Autonomous flight type photovoltaic cleaning device and cleaning method

Abstract

The invention provides an autonomous flight type photovoltaic cleaning device and cleaning method, and relates to the technical field of photovoltaic equipment cleaning, the autonomous flight type photovoltaic cleaning device comprises an unmanned aerial vehicle system, a mounting mechanism, a lifting mechanism, an angle adjusting mechanism and a water spraying mechanism; the mounting mechanism is fixedly mounted at the bottom of the unmanned aerial vehicle system, the lifting mechanism is fixedly arranged on the mounting mechanism, the angle adjusting mechanism is fixedly connected to the bottom of the lifting mechanism, the water spraying mechanism is fixedly arranged on the angle adjusting mechanism, and the lifting mechanism, the angle adjusting mechanism and the water spraying mechanism are electrically connected with the controller; by means of the water spraying mechanism, the water spraying range can be further expanded, reciprocating swing spraying cleaning can be achieved, the water mist distribution uniformity is improved, then the cleaning efficiency is improved, the cleaning efficiency and safety are remarkably improved through the design, manual intervention is reduced, the cleaning cost is reduced, overall control is achieved through electric connection, and the cleaning effect is good. Remote operation and monitoring are facilitated, and remote, efficient and automatic cleaning of the photovoltaic panel is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic equipment cleaning, and in particular to an autonomous flying photovoltaic cleaning device and a cleaning method. Background Art

[0003] The existing photovoltaic module cleaning adopts manual methods, which has low cleaning efficiency and is difficult to perform cleaning operations at sea. Human resources in offshore areas are limited, labor costs are high, and modules are frequently dirty and need to be cleaned at irregular intervals. The method of using cleaning robots or drones for cleaning has high implementation costs, frequent equipment maintenance, poor economy, and limited load capacity of cleaning robots or drones, and the small amount of cleaning fluid they carry, resulting in low cleaning efficiency. Summary of the invention

[0004] The present invention provides an autonomous flying photovoltaic cleaning device and a cleaning method, which are used to solve at least one of the technical problems raised by the above background technology.

[0005] In order to solve the above technical problems, the present invention provides an autonomous flying photovoltaic cleaning device and a cleaning method, including: an autonomous flying photovoltaic cleaning device, including: an unmanned aerial vehicle system, a mounting mechanism, a lifting mechanism, an angle adjustment mechanism and a water spraying mechanism; the mounting mechanism is fixedly installed at the bottom of the unmanned aerial vehicle system, the mounting mechanism is fixedly provided with a lifting mechanism, the bottom of the lifting mechanism is fixedly connected to an angle adjustment mechanism, the angle adjustment mechanism is fixedly provided with a water spraying mechanism, and the lifting mechanism, angle adjustment mechanism and water spraying mechanism are electrically connected to a controller respectively.

[0006] Preferably, the drone system adopts a multi-rotor drone with a large load capacity, an extended support leg frame is fixedly installed at the bottom of the multi-rotor drone, a wireless transmission module is fixedly provided inside the multi-rotor drone, and a gimbal camera is fixedly installed at the top of the multi-rotor drone.

[0007] Preferably, the installation mechanism includes: a first group of sleeve connectors are symmetrically bolted to the middle of the support leg frame, the first group of sleeve connectors are hinged to a vertical rod, the bottom end of the vertical rod is fixedly connected to a water tank, a second group of sleeve connectors are symmetrically bolted to the middle of the support leg frame, the second group of sleeve connectors on the left and right sides are hinged to a cross rod, the cross rod is fixedly connected to the front and rear walls of the water tank, and a storage power supply is fixedly installed on the top of the water tank.

[0008] Preferably, the lifting mechanism includes: a screw mounting seat, the front end of the cross bar one is fixedly connected to the vertical screw mounting seat, the screw mounting seat is rotatably connected to the vertical lifting screw, the top of the screw mounting seat is fixedly installed with a lifting motor, the output shaft of the lifting motor is fixedly connected to the top of the lifting screw, the lifting screw is threadedly connected to the threaded sleeve, the front end of the threaded sleeve is fixedly connected to the lifting bracket, the bottom of the lifting bracket is fixedly installed with a horizontal plate two-one, and the lifting motor is electrically connected to the controller.

[0009] Preferably, the angle adjustment mechanism includes: a mounting frame, the bottom end of the lifting bracket is fixedly connected to the mounting frame, the right side wall of the mounting frame is fixedly connected to a fixing piece, an adjustment motor is fixedly installed on the top of the fixing piece, the bottom end of the adjustment motor output shaft is fixedly connected to a worm gear, the bottom of the mounting frame is rotatably connected to a transmission shaft in the left and right directions, the transmission shaft rotates and passes through the left and right side walls of the bottom of the mounting frame, the right end of the transmission shaft is fixedly connected to a worm in the left and right directions, the worm is meshingly connected to the worm gear, and the transmission shaft is fixedly connected to a fixing block one.

[0010] Preferably, the water spraying mechanism comprises: a horizontal plate two, the bottom end of the fixed block one is fixedly connected to the horizontal plate two, the horizontal plate two is symmetrically fixedly installed with a vertical pipe one, the vertical pipe one is fixedly penetrated downwardly through the horizontal plate two, a high-pressure water pump is fixedly installed at the bottom of the water tank, the right end of the high-pressure water pump is fixedly connected with the water tank through a water pipe, two water outlet interfaces are fixedly provided at the bottom of the high-pressure water pump symmetrically, the two water outlet interfaces are fixedly connected with the respective side vertical pipes one through a water supply hose, the bottoms of the vertical pipes one on the left and right sides are rotatably connected to the short ends of the L-shaped nozzles, the long ends of the L-shaped nozzles are fixedly installed with adjustable water spray nozzles, and the outer wall of the short end of the L-shaped nozzle is fixedly connected to the top of the connecting plate in the horizontal direction for rotational connection.

[0011] Preferably, a vertical servo motor is fixedly installed on the right side of the vertical pipe 1 on the left side, and the output shaft end of the servo motor rotates and passes through the horizontal plate 2 and is fixedly connected to a T-shaped sleeve. The bottom of the T-shaped sleeve is hinged to a connecting rod 1 away from the axis end, and the connecting rod 1 is hinged to a rotating handle in the horizontal direction. The middle part of the top of the rotating handle is fixedly connected to a vertical rod 2, and the vertical rod 2 is rotatably connected to the horizontal plate 2. The front end of the top of the rotating handle is hinged to a long connecting rod 2, and the long connecting rod 2 is hinged to the connecting plate on the left side. The rear end of the top of the rotating handle is hinged to a long connecting rod 3, and the long connecting rod 3 is hinged to the connecting plate on the right side. A second camera and a ranging sensor in the forward direction are fixedly installed on the top of the horizontal plate 2.

