Self-supply water type photovoltaic cleaning equipment, cleaning machine and method

Abstract

The application provides a self-water-supplementing photovoltaic cleaning device, a cleaning machine and a method, which comprise a unmanned aerial vehicle, a water tank for storing water is hung below the unmanned aerial vehicle; a cleaning water pump is installed in the water tank, a water pipe for supplementing water or discharging water is connected to the outlet of the cleaning water pump; a first positive contact ring and a first negative contact ring for charging the unmanned aerial vehicle are arranged at the bottom end of the water tank; a cleaning nozzle is installed at the end of the water pipe through a threaded joint, an atomizing water head and a first electric control one-way valve are arranged at the lower end of the cleaning nozzle. The device adopts an external power-free mode, achieves the effects of high efficiency, automation and rapid cleaning of the solar panel, and automatically completes water supplementing and charging under program control through the unmanned aerial vehicle, then is connected with the cleaning machine device, and then is driven to walk by water pressure, and the water flowing out of the self-propelled wheels is used to clean the solar panel through the water outlet.

Description

Technical Field

[0001] This invention belongs to the field of automatic photovoltaic panel cleaning equipment, and in particular relates to a self-watering photovoltaic cleaning device, cleaning machine and method. Background Technology

[0002] To ensure the normal power generation efficiency of photovoltaic panels, the surface of the photovoltaic panels needs to be cleaned regularly to improve their light energy absorption efficiency.

[0003] Currently, the most common cleaning method is manual cleaning on a regular schedule. The problem is that for large-area cleaning operations, manual cleaning is inefficient, labor-intensive, and uneconomical.

[0004] Although there is a drone cleaning device for residential solar photovoltaic panels disclosed in CN 206392517 U, which uses a drone equipped with a high-pressure air supply device to blow away dust on the surface of the photovoltaic panels, the cleaning effect cannot be guaranteed by blowing, and the cleaning effect is not good.

[0005] Although CN 113976513 A discloses a drone-based photovoltaic panel dust removal device that uses a cleaning roller and water supply system mounted on the drone for water filling and cleaning, it requires regular water replenishment.

[0006] Although CN 219056601 U discloses a photovoltaic panel cleaning drone, which also cleans photovoltaic panels by spraying cleaning fluid onto the drone, the cleaning effect is not good simply by spraying water. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a self-watering photovoltaic cleaning device, cleaning machine, and method. This device achieves efficient, automated, and rapid cleaning of solar panels without external power. It automatically replenishes water and charges the solar panels under program control using a drone. After docking with the cleaning machine, the drone drives a self-propelled wheel to move using water pressure. The water flowing from the self-propelled wheel then cleans the solar panels through spray nozzles.

[0008] To achieve the above-mentioned technical features, the present invention aims to provide a self-watering photovoltaic cleaning device, characterized in that it includes a drone, with a water tank for storing water suspended below the drone; a cleaning water pump is installed inside the water tank, and a water pipe for replenishing or discharging water is connected to the outlet of the cleaning water pump; a first positive contact ring and a first negative contact ring for charging the drone are provided at the bottom of the water tank; and a cleaning nozzle is installed at the end of the water pipe through a threaded connector.

[0009] An atomizing spray head is arranged at the lower end of the cleaning nozzle.

[0010] The water pipe is used in conjunction with a water replenishment and charging tube for filling the water tank and simultaneously charging the drone. The water replenishment and charging tube includes a water replenishment and charging base fixed inside the water replenishment tank, a water replenishment tube installed on the water replenishment and charging base, a water replenishment pump installed at the bottom of the water replenishment tube, a water-blocking bladder made of soft material on the inner wall of the water replenishment tube, and an elastic rebound net on the top of the water-blocking bladder. When the water replenishment pump fills the water replenishment tube with water, the water-blocking bladder will also fill with water, thereby preventing water from escaping from the gap between the water pipe and the water replenishment tube. At the same time, it ensures that when the water replenishment pump is not working, the rebound net above the water-blocking bladder will retract under the action of elasticity, thus leaving enough space for the water pipe of the drone to enter the water replenishment tube. The top of the water tank is equipped with a second positive contact ring and a second negative contact ring. The second positive contact ring is used to contact and cooperate with the first positive contact ring, and the second negative contact ring is used to cooperate with the first negative contact ring. The second positive contact ring and the second negative contact ring are connected to the power distribution box through wires to charge the drone.

[0011] The water pipe is provided with a water inlet at its end, and a water inlet made of flexible material is provided around the water inlet. The water inlet water inlet and the water blocking water inlet cooperate with each other. During the process of filling the water pipe with water, water enters the water inlet water inlet from the water inlet, causing the water inlet water inlet to expand synchronously and cooperate with the expanded inner cavity of the water blocking water inlet to form a blocking structure to prevent the water pipe from falling off.

[0012] The first positive contact ring, the first negative contact ring, the second positive contact ring, and the second negative contact ring all adopt a ring structure to ensure that the drone's water pipe can be charged normally regardless of the angle it faces, as long as it is inserted into the water tank.

[0013] The water pipe is equipped with a pump pressure valve, which can be opened by the water pressure of the drone's cleaning water pump or replenishment water pump to achieve water spraying or filling. During the water filling process, after the replenishment water pump is turned on, the water can push the pump pressure valve from bottom to top, and the drone's water tank can be filled. During the water spraying process, after the cleaning water pump is turned on, the water can push the pump pressure valve from top to bottom, thereby supplying water to the atomizing nozzle to clean the solar panel.

[0014] A first electrically controlled one-way valve is arranged at the lower end of the cleaning nozzle. The first electrically controlled one-way valve is used to replenish water to the water tank of the drone by the water replenishment pump. Water can be replenished from bottom to top through the first electrically controlled one-way valve. Under the action of the control system, the downward channel of the first electrically controlled one-way valve is closed when the water is not spraying, so that water cannot pass from top to bottom and avoid water leakage from the water tank through the water pipe. When the water is spraying, the downward channel of the first electrically controlled one-way valve is opened, so that water can be sprayed downward.

