor shaft sleeve 13, blade 14, rotor motor 15, connecting rod 16, brush driving motor 17, connecting plate 18, support plate 19, shaft coupling 20, bearing seat 21, brush 22
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification.
The invention discloses a device for cleaning a solar photovoltaic panel, which comprises a track robot mechanism, a cleaning mechanism, a rotor wing mechanism and a photovoltaic panel mechanism, wherein the track robot mechanism is arranged on the track robot mechanism; the crawler robot mechanism is driven by a motor to realize forward, backward, left-turn and right-turn actions; a photovoltaic panel in the photovoltaic panel mechanism is positioned on a shell in the cleaning robot mechanism, and an electricity storage battery in the photovoltaic panel mechanism is connected with the photovoltaic panel through a connecting wire; the cleaning mechanism is connected with the crawler robot mechanism, and a brush in the cleaning mechanism is driven by a motor to rotate; the rotor wing mechanism is connected with the crawler robot mechanism and drives the crawler robot mechanism to take off.
Referring to fig. 1-4, the crawler robot mechanism comprises 4 idler wheels 1, an idler wheel shaft positioning clamping plate 2, a motor driver 3, a crawler robot body 4, a wheel shaft 5, 4 driving wheels 6, a motor 7 and a raspberry pie 8; two driving wheels 6 and two idle wheels 1 are respectively arranged on two sides of the crawler robot body 4, the driving wheels 6 are connected with a motor 7, the motor 7 is fixed on the crawler robot body 4, the idle wheels 1 are fixed with wheel shafts 5, the idle wheels 1 can roll under the action of force through internal rolling bearings, and the idle wheel shafts are connected with the crawler robot body 4 through idle wheel shaft positioning clamping plates 2. The motor driver 3 is connected with the four motors 7, the motor driver 3 is connected with a power supply to supply power to the motor driver 3 and the motors 7, the raspberry group 8 is connected with the motor driver 3 through a serial port, and the driving motors 7 realize the forward, backward, left-turn and right-turn actions of the tracked robot.
Rotor mechanism mainly hopes to be through the mode of flight, can independently realize the strideing across of different row solar photovoltaic boards, and rotor mechanism includes: tracked robot casing 9, support link 11, rotor motor axle sleeve 13, blade 14, rotor motor 15, connecting rod 16, motor axle sleeve 13 passes through locking screw with blade 14 and locks, and rotor motor 15 cover is fixed in rotor motor axle sleeve 13, and rotor motor 15 is fixed at the end of second connecting rod 16, is connected with tracked robot casing 9 through second connecting rod 16. The photovoltaic mechanism mainly generates electricity through a solar photovoltaic panel and stores the electricity into a livestock battery in the working process, and mainly comprises a photovoltaic panel 10 and an electricity storage battery, wherein the photovoltaic panel is fixed on a tracked robot shell 9.
The brush mechanism plays a role in cleaning the surface of the photovoltaic panel in the operation process of the solar photovoltaic panel cleaning device, and mainly comprises supporting trundles 12, a brush driving motor 17, a connecting plate 18, a supporting plate 19, a coupler 20, a bearing seat 21 and a brush 22, wherein in the operation process of the mechanism, the brush driving motor 17 is connected with the brush 22, the two brushes 22 are connected together through the coupler 21, and the brush driving motor 17 works to realize the rotation of the brush 22. The brush driving motor 17 is fixed on the connecting plate 18, the middle supporting mechanism comprises two supporting plates 19 and supporting casters 12, the supporting casters 12 are mounted between the two supporting plates 19 through shafts, the supporting plates 19 and the brushes 22 are fixed by adopting bearing seats 21, and the connecting plate 18 and the supporting plates 19 are connected through a first connecting rod.
The working process of the invention is as follows:
(1) cleaning a solar photovoltaic panel: two driving wheels 6 and two idle wheels 1 are respectively installed on two sides of a crawler robot body 4, the driving of the driving wheels 6 is realized by a motor 7, and the idle wheels 1 realize the driven by rubber crawlers under the power of the driving wheels 6. After the driver 17 and the motor 7 are powered on, the raspberry group 8 is connected with the driver 3 through a serial port, the driving motor 7 drives the tracked robot to move forward, and then the whole photovoltaic panel cleaning device is driven to move. In the process that the cleaning device performs a cleaning task, the two brushes 22 continuously rotate to perform cleaning work on the solar photovoltaic panel, and the two tracked robots move forward in one direction at a constant speed along with the two sides, so that the whole row of solar photovoltaic panels are cleaned. In the operation process of the mechanism, the brush driving motor 17 is connected with the brush 22, the two brushes 22 are connected together through the coupler 20, the brush motor 17 works to realize the rotation of the brush 22, and the brush removes pollutants on the solar photovoltaic panel.
(2) Flying, exchanging and cleaning positions: after cleaning robot has cleaned one row of solar panel, when needing to change clean position, the work is started separately to the rotor portion, and blade 14 realizes rotatory through rotor motor, produces the lift, and rotor motor 15 works and realizes cleaning robot's short distance flight to the completion is to the cleaning work of another row of array.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A device for cleaning a solar photovoltaic panel is characterized by comprising a track robot mechanism, a cleaning mechanism, a rotor wing mechanism and a photovoltaic panel mechanism; wherein the content of the first and second substances,
the crawler robot mechanism is driven by a motor to realize forward, backward, left-turn and right-turn actions;
a photovoltaic panel in the photovoltaic panel mechanism is positioned on a shell in the cleaning robot mechanism, and an electricity storage battery in the photovoltaic panel mechanism is connected with the photovoltaic panel through a connecting wire;
the cleaning mechanism is connected with the tracked robot mechanism, and a brush in the cleaning mechanism is driven by a motor to rotate;
the rotor wing mechanism is connected with the crawler robot mechanism and drives the crawler robot mechanism to take off.