[0012] Preferably, an intelligent variable frequency water spraying module is also provided, including: Temperature sensor, used to detect the working temperature of the high-pressure water pump; Flow sensor 1, used to detect the liquid flow in the water pipe; Flow sensor 2; used to detect the liquid flow in the water supply hose; Density sensors are used to detect the density of liquids in water pipes and water supply hoses; Pressure sensor 1, used to detect the liquid pressure value in the water pipe; Pressure sensor 2, used to detect the liquid pressure value in the water supply hose at the water outlet interface; Alarm, used to alarm in case of abnormal situation; The first calculation unit calculates the head loss value along the pipeline at the outlet end of the high-pressure water pump within the detection time period based on the data of the temperature sensor, the flow sensor 1, and the flow sensor 2; A second calculation unit, based on the result of the first calculation unit, calculates the actual lift of the high-pressure water pump within the detection time period; The control unit is used to collect and process the data of each sensor, and then control the high-pressure water pump to adjust the speed by frequency conversion. The control unit is electrically connected to the temperature sensor, flow sensor 1, flow sensor 2, density sensor, pressure sensor 1, pressure sensor 2 and alarm respectively; The comparison and judgment unit is used to compare and judge whether the rotation speed of the high-pressure water pump under the actual head within the detection time period can meet the cleaning state of the theoretical head.

[0013] Preferably, the first calculation unit calculates based on the following formula 1: ;in: is the head loss along the pipeline connected to the outlet of the high-pressure water pump during the time period t-t0; is the Reynolds number, 10 4 < <10 5 ; is the length of the water supply hose, is the equivalent diameter of the water supply hose, is the head loss coefficient along the turbulent hydraulic smooth zone, is a logarithmic function, is the equivalent roughness of the inner wall of the L-type nozzle, and its value is 0.6; is the head loss coefficient along the turbulent hydraulic roughness zone, is the length of the L-shaped nozzle, is the equivalent diameter of the L-shaped nozzle, is the average water flow velocity in the water supply hose, is the horizontal water flow velocity in the L-shaped nozzle, g is the acceleration due to gravity, and its value is 9.18. To detect the end time, To detect the initial moment, is the temperature inside the high-pressure water pump housing detected by the temperature sensor at time t, is the temperature value of the high-pressure water pump at the initial moment, is the maximum operating temperature of the high-pressure water pump detected by the temperature sensor, The temperature sensor detects the minimum operating temperature of the high-pressure water pump; is a logarithmic function, The value of the natural constant is 2.72; The second calculation unit calculates based on the following formula 2: ;in: is the actual head of the high-pressure water pump in the time period t-t0, It is the vertical distance between the water pressure height of the water outlet interface and the reference surface; is the vertical distance between the water pressure height at the water inlet of the high-pressure water pump and the reference surface, Take the value of pi as 3.14, To detect the rotation speed of the motor in the high-pressure water pump during the time period t-t0, is the liquid pressure in the water supply hose at the water outlet interface, is the liquid pressure at the water inlet, The flow rate of the water supply hose detected by flow sensor 2, is the flow rate in the water pipe detected by flow sensor 1, is the diameter of the water pipe; The comparison judgment unit performs comparison. If the theoretical head is equal to the theoretical head, the high-pressure water pump can meet the cleaning water spray pressure and distance. When the lift is greater than the theoretical lift, the control unit controls the high-pressure water pump to reduce the speed. When the head is less than the theoretical head, the control unit controls the alarm to sound an alarm, promptly reminding the operator to increase the speed of the high-pressure water pump by frequency conversion to meet the cleaning needs.

[0014] Preferably, an autonomous flying cleaning method is applied to an autonomous flying photovoltaic cleaning device as described in any one of claims 1 to 9, characterized in that it comprises: Step S1: Perform preparatory work, comprehensively check that the equipment of the autonomous flying photovoltaic cleaning device is not damaged, the battery is fully charged, and the water source is sufficient, and set an efficient cleaning route for the multi-rotor drone (101); Step S2: Perform takeoff positioning, take off the multi-rotor drone smoothly to a safe height, and accurately use the gimbal camera and the second camera and sensor to lock the position of the photovoltaic panel; Step S3: Perform posture adjustment, and use the controller to finely operate the lifting mechanism and the angle adjustment mechanism to ensure that the water spraying mechanism is accurately aligned with the photovoltaic panel and adjusted to the best cleaning posture; Step S4: start cleaning, activate the high-pressure water pump through the controller, start the water spray mechanism, and the strong water flow fully covers the photovoltaic panel to start the cleaning operation; Step S5: monitoring and adjustment: observe the cleaning effect in real time, flexibly adjust the flight height and water spray angle to ensure uniform and thorough cleaning; Step S6: Finish cleaning: Use the second camera to confirm that the photovoltaic panel is clean and free of dirt, stop spraying water in time, turn off the high-pressure water pump, and end the cleaning process; Step S7: Return and maintain, operate the multi-rotor drone to return safely, record the cleaning data for analysis, and comprehensively inspect and maintain the equipment for next use.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes remote, efficient and automatic cleaning of photovoltaic panels by carrying an installation mechanism, a lifting mechanism, an angle adjustment mechanism and a water spraying mechanism on a drone; in terms of working principle, after the drone flies to the specified position, the height of the water spraying mechanism is adjusted by the lifting mechanism, and the angle adjustment mechanism ensures that the water spraying mechanism is accurately aligned with the photovoltaic panel, and then the water spraying mechanism is started to perform the cleaning operation; the water spraying mechanism can further expand the water spraying range and perform reciprocating swing spray cleaning, thereby improving the uniformity of water mist distribution and thereby improving cleaning efficiency. The design of the present invention significantly improves cleaning efficiency and safety, reduces manual intervention, reduces cleaning costs, and realizes overall control through electrical connection, which is convenient for remote operation and monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a front view schematic diagram of an autonomous flying photovoltaic cleaning device of the present invention; Figure 2 It is a schematic flow chart of an autonomous flying cleaning method of the present invention; Figure 3 It is a front view of the connection structure of the lifting mechanism and the angle adjustment mechanism of the present invention; Figure 4 It is a front view schematic diagram of the water spraying mechanism of the present invention; Figure 5 It is a top perspective schematic diagram of the water spraying mechanism of the present invention.