[0015] The top of the water supply cylinder has a flared structure, and a locator for guiding and positioning the drone is installed on the outer wall of the flared structure to ensure that the drone can smoothly guide the water pipe into the water supply cylinder for water replenishment and charging under the positioning and guidance of the control system.

[0016] The drone is equipped with a drone camera and a spotlight. The drone is controlled by a control system and uses the image comparison and guidance of the locator and the drone camera to accurately guide the drone's water pipe into the water tank so that the drone can complete charging and water replenishment.

[0017] A method for cleaning solar panels using a self-water-replenishing photovoltaic cleaning device: When using drones for direct cleaning, a cleaning nozzle is pre-installed at the end of the water pipe. Then, the drone is started and controlled to fly above the solar panel. The drone's cleaning water pump is activated to pressurize the water in the tank. Once the water pressure reaches the set pressure of the pump valve, the water is sprayed out from the pump valve and further atomized through the atomizing nozzle on the cleaning nozzle to spray water and clean the solar panel. The operation, cleaning, and management of the solar panels by drones are all automatically completed under the control of the built-in program of the control system, and can also be completed by human intervention. The drones use the image comparison and guidance of the locator and drone camera to accurately guide the water pipes of the drones into the water replenishment tank. After the drones have completed charging and water replenishment, they clean the clustered solar panels one by one in a regular manner according to the sequence set by the control system. The cleaning is carried out at night in principle so as not to affect daytime solar power generation. The drone cameras are also equipped with spotlights to facilitate nighttime inspection and cleaning operations. Multiple water replenishment and charging tanks are set in a water replenishment pool to allow multiple drones to park, charge, and replenish water.

[0018] A bidirectional operating cleaning machine, wherein the bidirectional operating cleaning machine is mounted on the water pipe of the self-watering photovoltaic cleaning equipment according to any one of claims 1-8; The bidirectional cleaning machine includes a water guide frame for connecting with water pipes. The water guide frame includes a first water guide frame and a second water guide frame arranged symmetrically and crosswise. The bottom ends of the first water guide frame and the second water guide frame are respectively connected to water inlets. The bottom ends of the water inlets enter and are fixedly connected to horizontal water pipes. Both ends of the horizontal water pipes are respectively connected to self-propelled wheels, which are sealed cavity structures. The middle parts of the two horizontal water pipes are fixedly connected by a cleaning beam. Multiple water spray nozzles are installed on the horizontal water pipes. Two cleaning frames are arranged back to back on the lower part of the cleaning beam. The cleaning frames adopt an slanted backward V-shaped structure. Cleaning brushes are arranged under the cleaning frames to ensure that debris and dust are driven to the outside of the solar panels while cleaning.

[0019] A limit cover is installed on the outside of the water pipe, near the drone, to prevent the water pipe from extending too deep into the water guide frame and to ensure reliable water supply.

[0020] The top of the water guide frame is flared to connect with the water pipe of the drone. An inner retaining ring is fixedly installed on the inner side of the water inlet of the water guide frame, and the inner retaining ring cooperates with the water inlet water bladder on the water pipe. When the water pipe is not supplied with water, that is, when the water inlet bladder is not inflated, it is inserted into the water guide frame. Since the outer diameter of the water inlet bladder is smaller than the inner diameter of the inner retaining ring, the water pipe can freely extend under the inner retaining ring of the water guide frame. Then, after the water pipe is supplied with water, the water enters the water inlet bladder from the inlet, inflating the water inlet bladder. In this way, the diameter of the water inlet bladder is larger than the inner diameter of the inner retaining ring, and the water pipe cannot be pulled out of the water guide frame, thus ensuring a reliable connection between the water pipe and the water guide frame and a reliable water supply.

[0021] The horizontal water pipe has a symmetrical structure on both sides, with a central baffle plate separating the two sides into a cavity. The water inlet is located inside the horizontal water pipe, and a second one-way valve is installed on the water inlet to prevent water backflow. The annular cavity formed by the outside of the water inlet and the inside of the horizontal water pipe forms a return water channel.

[0022] The self-propelled wheel has a sealed cavity structure with multiple blades inside. The blade axis arrangement of the first and second water guide frames matches the running direction of the bidirectional cleaning machine, ensuring that the self-propelled wheel moves in the same direction under water pressure. The water guide frame connects to the water inlet, which is also equipped with a one-way valve and a side water guide. The tail end of the water inlet extends into the self-propelled wheel and is set as an L-shaped water outlet pipe. The L-shaped water outlet pipe cooperates with the blades, thereby driving the blades to rotate through water pressure to start the self-propelled wheel. The end of the return water channel is a return water bell mouth. The two sets of self-propelled wheels arranged in pairs ensure that the entire bidirectional cleaning machine operates in a balanced manner.

[0023] The self-propelled wheels are respectively matched with the lower guide rail and the upper guide rail, which are respectively set on both sides of the solar panel; the ends of the lower guide rail and the upper guide rail are connected by arc-shaped rails.

[0024] The lower guide rail, upper guide rail, and arc-shaped rail are all groove-type rails.

[0025] A diagonal brace is installed between the water inlet and the cleaning beam. A central partition is installed in the middle of the cleaning beam, and a third one-way valve is installed on the cleaning beam.