2. The device according to claim 1, characterized in that said tracked robotic mechanism comprises: 4 idler wheels (1), idler wheel shaft positioning clamping plates (2), a motor driver (3), a crawler robot body (4), wheel shafts (5), 4 driving wheels (6), a motor (7), raspberry pies (8) and a crawler robot shell (9).
3. The device for cleaning the solar photovoltaic panel as claimed in claim 2, wherein the two sides of the tracked robot body (4) are respectively provided with 4 motor mounting shaft holes and 4U-shaped grooves; the driving wheels (6) are respectively installed on the four motors (7) after being provided with the wheel shafts (5); the 4 idler wheels (1) are sequentially arranged on four idler wheel shafts, and the four idler wheel shafts are fixedly arranged in U-shaped grooves in two sides of the crawler robot body (4) by adopting the idler wheel shaft positioning clamping plates (2).
4. The device for cleaning solar photovoltaic panels according to claim 2 or 3, wherein the motor (7) is connected to the motor driver (3) by a power line, the motor driver (3) is connected to the raspberry pi (8) by a power line, and the motor driver (3) and the raspberry pi (8) are connected to a power supply respectively.
5. The device for cleaning solar photovoltaic panels according to claim 1,
the cleaning mechanism includes: the brush driving device comprises a brush driving motor (17), a connecting plate (18), a supporting plate (19), a coupler (20), a bearing seat (21) and 2 brushes (22).
6. The device for cleaning solar photovoltaic panels as claimed in claim 5, wherein the brushes (22) have an intermediate shaft for connecting the brush driving motor (17), the supporting portions between 2 brushes are connected by a coupling (20) and a bearing seat (21), a supporting caster (12) is provided at the middle part of the whole cleaning mechanism for supporting, the connecting plate (18) connects the brushes (22) and the crawler robot mechanism, and the supporting plate (19) is connected with the connecting plate (18) by a first connecting rod for connecting the whole brush (22) mechanism.
7. The device according to claim 1, characterized in that said rotor mechanism comprises: the device comprises a support connecting rod (11), a support caster (12), a rotor motor shaft sleeve (13), blades (14), a rotor motor (15) and a second connecting rod (16); the blades (14) are sleeved on the motor connecting shaft sleeve (13), and the rotor motor (15) is fixed at the tail end of the second connecting rod (16) and is connected with the crawler robot shell (9) through the second connecting rod (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210459561.2A CN114932107A (en) | 2022-04-27 | 2022-04-27 | Device for cleaning solar photovoltaic panel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210459561.2A CN114932107A (en) | 2022-04-27 | 2022-04-27 | Device for cleaning solar photovoltaic panel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114932107A true CN114932107A (en) | 2022-08-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210459561.2A Withdrawn CN114932107A (en) | 2022-04-27 | 2022-04-27 | Device for cleaning solar photovoltaic panel |
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| Country | Link |
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| CN (1) | CN114932107A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110665873A (en) * | 2019-10-22 | 2020-01-10 | 徐州安彼得电子科技有限公司 | Solar photovoltaic panel cleaning robot |
| CN112498683A (en) * | 2020-10-31 | 2021-03-16 | 浙江蓝特新能源科技股份有限公司 | Cleaning equipment for photovoltaic panel |
| CN113098382A (en) * | 2021-05-03 | 2021-07-09 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with self-adaptation round brush subassembly |
| CN113147935A (en) * | 2021-05-03 | 2021-07-23 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with rotor mechanism |
| CN113231421A (en) * | 2021-04-23 | 2021-08-10 | 武汉佑达信科技有限公司 | Rotor type photovoltaic panel cleaning robot |
| JP2021133284A (en) * | 2020-02-26 | 2021-09-13 | 株式会社山壱 | Cleaning device with built-in unmanned aircraft |
| CN214918506U (en) * | 2021-05-03 | 2021-11-30 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically returning and continuing to sail |
-
2022
- 2022-04-27 CN CN202210459561.2A patent/CN114932107A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110665873A (en) * | 2019-10-22 | 2020-01-10 | 徐州安彼得电子科技有限公司 | Solar photovoltaic panel cleaning robot |
| JP2021133284A (en) * | 2020-02-26 | 2021-09-13 | 株式会社山壱 | Cleaning device with built-in unmanned aircraft |
| CN112498683A (en) * | 2020-10-31 | 2021-03-16 | 浙江蓝特新能源科技股份有限公司 | Cleaning equipment for photovoltaic panel |
| CN113231421A (en) * | 2021-04-23 | 2021-08-10 | 武汉佑达信科技有限公司 | Rotor type photovoltaic panel cleaning robot |
| CN113098382A (en) * | 2021-05-03 | 2021-07-09 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with self-adaptation round brush subassembly |
| CN113147935A (en) * | 2021-05-03 | 2021-07-23 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with rotor mechanism |
| CN214918506U (en) * | 2021-05-03 | 2021-11-30 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot capable of automatically returning and continuing to sail |
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Application publication date: 20220823 |
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