[0018] Reference numerals: 1. UAV system; 101. Multi-rotor UAV; 1011. Support leg frame; 1012. Wireless transmission module; 1013. PTZ camera; 2. Mounting mechanism; 201. First set of sleeve connectors; 202. Vertical rod 1; 203. Water tank; 204. Second set of sleeve connectors; 205. Crossbar 1; 206. Power storage; 3. Lifting mechanism; 301. Screw mounting seat; 302. Lifting screw; 303. Lifting motor; 304. Threaded sleeve; 305. Lifting bracket; 306. Horizontal plate 1; 4. Angle adjustment mechanism; 401. Mounting frame; 402. Fixing piece; 403 , adjusting motor; 404, worm gear; 405, transmission shaft; 406, worm; 407, fixed block one; 5, water spraying mechanism; 501, horizontal plate two; 502, vertical pipe one; 503, high-pressure water pump; 504, water pipe; 505, water outlet interface; 506, water supply hose; 507, L-shaped nozzle; 5071, adjustable water nozzle; 508, connecting plate; 509, servo motor; 510, T-shaped sleeve; 511, connecting rod one; 512, rotating handle; 513, vertical rod two; 514, long connecting rod two; 515, long connecting rod three; 6, second camera; 7, ranging sensor; 8, controller. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] The present invention provides the following embodiments Example 1 The embodiment of the present invention provides an autonomous flying photovoltaic cleaning device, such as Figure 1 As shown, it includes: an unmanned aerial vehicle system 1, a mounting mechanism 2, a lifting mechanism 3, an angle adjustment mechanism 4 and a water spraying mechanism 5; the mounting mechanism 2 is fixedly installed at the bottom of the unmanned aerial vehicle system 1, the lifting mechanism 3 is fixedly provided on the mounting mechanism 2, the lifting mechanism 3 is fixedly connected to the angle adjustment mechanism 4 at the bottom, the angle adjustment mechanism 4 is fixedly provided with a water spraying mechanism 5, and the lifting mechanism 3, the angle adjustment mechanism 4 and the water spraying mechanism 5 are electrically connected to the controller 8 respectively.

[0023] The working principle and beneficial effects of the above technical solution are as follows: the present invention realizes remote, efficient and automatic cleaning of photovoltaic panels by carrying the installation mechanism 2, the lifting mechanism 3, the angle adjustment mechanism 4 and the water spraying mechanism 5 on the drone; in terms of working principle, after the drone flies to the designated position, the height of the water spraying mechanism 5 is adjusted by the lifting mechanism 3, and the angle adjustment mechanism 4 ensures that the water spraying mechanism 5 is accurately aligned with the photovoltaic panel, and then the water spraying mechanism 5 is started to perform the cleaning operation; the water spraying mechanism 5 can further expand the water spraying range and reciprocating swing spray cleaning, improve the uniformity of water mist distribution, and thus improve the cleaning efficiency. The design of the present invention significantly improves the cleaning efficiency and safety, reduces manual intervention, reduces the cleaning cost, and realizes overall control through electrical connection, which is convenient for remote operation and monitoring; The present invention realizes the cleaning of photovoltaic panels by the following key parts working together: Drone System 1: As the carrier of the entire system, the drone carries and stabilizes all other components.

[0024] Mounting mechanism 2: fixed on the bottom of the drone to provide a stable support platform for the lifting mechanism 3.

[0025] Lifting mechanism 3: The motor drives the lead screw to rotate, driving the threaded sleeve 304 and the lifting bracket 305 to move up and down, thereby adjusting the height of the water spraying mechanism 5.

[0026] Angle adjustment mechanism 4: responsible for adjusting the direction of the water spray mechanism 5 to ensure that the sprayed water flow can be accurately aimed at the photovoltaic panel.

[0027] The water spray mechanism 5 includes components such as a high-pressure water pump 503, a water pipe 504, a water outlet interface 505 and an L-shaped nozzle 507, and cleans the photovoltaic panel through high-pressure water flow.

[0028] Beneficial effects: 1. Efficient cleaning: The drone platform makes cleaning operations faster and can cover large areas of photovoltaic panels.

[0029] 2. Remote operation: All mechanisms are electrically connected to the controller 8, and the operator can control the entire cleaning process remotely, which improves safety and convenience.

[0030] 3. Reduce costs: Automated cleaning reduces manual participation, labor costs and time costs.

[0031] 4. Enhanced flexibility: The design of the lifting mechanism 3 and the angle adjustment mechanism 4 enables the system to adapt to the cleaning needs of photovoltaic panels at different heights and angles.

[0032] Example 2 On the basis of Example 1, Figure 1 , Figure 3 As shown, the drone system 1 adopts a multi-rotor drone 101 with a large load capacity, an extended support leg frame 1011 is fixedly installed at the bottom of the multi-rotor drone 101, a wireless transmission module 1012 is fixedly installed inside the multi-rotor drone 101, and a gimbal camera 1013 is fixedly installed at the top of the multi-rotor drone 101.

[0033] The installation mechanism 2 includes: the first group of sleeve connectors 201 are symmetrically bolted to the middle of the support leg frame 1011, the first group of sleeve connectors 201 are hinged to the vertical rod 202, the bottom end of the vertical rod 202 is fixedly connected to the water tank 203, the second group of sleeve connectors 204 are symmetrically bolted to the middle of the support leg frame 1011, the second group of sleeve connectors 204 on the left and right sides are hinged to the cross bar 205 in the middle, the cross bar 205 is fixedly connected to the front and rear walls of the water tank 203, and the storage power supply 206 is fixedly installed on the top of the water tank 203.

[0034] The lifting mechanism 3 includes: a screw mounting seat 301, the front end of the cross bar 205 is fixedly connected to the vertical screw mounting seat 301, the screw mounting seat 301 is rotatably connected to the vertical lifting screw 302, the top of the screw mounting seat 301 is fixedly installed with a lifting motor 303, the output shaft of the lifting motor 303 is fixedly connected to the top of the lifting screw 302, the lifting screw 302 is threadedly connected to the threaded sleeve 304, the front end of the threaded sleeve 304 is fixedly connected to the lifting bracket 305, the bottom of the lifting bracket 305 is fixedly installed with a horizontal plate 306, and the lifting motor 303 is electrically connected to the controller 8.