[0026] A method for cleaning solar panels using a bidirectional cleaning machine: First, remove the cleaning nozzle below the water pipe to connect with the water guide frame. Water flowing from the drone's water pipe enters the water inlet of the water guide frame and then enters the water inlet channel. It first passes through the second one-way valve in the water inlet channel, and then flows into the self-propelled wheel from the L-shaped water outlet pipe in the water inlet channel. The L-shaped water outlet pipe is aligned with the wheel blades in the self-propelled wheel at a suitable angle. The impact of the water drives the self-propelled wheel to rotate, which in turn drives the entire cleaning machine to move forward along the lower and upper guide rails. The water impacting the wheel blades enters the return water channel and is then sprayed out from the spray nozzle on the horizontal water pipe to clean the solar panel. The direction of the spray nozzle ensures that the water can be sprayed in front of the cleaning frame. As the cleaning machine moves forward on the solar panel under the action of water flow, the cleaning brushes arranged on the cleaning frame also clean the solar panel simultaneously, thoroughly cleaning the dust and debris on the solar panel to achieve a better cleaning effect.

[0027] If the two-way cleaning machine needs to clean in another direction, simply connect the drone's water hose between the inlets on the left and right water guide frames of the two-way cleaning machine.

[0028] When intermittent water replenishment of the drone's water tank is required, first turn off the pump valve of the water pipe; disconnect the water pipe from the two-way cleaning machine, control the drone to move to the location of the water replenishment and charging tube to complete the connection, and replenish the water tank; when the drone's battery is low, charge the drone simultaneously through the water replenishment and charging tube.

[0029] The present invention has the following beneficial effects: 1. Highly innovative. This invention employs a method that requires no external power or external water pipes, using only water pressure to complete the functions of the cleaning machine's movement and cleaning, demonstrating strong innovation.

[0030] 2. Ingenious Design. This invention embodies ingenious design in many aspects, such as the water filling and charging of the drone, the connection between the water pipe and the water inlet, and the compartmentalized design inside the horizontal water pipe, achieving a simple, economical, and feasible effect.

[0031] 3. Precise Control. This invention embodies precise control in several aspects, such as the docking of the drone with the water charging station and the drone with the water inlet, all of which effectively achieve precise control through program control.

[0032] 4. Simple and practical. This invention strives for simplicity and practicality in its design, aiming to simplify complexity while achieving the best effect. The structure is as simple and practical as possible, and all details have been designed in a reasonable and simple manner, making it highly practical. Attached Figure Description

[0033] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0035] Figure 1 This is a structural diagram of the drone and water tank installation of the present invention.

[0036] Figure 2 This is a structural diagram of the water-filling charging cylinder of the present invention.

[0037] Figure 3 This is a diagram illustrating the assembly process of the drone and the water-filling charging tube of the present invention.

[0038] Figure 4 This is a diagram showing the state of the drone and the water charging tube combined according to the present invention.

[0039] Figure 5 This is a process diagram of combining the drone and the bidirectional cleaning machine of the present invention.

[0040] Figure 6 This is a state diagram of the combination of the UAV and the bidirectional cleaning machine of the present invention.

[0041] Figure 7 This is a 3D diagram of the drone and the water charging tube combined according to the present invention.

[0042] Figure 8 This is a 3D diagram of the drone of the present invention during the water replenishment and charging process.

[0043] Figure 9 This is a three-dimensional diagram of the bidirectional cleaning machine of the present invention.

[0044] Figure 10 This is a 3D diagram of the combination of the UAV and the bidirectional cleaning machine of the present invention.

[0045] Figure 11 This is a three-dimensional perspective view of the combination of the UAV and the bidirectional cleaning machine of the present invention.

[0046] Figure 12 This is a three-dimensional diagram of the cleaning process after the drone and the bidirectional cleaning machine of the present invention are combined.

[0047] In the diagram: 1. Drone; 2. Water tank; 3. Spotlight; 4. Drone camera; 5. First positive contact ring; 6. First negative contact ring; 7. Limiting cap; 8. Pump pressure valve; 9. Water inlet pipe; 10. Water inlet of water bladder; 11. Threaded connector; 12. Cleaning nozzle; 13. Atomizing spray head; 14. First electrically controlled one-way valve; 15. Second positive contact ring; 16. Second negative contact ring; 17. Positioner; 18. Rebound net; 19. Water-blocking bladder; 20. Water pump; 21. Water pipe; 22. Water supply cylinder; 23. Horn-shaped structure; 24. Water supply charging cylinder; 25. Water guide frame; 25. First water guide frame; 2501. 2502 Second water guide frame, 26 Two-way running cleaning machine, 27 Inner retaining ring, 28 Distribution box, 29 Wire, 30 Water replenishment tank, 31 Water replenishment charging base, 32 Water inlet, 33 Third one-way valve, 34 Horizontal water pipe, 35 Spray nozzle, 36 Self-propelled wheel, 37 Sweeping frame, 38 Sweeping brush, 39 Middle partition of crossbeam, 40 Sweeping crossbeam, 41 Diagonal brace, 42 Upper guide rail, 43 Middle water partition plate, 44 Arc track, 45 Second one-way valve, 46 L-shaped water outlet pipe, 47 Wheel blade, 48 Return water flare, 49 Return water channel, 50 Solar panel, 51 Lower guide rail. Detailed Implementation

[0048] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0049] The embodiments described herein are clearly and completely provided; however, they are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0050] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0053] Example 1: See Figure 1-4 7-8, A self-watering photovoltaic cleaning device, characterized in that it includes a drone 1, with a water tank 2 for water storage suspended below the drone 1 via a ball joint; a cleaning water pump is installed inside the water tank 2, and the outlet of the cleaning water pump is connected to a water pipe 21 for water replenishment or discharge; a first positive contact ring 5 and a first negative contact ring 6 for charging the drone 1 are provided at the bottom of the water tank 2; a cleaning nozzle 12 is installed at the end of the water pipe 21 via a threaded connector 11. This device achieves efficient, automated, and rapid cleaning of solar panels without external power, automatically completing water replenishment and charging under program control by using a drone.

[0054] Furthermore, an atomizing water spray head 13 is arranged at the lower end of the cleaning nozzle 12. The atomizing water spray head 13 enables atomized water spraying during the photovoltaic panel cleaning process.

