Photovoltaic panel cleaning device

Abstract

The utility model provides a kind of photovoltaic panel cleaning equipment for washing photovoltaic panel, and the photovoltaic panel cleaning equipment includes unmanned aerial vehicle, lower hanging device, container, controller and spray head, lower hanging device is connected with unmanned aerial vehicle, container is installed in lower hanging device, controller is used to control the pressure and flow of fluid output by container, spray head is arranged in lower hanging device, spray head is communicated with container, spray head is used to spray gas-liquid mixture, the spray angle of spray head is adapted to the inclination angle of photovoltaic panel, wherein the liquid content in gas-liquid mixture sprayed by spray head per minute is Q1, gas content is Q2, satisfy:0.1≤Q2 / Q1≤0.5,0≤Q1≤6L, reduce the liquid consumption of photovoltaic panel cleaning equipment, improve the cleaning effect of photovoltaic panel cleaning equipment.

Description

Technical Field

[0001] This invention relates to the field of drone-based photovoltaic panel cleaning technology, specifically to a photovoltaic panel cleaning device. Background Technology

[0002] The power generation of photovoltaic power plants is affected by many external factors, with dust accumulation being the most significant. Sandstorms, dust storms, air pollution, and vehicle traffic can all cause dust to accumulate on the surface of photovoltaic panels, leading to problems such as impaired heat dissipation, localized overheating, and chemical corrosion. Current technologies typically use high-pressure water jetting and spray cleaning to remove dust from photovoltaic panels, but these methods consume a lot of water and have poor cleaning effects. Summary of the Invention

[0003] The purpose of this invention is to provide a photovoltaic panel cleaning device that solves the problems of high water consumption and poor cleaning effect in the existing technology of using high-pressure water jetting and spray cleaning to remove dust from photovoltaic panels.

[0004] To achieve the objectives of this invention, the following technical solution is provided:

[0005] This invention provides a photovoltaic panel cleaning device for cleaning photovoltaic panels. The photovoltaic panel cleaning device includes: a drone; a hanging device connected to the drone; a container installed on the hanging device; a controller for controlling the pressure and flow rate of the fluid output from the container; and a nozzle disposed on the hanging device, the nozzle being connected to the container. The nozzle is used to spray a gas-liquid mixture, and the spray angle of the nozzle is adapted to the tilt angle of the photovoltaic panel. The gas-liquid mixture sprayed by the nozzle per minute contains a liquid content of Q1 and a gas content of Q2, satisfying: 0.1 ≤ Q2 / Q1 ≤ 0.5, 0 ≤ Q1 ≤ 6 L.

[0006] In one embodiment, the nozzle includes a nozzle having a spray channel extending through the nozzle in a first direction. The spray channel includes a first segment, a second segment, and a third segment sequentially arranged in the first direction. The first segment communicates with the container, and the second segment extends along the first direction. Both the first segment and the third segment are flared. The angle between the extending direction of the inner peripheral wall of the first segment and the first direction is C1, satisfying: 7.5°≤C1≤45°. The angle between the extending direction of the inner peripheral wall of the third segment and the first direction is C2, satisfying: 45°≤C2≤50°.

[0007] In one embodiment, the third segment includes a plurality of mutually isolated sub-channels, which are evenly distributed in the circumferential direction of the nozzle. The same end of each of the sub-channels is connected to the second segment in the first direction. The spacing between the sub-channels gradually increases from the direction of the first segment toward the third segment.

[0008] In one embodiment, the nozzle further includes an installation tube connected to the hanging device, the installation tube having an installation cavity communicating with the container, and one end of the installation tube in the first direction having an installation port, the nozzle being used to extend into the installation cavity from the installation port and be sealed to the installation tube, the first section communicating with the installation cavity.

[0009] In one embodiment, the container includes a liquid tank and a gas tank. The mounting tube also has a first interface and a second interface. The first interface connects the mounting cavity and the liquid tank, and the second interface connects the mounting cavity and the gas tank. The nozzle also includes a mixing tube housed within the mounting cavity. One end of the mixing tube in the first direction is sealed to the mounting tube, and the other end is sealed to the nozzle. The mixing tube has a mixing chamber that communicates with the first interface, the second interface, and the first segment. The mixing chamber is used to generate a gas-liquid mixture.