[0035] The working principle and beneficial effects of the above technical solution are: The first set of sleeve connectors 201 are hingedly connected to the vertical rod 202 to firmly fix the connection between the top of the water tank 203 and the drone support leg frame 1011. At the same time, the second set of sleeve connectors 204, which are symmetrical in front and back, are hingedly connected to the crossbar 205 in the middle to fix and restrict the front and rear movement of the water tank 203, making the whole more solid. When the lifting mechanism 3 is working, the controller 8 controls the operation of the lifting motor 303. The rotation of the lifting motor 303 drives the lifting screw 302 to rotate. The rotation of the lifting screw 302 causes the threaded sleeve 304 and the lifting bracket 305 to move downward synchronously. The lifting bracket 305 moves the angle adjustment mechanism and the water spraying mechanism 5 downward until they extend below the supporting leg frame 1011. The lifting motor 303 stops running, so that the water spraying mechanism 5 will not be between the left and right supporting leg frames 1011 when working, thereby avoiding affecting the range of motion of the angle adjustment mechanism and the water spraying mechanism 5.

[0036] On the basis of Example 1, this embodiment further optimizes the design of the drone system 1, the mounting mechanism 2 and the lifting mechanism 3; adopts a multi-rotor drone 101 with a heavy load, thereby enhancing the stability and load-bearing capacity of the system; the extended support leg frame 1011 and the gimbal camera 1013 are provided, thereby improving the stability and observation accuracy of the system; the mounting mechanism 2 and the lifting mechanism 3 are firmly connected and flexibly adjusted through structures such as sleeve connectors, vertical rods, and horizontal rods, thereby ensuring that the water spray mechanism 5 can stably and accurately reach the predetermined position; these improvements make the system more adaptable to complex and changeable cleaning environments, and improve the cleaning effect and reliability; Specifically, this embodiment further optimizes the drone system 1, the installation mechanism 2 and the lifting mechanism 3: UAV system 1: The multi-rotor UAV 101 with a heavy load capacity is used to improve the overall stability and load capacity. The extended support leg frame 1011 increases the distance between the UAV and the ground, avoiding the risk of collision.

[0037] Installation mechanism 2: Through structures such as sleeve connectors, vertical rods and horizontal rods, stable support and flexible connection are achieved, so that the water spray mechanism 5 can remain horizontal and stably rise and fall.

[0038] Lifting mechanism 3: It still uses the motor-driven lead screw, but the structural layout is optimized to ensure that the lifting process is smooth and reliable.

[0039] Beneficial effects: 1. Enhanced stability: The heavy-loaded UAV and the extended support legs 1011 significantly improve the stability of the system.

[0040] 2. Improve load-bearing capacity: The optimized structure enables the system to carry more cleaning fluid and other equipment.

[0041] 3. Reduce vibration: The stable installation mechanism 2 and the optimized lifting mechanism 3 reduce vibration during the cleaning process and improve the cleaning accuracy.

[0042] Example 3 On the basis of Example 1, Figure 1 , Figure 3-Figure 5As shown, the angle adjustment mechanism 4 includes: a mounting frame 401, the bottom end of the lifting bracket 305 is fixedly connected to the mounting frame 401, the right side wall of the mounting frame 401 is fixedly connected to a fixing piece 402, the top of the fixing piece 402 is fixedly installed with an adjustment motor 403, the bottom end of the output shaft of the adjustment motor 403 is fixedly connected to a worm gear 404, the bottom of the mounting frame 401 is rotatably connected to a transmission shaft 405 in the left and right directions, the transmission shaft 405 rotates and passes through the left and right side walls of the bottom of the mounting frame 401, the right end of the transmission shaft 405 is fixedly connected to a worm 406 in the left and right directions, the worm 406 is meshed with the worm gear 404, and the transmission shaft 405 is fixedly connected to a fixing block 407.

[0043] The water spraying mechanism 5 includes: a horizontal plate 501, the bottom end of the fixed block 407 is fixedly connected to the horizontal plate 501, the horizontal plate 501 is symmetrically fixedly installed with a vertical pipe 502, the vertical pipe 502 is fixedly downward and penetrates the horizontal plate 501, the bottom of the water tank 203 is fixedly installed with a high-pressure water pump 503, the right end of the high-pressure water pump 503 is fixedly connected with the water tank 203 through a water pipe 504, and the bottom of the high-pressure water pump 503 is symmetrically fixed with two water outlet interfaces 505, the two water outlet interfaces 505 are fixedly connected with the respective side vertical pipes 502 through a water supply hose 506, the bottoms of the vertical pipes 502 on the left and right sides are rotatably connected to the short ends of the L-shaped nozzles 507, the long ends of the L-shaped nozzles 507 are fixedly installed with adjustable water spray nozzles 5071, and the outer wall of the short end of the L-shaped nozzle 507 is fixedly connected to the top of the horizontal connecting plate 508 for rotational connection.

[0044] A vertical servo motor 509 is fixedly installed on the right side of the vertical tube 1 502 on the left side, and the input shaft end of the servo motor 509 rotates and passes through the horizontal plate 2 501 and is fixedly connected to the T-shaped sleeve 510. The bottom of the T-shaped sleeve 510 is hinged to the connecting rod 1 511 away from the axis end, and the connecting rod 1 511 is hinged to the horizontal rotating handle 512. The middle part of the top of the rotating handle 512 is fixedly connected to the vertical rod 2 513, and the vertical rod 2 513 is rotatably connected to the horizontal plate 2 501. The front end of the top of the rotating handle 512 is hinged to the long connecting rod 2 514, and the long connecting rod 2 514 is hinged to the connecting plate 508 on the left side. The rear end of the top of the rotating handle 512 is hinged to the long connecting rod 3 515, and the long connecting rod 3 515 is hinged to the connecting plate 508 on the right side. The second camera 6 and the ranging sensor 7 in the forward direction are fixedly installed on the top of the horizontal plate 2 501.