[0055] Furthermore, the water pipe 21 is used in conjunction with a water replenishment charging tube 24 for filling the water tank 2 and simultaneously charging the drone 1. The water replenishment charging tube 24 includes a water replenishment charging base 31 fixed inside the water replenishment pool 30, a water replenishment tube 22 installed on the water replenishment charging base 31, a water replenishment pump 20 installed at the bottom of the water replenishment tube 22, and a water-blocking bladder 19 made of soft material provided on the inner side wall of the water replenishment tube 22. An elastic rebound net 18 is provided on the top of the water-blocking bladder 19. During the process of the water replenishment pump 20 filling the water replenishment tube 22, the water-blocking bladder 19 will also be filled with water, thereby preventing water from escaping from the gap between the water pipe 21 and the water replenishment tube 22. At the same time, it ensures that when the water replenishment pump 20 is not working, the rebound net 18 above the water-blocking bladder 19 will retract under the action of elasticity, thus leaving enough space for the drone's water pipe 21 to enter the water replenishment tube 22. Through the cooperation between the water-blocking bladder 19 and the rebound net 18, the water pipe 21 can be reliably fixed, thus preventing it from falling off during the water filling process and ensuring the reliability of the connection. At the same time, a water level detection device is provided for the water replenishment charging cylinder 24 in the water replenishment tank 30, so that the water replenishment tank 30 can be replenished in a timely manner when the water level drops to the required level via the water source and water pump. A power supply and control device are also provided for the water replenishment charging cylinder 24 in the water replenishment tank 30 to achieve automatic charging.

[0056] Furthermore, the top of the water tank 22 is provided with a second positive contact ring 15 and a second negative contact ring 16. The second positive contact ring 15 is used to contact and cooperate with the first positive contact ring 5, and the second negative contact ring 16 is used to cooperate with the first negative contact ring 6. The second positive contact ring 15 and the second negative contact ring 16 are connected to the power distribution box 28 through the wire 29 to charge the drone 1. Through the above structure, the drone can be easily charged automatically, thereby ensuring the continuous normal operation of the drone.

[0057] Furthermore, a water inlet 10 is provided at the end of the water pipe 21, and a flexible water inlet 9 is provided around the water inlet 10. The water inlet 9 cooperates with the water blocking 19. During the filling of the water pipe 21, water enters the water inlet 9 from the water inlet 10, causing the water inlet 9 to expand synchronously and cooperate with the inner cavity of the expanded water blocking 19 to form a blocking structure to prevent the water pipe 21 from falling off. This ensures the normal water filling process.

[0058] Furthermore, the first positive contact ring 5, the first negative contact ring 6, the second positive contact ring 15, and the second negative contact ring 16 all adopt a ring structure to ensure that the water pipe 21 of the drone 1 can be charged normally regardless of the angle it faces, as long as it is introduced into the water supply tube 22.

[0059] Furthermore, a pump pressure valve 8 is installed on the water pipe 21. Under the pressure of the cleaning water pump or the replenishment water pump 20 of the drone, the pump pressure valve 8 can be opened to achieve water spraying or filling. During the filling process, after the replenishment water pump 20 is turned on, water can push the pump pressure valve 8 from bottom to top, and the water tank 2 of the drone 1 can be filled. During the water spraying process, after the cleaning water pump is turned on, water can push the pump pressure valve 8 from top to bottom, thereby supplying water to the atomizing spray head 13 to clean the solar panel 50. The pump pressure valve 8, which functions as a shut-off valve, can also be used to control the on / off state of the water flow in the pipe.

[0060] Furthermore, a first electrically controlled one-way valve 14 is arranged at the lower end of the cleaning nozzle 12. The first electrically controlled one-way valve 14 is used by the water pump 20 to replenish water to the water tank 2 of the drone 1. Water can be replenished from bottom to top through the first electrically controlled one-way valve 14. Under the action of the control system, in non-spraying conditions, the downward channel of the first electrically controlled one-way valve 14 is closed, and water cannot pass from top to bottom to prevent water from leaking from the water tank 2 through the water pipe 21. In spraying conditions, the downward channel of the first electrically controlled one-way valve 14 is opened, and water can be sprayed downwards. Water can only be filled into the interior of the water pipe 21 during the replenishment process.

[0061] Furthermore, the upper part of the water supply cylinder 22 is a flared structure 23, and a locator 17 for guiding and positioning the drone is installed on the outer wall of the flared structure 23, so as to ensure that the drone 1 can smoothly introduce the water pipe 21 into the water supply cylinder 22 for water replenishment and charging under the positioning and guidance of the control system.

[0062] Furthermore, the drone 1 is equipped with a drone camera 4 and a spotlight 3. The drone 1 is controlled by the control system and uses the image comparison and guidance of the locator 17 and the drone camera 4 to accurately guide the drone's water pipe 21 into the water tank 22 so that the drone can complete charging and water replenishment.

[0063] Example 2: There are two ways to clean solar panels using drones: one is direct drone cleaning; the other is docking with a cleaning machine. In this implementation, the direct drone cleaning method is used.

[0064] A method for cleaning solar panels using a self-water-replenishing photovoltaic cleaning device: This method requires a cleaning nozzle 12 to be installed in a spiral manner below the water pipe 21 of the drone 1. The lower end of the cleaning nozzle 12 is provided with an atomizing spray head 13 and a first electrically controlled one-way valve 14.