[0010] In one embodiment, the first interface is located on the side of the mixing tube away from the nozzle in the first direction, and the second interface is located on the outer periphery of the mixing tube; the mixing chamber extends through the mixing tube in the first direction and has a first opening and a second opening, the first opening communicating with the first interface and the second opening communicating with the first segment; the outer periphery of the mixing tube is also provided with a plurality of through holes, the plurality of through holes being evenly distributed in the circumferential direction and the first direction of the mixing tube, the plurality of through holes communicating with the second interface and the mixing chamber, the first opening being for liquid to enter the mixing chamber, and the through holes being for gas to enter the mixing chamber.

[0011] In one embodiment, the nozzle further includes a first connector and a second connector, both of which are one-way valves. One end of the first connector extends into the first interface and is sealed to the mounting tube, while the other end of the first connector is connected to the liquid tank. One end of the second connector extends into the second interface and is sealed to the mounting tube, while the other end of the second connector is connected to the gas tank.

[0012] In one embodiment, there are multiple nozzles, which are evenly distributed on the hanging device, and the controller is used to control the multiple nozzles to work simultaneously or alternately.

[0013] In one embodiment, the photovoltaic panel cleaning equipment further includes a detection element and a first rotating mechanism. The detection element is installed on the drone or the undermount device and is electrically connected to the controller. The first rotating mechanism is installed on the undermount device and connected to the nozzle. The photovoltaic panel has multiple areas to be cleaned arranged in an array. The detection element is used to detect the degree of contamination of the multiple areas to be cleaned. The controller is used to control the first rotating mechanism to drive the nozzle to rotate around a first axis and / or a second axis so that the spray angle of the nozzle is adapted to the tilt angle of the photovoltaic panel, and the nozzle sprays a gas-liquid mixture at least one of the areas to be cleaned. The second axis intersects the first axis.

[0014] In one embodiment, the under-mount device includes a second rotating mechanism, a third rotating mechanism, a first connecting arm, and a second connecting arm. The second rotating mechanism is mounted on the UAV. One end of the first connecting arm is connected to the second rotating mechanism, and the other end of the first connecting arm is connected to the third rotating mechanism. The second connecting arm is connected to the third rotating mechanism, and the first rotating mechanism is mounted on the second connecting arm. Both the second and third rotating mechanisms are electrically connected to the controller. The detection element is also used to detect the angle between the second connecting arm and the photovoltaic panel. The second rotating mechanism is used to drive the first connecting arm to rotate around a third axis, and the third rotating mechanism is used to drive the second connecting arm to rotate around a fourth axis, so that the spray angle of the nozzle is adapted to the tilt angle of the photovoltaic panel. The third axis intersects the length direction of the fourth axis and the first connecting arm, and the fourth axis intersects the first axis and the second axis.

[0015] By connecting the nozzle to the container and spraying a gas-liquid mixture, the nozzle's spray angle is adapted to the tilt angle of the photovoltaic panel. The controller can change the flow rate and gas-liquid ratio of the gas-liquid mixture by controlling the pressure and flow rate of the fluid output from the container. This allows the photovoltaic panel cleaning equipment to reduce liquid consumption and improve cleaning efficiency by changing the nozzle's spray angle and the flow rate and gas-liquid ratio of the gas-liquid mixture when cleaning photovoltaic panels. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1This is a structural diagram of a photovoltaic panel cleaning device according to one embodiment;

[0018] Figure 2 This is a structural diagram of a first nozzle or a second nozzle according to one embodiment;

[0019] Figure 3 This is a cross-sectional view of the first nozzle in one embodiment;

[0020] Figure 4 This is a cross-sectional view of the second nozzle in one embodiment;

[0021] Figure 5 This is a cross-sectional view of the third nozzle in one embodiment;

[0022] Figure 6 This is a cross-sectional view of the fourth nozzle in one embodiment;

[0023] Figure 7 This is a structural diagram of a third or fourth nozzle according to one embodiment;

[0024] Figure 8 This is a structural diagram of a nozzle according to one embodiment;

[0025] Figure 9 This is an exploded view of a nozzle from one embodiment;

[0026] Figure 10 This is a cross-sectional view of a nozzle according to one embodiment.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1000-Photovoltaic panel cleaning equipment;