[0045] The working principle and beneficial effects of the above technical solution are: When the angle adjustment mechanism 4 is working, the controller 8 guides the control of the adjustment motor 403 to be powered on through the second camera 6 and the distance sensor. The output shaft of the adjustment motor 403 rotates to drive the worm gear 404 to rotate. The worm gear 404 engages with the transmission worm 406. The rotation of the worm gear 406 causes the transmission shaft 405 and the fixed block to rotate synchronously. The rotation of the fixed block drives the horizontal plate 2 501 and the water spray mechanism 5 to rotate to the target angle, and the adjustment motor 403 stops running; then the water spray mechanism 5 starts running; When the water spraying mechanism 5 is working, the control unit controls the high-pressure water pump 503 to operate, and the high-pressure water pump 503 generates suction so that the cleaning liquid is transported from the water tank 203 through the water pipe 504, the water outlet interfaces 505 on the left and right sides, and the water supply hose 506 to the L-shaped nozzle 507, and finally sprayed out through the adjustable water spray nozzle 5071. The operator first adjusts the water spraying state of the adjustable water spray nozzle 5071 before the multi-rotor drone 101 takes off; the L-shaped nozzles 507 on the left and right sides can be fixed at a certain angle for spraying, or can be swung back and forth for spraying. When adjustment is needed, the operation of the servo motor 509 drives the T-shaped sleeve 510 Rotation: The rotation of the T-shaped sleeve 510 drives the connecting rod 1 511 to swing periodically, and the connecting rod 1 511 drives the horizontal rotating handle 512 to swing back and forth around the center of the vertical rod 2 513. The reciprocating swing of the rotating handle 512 drives the long connecting rod 2 514 on the left to push and pull the connecting plate 508 and the L-shaped nozzle 507 on the left to swing synchronously. At the same time, the reciprocating swing of the rotating handle 512 will also drive the long connecting rod 3 515 on the right to push and pull the connecting plate 508 and the L-shaped nozzle 507 on the right to swing synchronously, thereby realizing reciprocating swing cleaning of the photovoltaic panel, and can also be controlled by the servo motor 509 to freeze at a certain angle for spraying.

[0046] This embodiment increases the complexity and functionality of the monitoring mechanism and the water spraying mechanism 5; the angle adjustment mechanism 4 realizes precise angle adjustment through the transmission of the worm gear 404 and the worm 406, and the water spraying mechanism 5 realizes the automatic rotation of the L-shaped nozzle 507 and the adjustment of the water spraying angle through the servo motor 509 and the connecting rod mechanism. In addition, a second camera 6 and a distance sensor 7 are added to monitor the cleaning effect and the status of the photovoltaic panel in real time; this enables the system to automatically adjust the cleaning parameters according to the actual situation to ensure a uniform and thorough cleaning effect, while improving the intelligence and automation level of the system; The specific embodiment of this invention increases the complexity and functionality of the monitoring mechanism and the water spraying mechanism 5: Monitoring mechanism: The angle of the L-shaped nozzle 507 is precisely controlled by the worm gear 404 and the worm 406 in the angle adjustment mechanism 4 and the connecting rod mechanism driven by the servo motor 509. At the same time, the second camera 6 and the distance sensor 7 monitor the cleaning effect and the status of the photovoltaic panel in real time.

[0047] Water spray mechanism 5: An adjustable water spray nozzle 5071 is added on the basis of the L-shaped nozzle 507 to make the water flow more concentrated and adjustable.

[0048] Beneficial effects: 1. Intelligent control: The coordinated work of the monitoring mechanism and the water spraying mechanism 5 realizes the intelligent control of the cleaning process and improves the cleaning efficiency and quality.

[0049] 2. Precision cleaning: Through precise angle control and adjustable water nozzles, precise cleaning of photovoltaic panels is achieved, reducing the waste of cleaning fluid.

[0050] 3. Improve the level of automation: Intelligent design reduces manual intervention and improves the system's automation level and ease of operation.

[0051] Example 4 On the basis of Example 1, Figure 2 As shown, an autonomous flying cleaning method is applied to an autonomous flying photovoltaic cleaning device as described in any one of claims 1 to 9, characterized in that it includes: Step S1: Perform preparatory work, comprehensively check that the equipment of the autonomous flying photovoltaic cleaning device is not damaged, the battery is fully charged, and the water source is sufficient, and set an efficient cleaning route for the multi-rotor drone 101; Step S2: Perform takeoff positioning, take off the multi-rotor drone 101 steadily to a safe height, and accurately use the gimbal camera 1013 and the second camera 6 and the sensor to lock the position of the photovoltaic panel; Step S3: Perform posture adjustment, and finely operate the lifting mechanism 3 and the angle adjustment mechanism 4 through the controller 8 to ensure that the water spraying mechanism 5 is accurately aligned with the photovoltaic panel and adjusted to the best cleaning posture; Step S4: start cleaning, activate the high-pressure water pump 503 through the controller 8, start the water spray mechanism 5, and the strong water flow fully covers the photovoltaic panel to start the cleaning operation; Step S5: monitoring and adjustment: observe the cleaning effect in real time, flexibly adjust the flight height and water spray angle to ensure uniform and thorough cleaning; Step S6: Finish cleaning: Use the second camera 6 to confirm that the photovoltaic panel is clean and free of dirt, stop spraying water in time, turn off the high-pressure water pump 503, and end the cleaning process; Step S7: Return and maintenance, operate the multi-rotor drone 101 to return safely, record the cleaning data for analysis, and comprehensively inspect and maintain the equipment for next use.

[0052] The working principle and beneficial effects of the above technical solution are: This embodiment provides an autonomous flying photovoltaic cleaning method, which combines the technical solutions in the aforementioned embodiments to form a complete set of automated cleaning processes. By setting an efficient cleaning route, accurately positioning the photovoltaic panel, finely adjusting the posture of the water spray mechanism 5, starting the cleaning operation, and real-time monitoring and adjusting the cleaning effect, comprehensive, efficient, and automated cleaning of the photovoltaic panels is achieved. This method not only improves the cleaning efficiency and quality, but also reduces labor costs and operational risks, providing a convenient and efficient solution for the maintenance of photovoltaic panels. At the same time, by recording the cleaning data for analysis, the cleaning strategy can be further optimized to improve the overall performance and reliability of the system; This method combines the technical solutions in the above embodiments, and the specific steps are as follows: 1. Preparation: Check equipment, batteries and water source, and set cleaning routes.

[0053] 2. Take-off positioning: The drone takes off to a safe height and uses cameras and sensors to lock the position of the photovoltaic panels.