[0065] When using drone 1 for direct cleaning, a cleaning nozzle 12 is pre-installed at the end of water pipe 21. Then, drone 1 is started and controlled to fly above solar panel 50. The cleaning water pump of drone 1 is started to pressurize the water in water tank 2. After the water pressure reaches the set water pressure of pump pressure valve 8, it is sprayed out from pump pressure valve 8. The water is further atomized and sprayed out through the atomizing spray head 13 on the cleaning nozzle 12 to achieve water spraying and cleaning of solar panel 50. The operation, cleaning, and management of the solar panels 50 by the drone 1 are all completed automatically under the control of the built-in program of the control system, and can also be completed by human intervention. The drone 1 accurately guides the water pipe 21 into the water replenishment tank 22 through the image comparison and guidance of the locator 17 and the drone camera 4. After the drone 1 completes charging and water replenishment, it cleans the clustered solar panels one by one in the order set by the control system. The cleaning is carried out at night in principle so as not to affect the daytime solar power generation. The drone camera 4 is also equipped with a spotlight 3 to facilitate nighttime inspection and cleaning operations. Multiple water replenishment and charging tanks 24 are set in a water replenishment pool 30 to allow multiple drones to stop, charge, and replenish water.

[0066] Example 3: See Figure 5-6 9-12, a bidirectional cleaning machine.

[0067] The bidirectional cleaning machine can run to the left or right as needed. This method has very low requirements for the track grooves required for the bidirectional cleaning machine to run. They only need to be arranged in pairs, parallel and at equal intervals.

[0068] The bidirectional cleaning machine 26 is mounted on a water pipe 21 of a self-replenishing photovoltaic cleaning device. The bidirectional cleaning machine includes a water guide frame 25 for connection with the water pipe 21. The water guide frame 25 includes a first water guide frame 2501 and a second water guide frame 2502 arranged symmetrically in a cross configuration. The bottom ends of both the first water guide frame 2501 and the second water guide frame 2502 are connected to water inlet channels 32. The water inlet channels 32 are arranged within a horizontal water pipe 34. The space within the horizontal water pipe 34 other than the water inlet channels 32 is the return water channel 49. The inlet channel 32 is equipped with a one-way valve to prevent backflow. Both ends of the horizontal water pipe 34 are connected to self-propelled wheels 36, which are sealed cavity structures. The middle sections of the two horizontal water pipes 34 are fixedly connected by a cleaning beam 40. Multiple spray nozzles 35 are installed on the horizontal water pipes 34. Two cleaning frames 37 are arranged back-to-back on the lower part of the cleaning beam 40. The cleaning frames 37 adopt a backward-facing V-shaped structure, and cleaning brushes 38 are arranged under the cleaning frames 37 to ensure that debris and dust are pushed to the outside of the solar panel 50 while cleaning. This bidirectional cleaning machine can be used in conjunction with a drone to clean the solar panels. For this method, the cleaning nozzle below the water pipe 21 needs to be removed by rotating the screw cap to facilitate connection with the cleaning machine.

[0069] Track grooves are installed at both ends of the solar panel, and the self-propelled wheels move the cleaning machine within the track grooves. This prevents poor cleaning results caused by the solar panel tilting, which would prevent the cleaning machine from moving in a straight line. If the cleaning machine needs to clean in another direction, simply switch and connect the drone's water delivery hose between the water inlets on the left and right water guide frames.

[0070] Furthermore, a limit cover 7 is provided on the outside of the water pipe 21 and on the side near the drone 1 to prevent the water pipe 21 from extending too deep into the water guide frame 25 and to ensure reliable water supply.

[0071] Furthermore, the top of the water guide frame 25 is flared to connect with the water pipe 21 of the drone 1. An inner retaining ring 27 is fixedly installed inside the water inlet of the water guide frame 25, which cooperates with the water inlet water bladder 9 on the water pipe 21. The inner retaining ring 27 facilitates the cooperation with the water inlet water bladder 9, thereby preventing the drone from falling off the cleaning machine during the subsequent cleaning process.

[0072] Furthermore, the water pipe is first closed under the action of the pump pressure valve. When the water pipe 21 is not supplied with water, that is, when the water inlet bladder 9 is not filled with water and expanded, it extends into the water guide frame 25. Since the outer diameter of the water inlet bladder 9 is smaller than the inner diameter space of the inner retaining ring 27, the water pipe 21 can freely extend into the lower part of the inner retaining ring 27 of the water guide frame 25. Then, after the water pipe 21 is supplied with water, the water enters the water inlet bladder 9 from the water inlet 10, expanding the water inlet bladder 9. In this way, the diameter of the water inlet bladder 9 is larger than the inner diameter of the inner retaining ring 27, so the water pipe 21 cannot be pulled out from the water guide frame 25, thus ensuring the reliable connection between the water pipe 21 and the water guide frame 25 and the reliability of the water supply.

[0073] The bidirectional cleaning machine 26 can operate in both directions. That is, the bidirectional cleaning machine 26 can run to the left or right as needed. This method has very low requirements for the track grooves required for the operation of the bidirectional cleaning machine 26, which only need to be arranged in pairs, parallel and at equal intervals.

[0074] Furthermore, the horizontal water pipe 34 has a symmetrical left and right side interior divided into a cavity structure by a central baffle plate 43. The inlet channel 32 is located inside the horizontal water pipe 34, and a second one-way valve 45 is installed on the inlet channel 32 to prevent backflow. The annular cavity formed by the exterior of the inlet channel 32 and the interior of the horizontal water pipe 34 forms the return channel 49. Using the aforementioned horizontal water pipe 34 facilitates the integration of the inlet channel 32 and the return channel 49.

[0075] Furthermore, the self-propelled wheel 36 has a sealed cavity structure with multiple blades 47 inside. The arrangement direction of the blade axis inside the self-propelled wheel 36 of the first water guide frame 2501 and the second water guide frame 2502 matches the running direction of the bidirectional cleaning machine 26, ensuring that the self-propelled wheel moves in the same direction under water pressure. The water guide frame 25 is connected to the water inlet channel 32, and a one-way valve is also arranged on the water inlet channel 32. A water guide port is arranged laterally. The tail end of the water inlet channel 32 extends into the self-propelled wheel 36 and is set as an L-shaped water outlet pipe 46. The L-shaped water outlet pipe 46 cooperates with the blades 47, and then the self-propelled wheel 36 is started by rotating the blades 47 through water pressure. The end of the return water channel 49 is a return water bell mouth 48.