[0029] 100-nozzle;

[0030] 10-Nozzle, 11-Injection channel, 111-First section, 112-Second section, 113-Third section, 1131-Sub-channel, 12-First groove, 13-Second groove, P1-First nozzle, P2-Second nozzle, P3-Third nozzle, P4-Fourth nozzle;

[0031] 20-Installation tube, 21-Installation cavity, 211-First chamber, 212-Second chamber, 213-Third chamber, 22-Installation port, 23-First interface, 24-Second interface;

[0032] 30-Mixing tube, 31-Mixing cavity, 32-Tube body, 33-Protrusion, 34-First opening, 35-Second opening, 36-Through hole;

[0033] 40 - First sealing ring;

[0034] 50 - Second sealing ring;

[0035] 60 - First connector;

[0036] 70 - Second connector;

[0037] 200 - Unmanned Aerial Vehicles (UAVs);

[0038] 300-Undermount device, 301-Second rotating mechanism, 3011-Fourth mounting component, 3012-Third driving component, 302-Third rotating mechanism, 3021-Fourth driving component, 303-First connecting arm, 304-Second connecting arm, 305-Mounting bracket, 306-Landing gear;

[0039] 400 - Container, 401 - Liquid tank, 402 - Gas tank;

[0040] 500-First rotating mechanism, 501-First mounting component, 502-Second mounting component, 503-Third mounting component, 504-First driving component, 505-Guide groove, 506-Limiting component;

[0041] L1 - First axis, L2 - Second axis, L3 - Third axis, L4 - Fourth axis;

[0042] X - First direction, Y - Front-back direction of the photovoltaic panel cleaning equipment, Z - Left-right direction of the photovoltaic panel cleaning equipment. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0045] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used in this invention includes any and all combinations of one or more of the associated listed items.

[0046] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0047] Please refer to Figure 1 This invention provides a photovoltaic panel cleaning device 1000 for cleaning photovoltaic panels. The photovoltaic panel cleaning device 1000 includes a drone 200, a hanging device 300, a container 400, a controller, and a nozzle 100. The hanging device 300 is connected to the drone 200, the container 400 is installed on the hanging device 300, the controller is used to control the pressure and flow rate of the fluid output from the container 400, and the nozzle 100 is disposed on the hanging device 300 and communicates with the container 400. The nozzle 100 is used to spray a gas-liquid mixture, and the spray angle of the nozzle 100 is adapted to the tilt angle of the photovoltaic panel. The liquid content of the gas-liquid mixture sprayed by the nozzle 100 per minute is Q1, and the gas content is Q2, satisfying: 0.1≤Q2 / Q1≤0.5, 0≤Q1≤6L (liters).

[0048] Photovoltaic panels, also known as solar panels, are important components of solar photovoltaic power generation systems. A photovoltaic panel is a power generation device that generates direct current (DC) when exposed to sunlight. It is mainly composed of thin, solid-state photovoltaic cells made almost entirely of semiconductor materials (such as silicon). It utilizes the photovoltaic effect of the solar cell semiconductor materials to directly convert solar radiation energy into electrical energy. To increase the actual area of ​​the photovoltaic panel that receives sunlight and reduce the difficulty of the manufacturing process, the surface of the photovoltaic panel used to receive sunlight is usually a smooth plane.

[0049] Optionally, the drone 200 is used to move the photovoltaic panel cleaning equipment 1000 above the photovoltaic panel and keep it suspended or moving. At the same time, the drone 200 can also drive the photovoltaic panel cleaning equipment 1000 to rotate in any direction relative to the photovoltaic panel, so as to change the angle between the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel, as well as the distance between the nozzle 100 and the photovoltaic panel.

[0050] Optionally, the gas-liquid mixture ejected by the nozzle 100 is conical in shape, and this cone has a rotationally symmetric center line. The extension direction of the rotationally symmetric center line is the spray angle of the nozzle 100, and the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel are the angle between the rotationally symmetric center line and the photovoltaic panel. Optionally, the photovoltaic panel cleaning device 1000 provided by the present invention can change the spray angle of the nozzle 100 by moving and rotating the drone 200, or by driving the nozzle 100 relative to the hanging device 300 to change the spray angle of the nozzle 100 through a drive motor or other structure, without limitation.