[0054] 3. Posture adjustment: operate the lifting mechanism 3 and the angle adjustment mechanism 4 through the controller 8 to make the water spraying mechanism 5 align with the photovoltaic panel.

[0055] 4. Start cleaning: activate the high-pressure water pump 503 and start water spray cleaning.

[0056] 5. Monitoring and adjustment: monitor the cleaning effect in real time and adjust the flight height and water spray angle.

[0057] 6. Complete cleaning: After confirming that the photovoltaic panels are clean, stop spraying water and turn off the water pump.

[0058] 7. Return and maintenance: The drone returns, records data and maintains the equipment.

[0059] Beneficial effects: 1. Efficient process: The autonomous flying cleaning method greatly improves the cleaning efficiency and reduces the operation time.

[0060] 2. Quality assurance: Real-time monitoring and adjustment ensure the uniformity and thoroughness of the cleaning effect.

[0061] 3. Data support: The recorded cleaning data provides strong support for subsequent analysis and optimization.

[0062] 4. Extend equipment life: Regular maintenance and inspection extend the service life of equipment and reduce operating costs.

[0063] Embodiment 5, based on embodiment 1, is further provided with an intelligent variable frequency water spraying module, the intelligent variable frequency water spraying module comprising: The first calculation unit calculates based on the following formula 1: ;in: is the head loss along the pipeline connected to the outlet of the high-pressure water pump 503 during the time period t-t0; is the Reynolds number, 104< <105; is the length of the water supply hose 506, is the equivalent diameter of the water supply hose 506, is the head loss coefficient along the turbulent hydraulic smooth zone, is a logarithmic function, is the equivalent roughness of the inner wall of the L-shaped nozzle 507, and its value is 0.6; is the head loss coefficient along the turbulent hydraulic roughness zone, is the length of the L-shaped nozzle 507, is the equivalent diameter of the L-shaped nozzle 507, is the average water flow velocity in the water supply hose 506, is the horizontal water flow velocity in the L-shaped nozzle 507, g is the acceleration due to gravity, and its value is 9.18. To detect the end time, To detect the initial moment, is the temperature inside the housing of the high-pressure water pump 503 detected by the temperature sensor at time t, is the temperature value of the high pressure water pump 503 at the initial moment, is the maximum operating temperature of the high pressure water pump 503 detected by the temperature sensor, The temperature sensor detects the minimum operating temperature of the high-pressure water pump 503; is a logarithmic function, The value of the natural constant is 2.72; The second calculation unit calculates based on the following formula 2: ;in: is the actual head of the high-pressure water pump 503 in the time period t-t0, is the vertical distance between the water pressure height of the water outlet interface 505 and the reference surface; is the vertical distance between the water pressure height at the water inlet of the high-pressure water pump 503 and the reference surface, Take the value of pi as 3.14, is the rotation speed of the motor in the high pressure water pump 503 during the detection period t-t0, is the liquid pressure in the water supply hose 506 at the water outlet interface 505, is the liquid pressure at the water inlet, The flow rate of the water supply hose 506 detected by the flow sensor 2, is the flow rate in the water pipe 504 detected by flow sensor 1, is the diameter of the water pipe 504; The comparison judgment unit performs comparison. If the theoretical head is equal to 500, the high-pressure water pump 503 can meet the cleaning water spray pressure and distance. When the lift is greater than the theoretical lift, the control unit controls the high-pressure water pump 503 to reduce the speed by frequency conversion. When the lift is less than the theoretical lift, the control unit controls the alarm to sound an alarm, and promptly reminds the operator to increase the speed of the high-pressure water pump 503 by frequency conversion to meet the cleaning needs.

[0064] The working principle and beneficial effects of the above technical solution are: Working principle: When the intelligent variable frequency regulating water spray module is working, the temperature sensor starts to detect the working temperature of the high-pressure water pump 503; the flow sensor 1 starts to detect the liquid flow in the water pipe 504; the flow sensor 2 starts to detect the liquid flow in the water supply hose 506; the density sensor detects the density of the liquid in the water pipe 504 and the water supply hose 506; the pressure sensor 1 detects the liquid pressure value in the water pipe 504; the pressure sensor 2 starts to detect the liquid pressure value in the water supply hose 506 at the water outlet interface 505; the control unit is used to collect and process the data of each sensor; The control unit controls the operation of the first calculation unit to calculate the head loss value along the outlet pipe of the high-pressure water pump 503 within the detection time period; then, the control unit controls the operation of the second calculation unit to calculate the actual head of the high-pressure water pump 503 within the detection time period based on the result of the first calculation unit; the control unit controls the operation of the comparison and judgment unit to start comparing and judging whether the rotation speed of the high-pressure water pump 503 under the actual head within the detection time period can meet the cleaning state of the theoretical head.

[0065] Water head is an important physical quantity. In fluid mechanics, it represents the energy state of a fluid during its flow. In a gravity field, the energy of a fluid consists of three parts: position head (potential energy due to the height of the fluid), pressure head (potential energy due to the pressure of the fluid), and velocity head (kinetic energy due to the flow of the fluid). The sum of these three parts of energy is the total water head of the fluid. On the basis of the original system, an intelligent variable frequency adjustment water spray module was introduced. This module realizes real-time monitoring and intelligent adjustment of the working status of the high-pressure water pump 503 by integrating multiple sensors (temperature sensor, flow sensor 1, flow sensor 2, density sensor, pressure sensor 1, pressure sensor 2) and calculation units (first calculation unit, second calculation unit), control unit and comparison and judgment unit.

[0066] Data collection: Each sensor collects key parameters such as temperature, flow, density, pressure, etc. of the high-pressure water pump 503 and its pipeline system in real time.

[0067] Calculation of head loss along the way: The first calculation unit uses the temperature sensor data and the flow sensor data, combined with Formula 1, to calculate the head loss value along the water outlet pipe of the high-pressure water pump 503 during the detection period. This calculation takes into account multiple factors such as water flow velocity, pipe characteristics, temperature changes, etc., to ensure the accuracy of the calculation.

[0068] Actual head calculation: The second calculation unit calculates the actual head of the high-pressure water pump 503 during the detection period based on the result of the first calculation unit, combined with the pressure sensor data and the pipeline geometric parameters, using Formula 2. This calculation reflects the actual working efficiency of the water pump.