[0076] Furthermore, two sets of self-propelled wheels 36 arranged in pairs ensure that the entire bidirectional cleaning machine 26 operates in a balanced manner.

[0077] Furthermore, the self-propelled wheel 36 is respectively engaged with the lower guide rail 51 and the upper guide rail 42, which are respectively located on both sides of the solar panel 50; the ends of the lower guide rail 51 and the upper guide rail 42 are connected by an arc-shaped track 44. The self-propelled wheel carries the cleaning machine within the track groove, avoiding poor cleaning effect due to the tilt of the solar panel, which would prevent the cleaning machine from moving in a straight line. If the cleaning machine needs to clean in another direction, the water hose of the drone can be switched and connected between the inlets of the first water guide frame 2501 and the second water guide frame 2502.

[0078] Furthermore, the lower guide rail 51, the upper guide rail 42, and the arc-shaped track 44 are all groove-type tracks.

[0079] Furthermore, a diagonal brace 41 is provided between the water inlet 32 ​​and the cleaning beam 40, a middle partition 39 is provided in the middle part of the cleaning beam 40, and a third one-way valve 33 is provided on the cleaning beam 40.

[0080] Example 4: A method for cleaning solar panels using a bidirectional cleaning machine: First, remove the cleaning nozzle 12 below the water pipe 21 to connect with the water guide frame 25. Water flowing from the water pipe 21 of the drone 1 enters the water inlet of the water guide frame 25 and then enters the water inlet 32. It first passes through the second one-way valve 45 of the water inlet 32, and then flows into the self-propelled wheel 36 from the L-shaped water outlet pipe 46 of the water inlet 32. The L-shaped water outlet pipe 46 is aligned with the wheel blade 47 in the self-propelled wheel 36 at a suitable angle. The impact of the water drives the self-propelled wheel 36 to rotate, further driving the entire cleaning machine forward along the lower guide rail 51 and the upper guide rail 42. The water impacting the impeller 47 enters the return water channel 49 and is then sprayed out by the spray nozzle 35 on the horizontal water pipe 34 with water pressure to clean the solar panel 50. The direction of the spray nozzle ensures that the water can be sprayed in front of the cleaning frame. The water pressure also increases the propulsion of the cleaning machine to move forward. As the cleaning machine moves forward on the solar panel under the action of water flow, the cleaning brushes arranged on the cleaning frame also clean the solar panel at the same time, thoroughly cleaning the dust and debris on the solar panel, so as to achieve a better cleaning effect on the solar panel.

[0081] When intermittent water replenishment is required for the water tank 2 of the drone 1, first close the pump pressure valve 8 of the water pipe 21; disconnect the water pipe 21 from the bidirectional cleaning machine, control the drone 1 to move to the location of the water replenishment charging cylinder 24 to complete the connection, and replenish the water tank 2; when the drone 1 is low on power, charge the drone 1 simultaneously through the water replenishment charging cylinder 24.

[0082] Example 5: It also includes a control system. The cleaning equipment is controlled manually or wirelessly via a programmed automation system. Manual wireless control involves personnel operating a drone to first connect the drone to the water supply pipe, and then to the water guide frame, enabling the cleaning machine to move and perform cleaning. The automated control system uses a pre-designed program, monitored by a camera, to automatically identify and complete each connection and cleaning step.

[0083] Example 6: The automatic cleaning process of the entire cleaning machine includes the following steps: Step 1: Water collection and charging for the drone. See the description above for specific steps. Insert the water hose into the charging tube in the water tank to charge the drone while simultaneously filling its water tank.

[0084] Step 2: Docking the drone with the water guide frame. See the description above for specific steps. During the docking process, first control the water pipe pump pressure valve to prevent water from flowing into the water pipe, so that the water pipe can be easily inserted into the water inlet for docking. After docking, open the water pipe pump pressure valve to ensure a reliable connection between the water pipe and the water inlet during the cleaning process.

[0085] Step 3: Cleaning the solar panels with the cleaning machine. See the description above for specific steps. Adjust the cleaning machine's speed by controlling the water pressure. To pause cleaning, close the water pump pressure valve.

[0086] Step 4: Disconnect the cleaning device. See the description above for specific steps; perform the disconnection operation in the reverse order of the docking process.

[0087] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here; that is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A self-watering photovoltaic cleaning apparatus, characterized by, The device includes a drone (1), with a water tank (2) suspended below the drone (1) for storing water; a cleaning water pump is installed inside the water tank (2), and a water pipe (21) for replenishing or discharging water is connected to the outlet of the cleaning water pump; a first positive contact ring (5) and a first negative contact ring (6) for charging the drone (1) are provided at the bottom of the water tank (2); a cleaning nozzle (12) is installed at the end of the water pipe (21) through a threaded connector (11). The water pipe (21) is used in conjunction with a water replenishment charging tube (24) for filling the water tank (2) with water and charging the drone (1) at the same time; The water replenishment charging tube (24) includes a water replenishment charging base (31) fixed inside the water replenishment tank (30), a water replenishment tube (22) installed on the water replenishment charging base (31), a water replenishment pump (20) installed at the bottom of the water replenishment tube (22), a water-blocking bladder (19) made of soft material is provided on the inner side wall of the water replenishment tube (22), and an elastic rebound net (18) is provided on the top of the water-blocking bladder (19). During the process of the water replenishment pump (20) filling the water replenishment tube (22) with water, the water-blocking bladder (19) will also be filled with water, thereby preventing water from escaping from the gap between the water pipe (21) and the water replenishment tube (22). At the same time, it ensures that when the water replenishment pump (20) is not working, the rebound net (18) above the water-blocking bladder (19) will retract under the action of elasticity, thus leaving enough space for the water pipe (21) of the drone to enter the water replenishment tube (22). The top of the water tank (22) is provided with a second positive contact ring (15) and a second negative contact ring (16). The second positive contact ring (15) is used to contact and cooperate with the first positive contact ring (5), and the second negative contact ring (16) is used to cooperate with the first negative contact ring (6). The second positive contact ring (15) and the second negative contact ring (16) are connected to the power distribution box (28) through the wire (29) to charge the drone (1).