[0069] Intelligent adjustment: The control unit centrally processes the data of each sensor and compares the actual head with the theoretical head through the comparison and judgment unit. If the actual head is equal to the theoretical head, the pump speed is kept unchanged; if it is greater than the theoretical head, the pump speed is reduced through frequency conversion to save energy; if it is less than the theoretical head, the alarm is triggered to remind the operator to increase the pump speed to meet the cleaning needs.

[0070] Beneficial effects: 1. Improve cleaning efficiency: Through real-time monitoring and intelligent adjustment of the water pump speed, ensure that parameters such as water pressure and flow rate are always maintained in the best state during the cleaning process, thereby improving cleaning efficiency and quality.

[0071] 2. Energy saving: On the premise that the cleaning needs are met, by reducing unnecessary water pump speed, energy consumption is effectively reduced, which is in line with the concept of green environmental protection.

[0072] 3. Enhance system stability: The intelligent variable frequency regulation water spray module can detect and respond to abnormal situations (such as pipe blockage, water pump overheating, etc.) in time, enhancing the stability and reliability of the system.

[0073] 4. Improve user experience: The setting of the alarm enables operators to understand the system status in a timely manner, facilitates maintenance and adjustments, and improves user experience and satisfaction.

[0074] 5. Reduce maintenance costs: Intelligent adjustment reduces the wear and loss of key components such as water pumps, extends the service life of the equipment, and reduces maintenance costs.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An autonomous flying photovoltaic cleaning device, characterized in that: include: An unmanned aerial vehicle system (1), a mounting mechanism (2), a lifting mechanism (3), an angle adjustment mechanism (4) and a water spraying mechanism (5); the mounting mechanism (2) is fixedly mounted on the bottom of the unmanned aerial vehicle system (1), the lifting mechanism (3) is fixedly arranged on the mounting mechanism (2), the bottom of the lifting mechanism (3) is fixedly connected to the angle adjustment mechanism (4), the bottom of the angle adjustment mechanism (4) is fixedly arranged with a water spraying mechanism (5), and the lifting mechanism (3), the angle adjustment mechanism (4) and the water spraying mechanism (5) are respectively electrically connected to a controller (8).

2. The autonomous flying photovoltaic cleaning device according to claim 1, characterized in that: include: The drone system (1) adopts a multi-rotor drone (101) with a heavy load capacity, wherein an extended support leg frame (1011) is fixedly installed at the bottom of the multi-rotor drone (101), a wireless transmission module (1012) is fixedly provided inside the multi-rotor drone (101), and a pan-tilt camera (1013) is fixedly installed at the top of the multi-rotor drone (101).

3. The autonomous flying photovoltaic cleaning device according to claim 2, characterized in that: The mounting mechanism (2) comprises: a first set of sleeve connecting members (201) is symmetrically bolted to the middle of the support leg frame (1011), the first set of sleeve connecting members (201) is hinged to a vertical rod (202), the bottom end of the vertical rod (202) is fixedly connected to a water tank (203), a second set of sleeve connecting members (204) is symmetrically bolted to the middle of the support leg frame (1011), the middle of the second set of sleeve connecting members (204) on the left and right sides are hinged to a cross bar (205), the cross bar (205) is fixedly connected to the front and rear walls of the water tank (203), and a storage power source (206) is fixedly installed on the top of the water tank (203).

4. The autonomous flying photovoltaic cleaning device according to claim 3, characterized in that: The lifting mechanism (3) comprises: a screw mounting seat (301), the front end of the cross bar 1 (205) is fixedly connected to the vertical screw mounting seat (301), the screw mounting seat (301) is rotatably connected to the vertical lifting screw (302), the top of the screw mounting seat (301) is fixedly installed with a lifting motor (303), the output shaft of the lifting motor (303) is fixedly connected to the top of the lifting screw (302), the lifting screw (302) is threadedly connected to a threaded sleeve (304), the front end of the threaded sleeve (304) is fixedly connected to a lifting bracket (305), the bottom of the lifting bracket (305) is fixedly installed with a horizontal plate 1 (306), and the lifting motor (303) is electrically connected to a controller (8).

5. The autonomous flying photovoltaic cleaning device according to claim 3, characterized in that: The angle adjustment mechanism (4) comprises: a mounting frame (401), the bottom end of the lifting bracket (305) is fixedly connected to the mounting frame (401), the right side wall of the mounting frame (401) is fixedly connected to a fixing piece (402), an adjustment motor (403) is fixedly installed on the top of the fixing piece (402), the bottom end of the output shaft of the adjustment motor (403) is fixedly connected to a worm gear (404), the bottom of the mounting frame (401) is rotatably connected to a transmission shaft (405) in left and right directions, the transmission shaft (405) rotatably penetrates the left and right side walls of the bottom of the mounting frame (401), the right end of the transmission shaft (405) is fixedly connected to a worm (406) in left and right directions, the worm (406) is meshedly connected to the worm gear (404), and the transmission shaft (405) is fixedly connected to a fixing block (407).

6. The autonomous flying photovoltaic cleaning device according to claim 3, characterized in that: The water spray mechanism (5) comprises: a second horizontal plate (501), the bottom end of the fixed block (407) is fixedly connected to the second horizontal plate (501), the second horizontal plate (501) is symmetrically fixedly installed with a vertical pipe (502), the vertical pipe (502) is fixedly passed through the second horizontal plate (501) downward, a high-pressure water pump (503) is fixedly installed at the bottom of the water storage tank (203), the right end of the high-pressure water pump (503) is fixedly connected to the water storage tank (203) through a water pipe (504), and the high-pressure water pump (503) is fixedly connected to the water storage tank (203) through a water pipe (504). Two water outlet interfaces (505) are fixedly provided at the bottom of the water pump (503) symmetrically on the left and right sides. The two water outlet interfaces (505) are fixedly connected to the vertical pipes (502) on their respective sides through water supply hoses (506). The bottoms of the vertical pipes (502) on the left and right sides are rotatably connected to the short ends of the L-shaped nozzles (507). The long ends of the L-shaped nozzles (507) are fixedly installed with adjustable water spray nozzles (5071). The outer wall of the short end of the L-shaped nozzle (507) is fixedly connected to the top of the horizontal connection plate (508) for rotatable connection.

7. The autonomous flying photovoltaic cleaning device according to claim 6, characterized in that: include: A vertical servo motor (509) is fixedly installed on the right side of the vertical pipe 1 (502) on the left side. The output shaft end of the servo motor (509) rotates through the horizontal plate 2 (501) and is fixedly connected to a T-shaped sleeve (510). The bottom of the T-shaped sleeve (510) is hingedly connected to a connecting rod 1 (511) away from the axis end. The connecting rod 1 (511) is hingedly connected to a horizontal rotating handle (512). The middle part of the top of the rotating handle (512) is fixedly connected to a vertical rod 2 (513). The vertical rod 2 (513) The rotating handle (512) is rotatably connected to the second horizontal plate (501); the front end of the top of the rotating handle (512) is hinged to the second long connecting rod (514); the second long connecting rod (514) is hinged to the left connecting plate (508); the rear end of the top of the rotating handle (512) is hinged to the third long connecting rod (515); the third long connecting rod (515) is hinged to the right connecting plate (508); the second camera (6) and the distance measuring sensor (7) facing forward are fixedly installed on the top of the second horizontal plate (501).

8. The autonomous flying photovoltaic cleaning device according to claim 6, characterized in that: Intelligent variable frequency water spraying module includes: A temperature sensor, used to detect the operating temperature of the high-pressure water pump (503); Flow sensor 1, used to detect the liquid flow in the water pipe (504); Flow sensor 2; used for detecting the liquid flow in the water supply hose (506); A density sensor for detecting the density of liquid in the water delivery pipe (504) and the water supply hose (506); A pressure sensor 1, used to detect the pressure value of the liquid in the water delivery pipe (504); A second pressure sensor is used to detect the liquid pressure value in the water supply hose (506) at the water outlet interface (505); Alarm, used to alarm in case of abnormal situation; A first calculation unit calculates the head loss value along the water outlet pipeline of the high-pressure water pump (503) within a detection time period based on data from the temperature sensor, flow sensor 1, and flow sensor 2; A second calculation unit, based on the result of the first calculation unit, calculates the actual lift of the high-pressure water pump (503) within the detection time period; A control unit is used to collect and process data from various sensors, thereby controlling the high-pressure water pump (503) to adjust the speed by frequency conversion, and the control unit is electrically connected to the temperature sensor, flow sensor 1, flow sensor 2, density sensor, pressure sensor 1, pressure sensor 2 and alarm respectively; The comparison and judgment unit is used to compare and judge whether the rotation speed of the high-pressure water pump (503) at the actual head within the detection time period can meet the cleaning state of the theoretical head.

9. The autonomous flying photovoltaic cleaning device according to claim 8, characterized in that: include: The first calculation unit calculates based on the following formula 1: ;in: is the head loss along the pipeline connected to the water outlet of the high-pressure water pump (503) during the time period t-t0; is the Reynolds number, 10 4 < <10 5 ; is the length of the water supply hose (506), is the equivalent diameter of the water supply hose (506), is the head loss coefficient along the turbulent hydraulic smooth zone, is a logarithmic function, is the equivalent roughness of the inner wall of the L-shaped nozzle (507), and its value is 0.6; is the head loss coefficient along the turbulent hydraulic roughness zone, is the length of the L-shaped nozzle (507), is the equivalent diameter of the L-shaped nozzle (507), is the average water flow velocity in the water supply hose (506), is the horizontal water flow velocity in the L-shaped nozzle (507), g is the acceleration due to gravity, and its value is 9.18, To detect the end time, To detect the initial moment, is the temperature inside the casing of the high-pressure water pump (503) detected by the temperature sensor at time t, is the temperature value of the high pressure water pump (503) at the initial moment, is the maximum operating temperature of the high pressure water pump (503) detected by the temperature sensor, A temperature sensor detects the minimum operating temperature of the high-pressure water pump (503); is a logarithmic function, The value of the natural constant is 2.72; The second calculation unit calculates based on the following formula 2: ;in: is the actual head of the high-pressure water pump (503) in the time period t-t0, is the vertical distance between the water pressure height of the water outlet interface (505) and the reference surface; is the vertical distance between the water pressure height at the water inlet of the high-pressure water pump (503) and the reference surface, Take the value of pi as 3.14, is the rotation speed of the motor in the high-pressure water pump (503) during the detection period t-t0, is the liquid pressure in the water supply hose (506) at the water outlet interface (505), is the liquid pressure at the water inlet, is the flow rate of the water supply hose (506) detected by the flow sensor 2, is the flow rate in the water pipe (504) detected by flow sensor 1, is the diameter of the water pipe (504); The comparison judgment unit performs comparison. If the theoretical head is equal to , the high pressure water pump (503) can meet the cleaning water spray pressure and distance. When the lift is greater than the theoretical lift, the control unit controls the high-pressure water pump (503) to reduce the speed by frequency conversion. When the head is less than the theoretical head, the control unit controls the alarm to sound an alarm, and promptly reminds the operator to increase the speed of the high-pressure water pump (503) by frequency conversion to meet the cleaning demand.

10. An autonomous flying cleaning method, applied to an autonomous flying photovoltaic cleaning device as claimed in any one of claims 1 to 9, characterized in that: include: Step S1: Perform preparatory work, comprehensively check that the equipment of the autonomous flying photovoltaic cleaning device is not damaged, the battery is fully charged, and the water source is sufficient, and set an efficient cleaning route for the multi-rotor drone (101); Step S2: Perform take-off positioning, take off the multi-rotor drone (101) steadily to a safe height, and accurately use the gimbal camera (1013) and the second camera (6) and sensors to lock the position of the photovoltaic panel; Step S3: Performing posture adjustment, using the controller (8) to finely operate the lifting mechanism (3) and the angle adjustment mechanism (4) to ensure that the water spraying mechanism (5) is accurately aligned with the photovoltaic panel and adjusted to the best cleaning posture; Step S4: start cleaning, activate the high-pressure water pump (503) through the controller (8), start the water spray mechanism (5), and the strong water flow fully covers the photovoltaic panel to start the cleaning operation; Step S5: monitoring and adjustment: observe the cleaning effect in real time, flexibly adjust the flight height and water spray angle to ensure uniform and thorough cleaning; Step S6: Finish cleaning: Use the second camera (6) to confirm that the photovoltaic panel is clean and free of dirt, stop spraying water in time, turn off the high-pressure water pump (503), and end the cleaning process; Step S7: Return and maintain, operate the multi-rotor drone (101) to return safely, record the cleaning data for analysis, and fully inspect and maintain the equipment for next use.

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