2. The self-watering photovoltaic cleaning apparatus of claim 1, wherein: An atomizing spray head (13) is arranged at the lower end of the cleaning nozzle (12).

3. The self-watering photovoltaic cleaning apparatus of claim 2, wherein: The end of the water pipe (21) is provided with a water inlet (10), and a water inlet bladder (9) made of flexible material is provided around the water inlet (10). The water inlet bladder (9) cooperates with the water blocking bladder (19). During the process of filling the water pipe (21) with water, water enters the water inlet bladder (9) from the water inlet (10), causing the water inlet bladder (9) to expand synchronously and cooperate with the inner cavity of the expanded water blocking bladder (19) to form a blocking structure to prevent the water pipe (21) from falling off.

4. The self-water-replenishing photovoltaic cleaning equipment according to claim 3, characterized in that: The first positive contact ring (5), the first negative contact ring (6), the second positive contact ring (15), and the second negative contact ring (16) all adopt a ring structure to ensure that the water pipe (21) of the drone (1) can be charged normally regardless of the angle as long as it is introduced into the water supply tube (22).

5. The self-water-replenishing photovoltaic cleaning equipment according to claim 4, characterized in that: A pump pressure valve (8) is installed on the water pipe (21). Under the action of the water pressure of the cleaning water pump or the replenishment water pump (20) of the drone, the pump pressure valve (8) can be opened to realize water spraying or water filling. During the water filling process, after the replenishment water pump (20) is turned on, the water can push the pump pressure valve (8) from bottom to top, and the water tank (2) of the drone (1) can be filled. During the water spraying process, after the cleaning water pump is turned on, the water can push the pump pressure valve (8) from top to bottom, and then supply water to the atomizing spray head (13) to clean the solar panel (50).

6. The self-water-replenishing photovoltaic cleaning equipment according to claim 5, characterized in that: A first electrically controlled check valve (14) is arranged at the lower end of the cleaning nozzle (12). The first electrically controlled check valve (14) is used to replenish water to the water tank (2) of the drone (1) by the water replenishment pump (20). Water can be replenished from bottom to top through the first electrically controlled check valve (14). Under the action of the control system, the downward channel of the first electrically controlled check valve (14) is closed when the water is not spraying, and water cannot pass from top to bottom to avoid water leakage from the water tank (2) through the water pipe (21). When the water is spraying, the downward channel of the first electrically controlled check valve (14) is opened, and water can be sprayed downward.

7. The self-water-replenishing photovoltaic cleaning equipment according to claim 6, characterized in that: The top of the water supply cylinder (22) is a flared structure (23). A locator (17) for guiding and positioning the drone is installed on the outer wall of the flared structure (23) to ensure that the drone (1) can smoothly introduce the water pipe (21) into the water supply cylinder (22) for water replenishment and charging under the positioning and guidance of the control system.

8. The self-water-replenishing photovoltaic cleaning equipment according to claim 7, characterized in that: The drone (1) is equipped with a drone camera (4) and a spotlight (3). The drone (1) is controlled by the control system and, with the help of the image comparison and guidance of the locator (17) and the drone camera (4), accurately guides the drone's water pipe (21) into the water tank (22) so that the drone can complete charging and water replenishment.

9. A method for cleaning solar panels using the self-water-replenishing photovoltaic cleaning equipment as described in claim 8, characterized in that: When using a drone (1) for direct cleaning, a cleaning nozzle (12) is installed at the end of the water pipe (21) beforehand. Then, the drone (1) is started and controlled to fly above the solar panel (50). The cleaning water pump of the drone (1) is started to pressurize the water in the water tank (2). After the water pressure reaches the set water pressure of the pump pressure valve (8), it is sprayed out from the pump pressure valve (8). The water is further atomized and sprayed out through the atomizing nozzle (13) on the cleaning nozzle (12) to achieve water spraying and cleaning of the solar panel (50). The operation, cleaning and management of the solar panels (50) by the drone (1) are all automatically completed under the control of the built-in program of the control system, and can also be completed by human intervention. The drone (1) accurately guides the water pipe (21) into the water tank (22) through the image comparison and guidance of the locator (17) and the drone camera (4). After the drone (1) completes charging and water replenishment, it cleans the clustered solar panels one by one in the order set by the control system. The cleaning is carried out at night in principle so as not to affect the daytime light collection and power generation. The drone camera (4) is also equipped with a spotlight (3) so as to carry out inspection and cleaning operations at night. Multiple water replenishment and charging tanks (24) are set in a water replenishment pool (30) for multiple drones to stop, charge and replenish water.

10. A bidirectional cleaning machine, characterized in that, The bidirectional operation cleaning machine is mounted on the water pipe (21) of the self-replenishing photovoltaic cleaning equipment according to any one of claims 1-8; The bidirectional cleaning machine includes a water guide frame (25) for connecting with the water pipe (21). The water guide frame (25) includes a first water guide frame (2501) and a second water guide frame (2502) arranged symmetrically. The bottom ends of the first water guide frame (2501) and the second water guide frame (2502) are respectively connected to water inlet channels (32). The bottom end of the water inlet channel (32) enters and is fixedly connected to a horizontal water pipe (34). Both ends of the horizontal water pipe (34) are respectively connected and installed with self-propelled wheels. (36) The self-propelled wheel (36) is a sealed cavity structure. The middle part of the two horizontal water pipes (34) is fixedly connected by the cleaning beam (40). Multiple water nozzles (35) are installed on the horizontal water pipes (34). Two cleaning frames (37) are arranged back to back on the lower part of the cleaning beam (40). The cleaning frame (37) adopts an slanted backward V-shaped structure. A cleaning brush (38) is arranged under the cleaning frame (37) to ensure that debris and dust are driven to the outside of the solar panel (50) while cleaning.

11. A bidirectional cleaning machine according to claim 10, characterized in that, A limit cover (7) is provided on the outside of the water pipe (21) and on the side near the drone (1) to prevent the water pipe (21) from extending too deep into the water guide frame (25) and to ensure reliable water supply.

12. A bidirectional cleaning machine according to claim 11, characterized in that, The top of the water guide frame (25) is in the shape of a flared mouth so as to connect with the water pipe (21) of the drone (1). An inner retaining ring (27) is fixedly installed on the inner side of the water inlet of the water guide frame (25). The inner retaining ring (27) cooperates with the water inlet water bag (9) on the water pipe (21). When the water pipe (21) is not supplied with water, that is, when the water inlet bladder (9) is not filled with water and expanded, it is inserted into the water guide frame (25). Since the outer diameter of the water inlet bladder (9) is smaller than the inner diameter space of the inner retaining ring (27), the water pipe (21) can freely extend into the lower part of the inner retaining ring (27) of the water guide frame (25). Then, after the water pipe (21) is supplied with water, the water enters the water inlet bladder (9) from the water inlet (10), which expands the water inlet bladder (9). In this way, the diameter of the water inlet bladder (9) is larger than the inner diameter of the inner retaining ring (27), so the water pipe (21) cannot be pulled out from the water guide frame (25) to ensure the reliable connection between the water pipe (21) and the water guide frame (25) and the reliability of water supply.

13. A bidirectional cleaning machine according to claim 12, characterized in that, The horizontal water pipe (34) has a symmetrical left and right sides inside, which are separated by a central baffle plate (43) to form a cavity structure. The water inlet (32) is located inside the horizontal water pipe (34). A second one-way valve (45) to prevent water backflow is installed on the water inlet (32). The annular cavity formed by the outside of the water inlet (32) and the inside of the horizontal water pipe (34) forms a return water channel (49).

14. A bidirectional cleaning machine according to claim 13, characterized in that, The self-propelled wheel (36) is a sealed cavity structure with multiple blades (47) inside. The blade axis arrangement direction of the self-propelled wheel (36) of the first water guide frame (2501) and the second water guide frame (2502) matches the running direction of the bidirectional cleaning machine (26) to ensure that the self-propelled wheel moves in the same direction under water pressure. The water guide frame (25) is connected to the water inlet (32). A one-way valve is also arranged on the water inlet (32), and a water guide port is arranged on the side. The tail end of the water inlet (32) extends into the self-propelled wheel (36) and is set as an L-shaped water outlet pipe (46). The L-shaped water outlet pipe (46) cooperates with the blades (47) and then drives the blades (47) to rotate by water pressure to start the self-propelled wheel (36). The end of the return water channel (49) is a return water bell mouth (48). The entire bidirectional cleaning machine (26) is balanced by two sets of self-propelled wheels (36) arranged in pairs.

15. A bidirectional cleaning machine according to claim 14, characterized in that, The self-propelled wheel (36) is respectively matched with the lower guide rail (51) and the upper guide rail (42), which are respectively set on both sides of the solar panel (50); the ends of the lower guide rail (51) and the upper guide rail (42) are connected by an arc-shaped track (44).

16. A bidirectional cleaning machine according to claim 15, characterized in that, The lower guide rail (51), upper guide rail (42) and arc-shaped rail (44) are all groove-type rails.

17. A bidirectional cleaning machine according to claim 16, characterized in that, A diagonal brace (41) is provided between the water inlet (32) and the cleaning beam (40), a middle partition (39) is provided in the middle part of the cleaning beam (40), and a third one-way valve (33) is provided on the cleaning beam (40).

18. A method for cleaning solar panels using a bidirectional operating cleaning machine as described in any one of claims 16-17, characterized in that: First, remove the cleaning nozzle (12) below the water pipe (21) to connect with the water guide frame (25). Water flowing from the water pipe (21) of the drone (1) enters the water inlet of the water guide frame (25) and then enters the water inlet (32). It first passes through the second one-way valve (45) of the water inlet (32) and then flows into the self-propelled wheel (36) from the L-shaped water outlet pipe (46) of the water inlet (32). The L-shaped water outlet pipe (46) is aligned with the wheel blade (47) in the self-propelled wheel (36) at a suitable angle. The impact of the water drives the self-propelled wheel (36) to rotate, further... The entire cleaning machine moves forward along the lower guide rail (51) and the upper guide rail (42). The water impacting the impeller (47) enters the return water channel (49) and is then sprayed out from the spray nozzle (35) on the horizontal water pipe (34) to clean the solar panel (50). The direction of the spray nozzle ensures that the water can be sprayed in front of the cleaning frame. As the cleaning machine moves forward on the solar panel under the action of water flow, the cleaning brushes arranged on the cleaning frame also clean the solar panel at the same time, thoroughly cleaning the dust and debris on the solar panel so as to achieve a better cleaning effect on the solar panel.

19. A method for cleaning solar panels using a bidirectional cleaning machine according to claim 18, characterized in that: If the bidirectional cleaning machine (26) needs to clean in another direction, the water pipe (21) of the drone (1) can be switched and connected between the water inlets of the left and right water guide frames (25) of the bidirectional cleaning machine (26).

20. A method for cleaning solar panels using a bidirectional cleaning machine according to claim 18, characterized in that: When it is necessary to intermittently replenish the water tank (2) of the drone (1), first close the pump pressure valve (8) of the water pipe (21); disconnect the water pipe (21) from the two-way operation cleaning machine, control the drone (1) to move to the location of the water replenishment charging tube (24) to complete the connection, and replenish the water tank (2); when the drone (1) is low on power, charge the drone (1) simultaneously through the water replenishment charging tube (24).

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