[0051] Specifically, the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel can be 30°-90°, specifically 30°, 45°, 60°, and 90°, without limitation. Optionally, with the distance between the nozzle 100 and the photovoltaic panel remaining constant, when the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel are 90°, the outline of the gas-liquid mixture covering the photovoltaic panel is approximately circular (excluding splashing caused by contact between the gas-liquid mixture and the photovoltaic panel). At this time, the gas-liquid mixture generates a stronger impact force on the photovoltaic panel, but the cleaning range is smaller. This is suitable for cleaning stains with strong adhesion on the photovoltaic panel, including dust, mud, water stains, and sludge. When the spray angle of the nozzle 100 is 30° relative to the tilt angle of the photovoltaic panel, the outline of the gas-liquid mixture covering the photovoltaic panel is approximately elliptical (excluding splashing caused by contact between the gas-liquid mixture and the photovoltaic panel). At this angle, the impact force of the gas-liquid mixture on the photovoltaic panel is relatively weak, but the cleaning range is large, and the effect of washing away contaminants on the photovoltaic panel is good. This method is suitable for cleaning stains with low adhesion and large solid particles, including sand, dust, and plastics, on the photovoltaic panel. Optionally, as the spray angle of the nozzle 100 increases from 30° to 90° relative to the tilt angle of the photovoltaic panel, the impact force of the gas-liquid mixture on the photovoltaic panel gradually increases, the cleaning range gradually decreases, and the ability to wash away contaminants from the photovoltaic panel gradually weakens. The photovoltaic panel cleaning equipment 1000 provided by this invention can select different spray angles to clean the photovoltaic panel according to the contamination situation on the photovoltaic panel, so as to achieve a better cleaning effect while reducing liquid consumption and improving cleaning efficiency.

[0052] Optionally, the output end of the container 400 is equipped with an electrically controlled valve. The container 400 is connected to the nozzle 100 through the electrically controlled valve and the pipeline. The controller is electrically connected to the electrically controlled valve. The controller changes the pressure and flow rate of the fluid output by the container 400 by controlling the electrically controlled valve.

[0053] Specifically, the liquid content of the gas-liquid mixture sprayed by nozzle 100 per minute is Q1, and the gas content is Q2. That is, nozzle 100 sprays (Q1+Q2)L of gas-liquid mixture per minute, with Q1L of liquid and Q2L of gas. The ratio of gas content to liquid content is between 0.1 and 0.5, and the maximum liquid content is 6L.

[0054] When Q1 = 0L and Q2 ≠ 0, nozzle 100 only sprays gas. In this case, the photovoltaic panel cleaning equipment 1000 is suitable for cleaning stains with low adhesion and larger solid particles on the photovoltaic panel, including dust, sand, and plastics, thus reducing liquid consumption. When Q1 = 6L and Q2 ≠ 0, the water content of the gas-liquid mixture sprayed by nozzle 100 reaches the maximum preset value. In this case, the photovoltaic panel cleaning equipment 1000 is suitable for cleaning stains with low adhesion and larger solid particles on the photovoltaic panel, as well as cleaning stains with high adhesion, including dust, sand, mud, water stains, sludge, and plastics. As Q1 increases from 0L to 6L, the cleaning intensity of the photovoltaic panel cleaning equipment 1000 on the photovoltaic panel gradually increases. The photovoltaic panel cleaning equipment 1000 can select different liquid contents of the gas-liquid mixture according to the degree of contamination on the photovoltaic panel to achieve better cleaning results while reducing liquid consumption and improving cleaning efficiency.

[0055] When Q1≠0, Q1 remains constant, and Q2 / Q1=0.1, the liquid content in the gas-liquid mixture reaches the maximum preset value, and the gas content reaches the minimum preset value. Due to the large mass and low pressure of the gas-liquid mixture ejected per minute, the effective spray distance of the nozzle 100 is short, but the impact force on the photovoltaic panel within this effective spray distance is strong. This is suitable for cleaning stains with strong adhesion on the photovoltaic panel, including dust, sand, mud, water stains, mud stains, and plastics. When Q1≠0, Q1 remains constant, and Q2 / Q1=0.5, the liquid content in the gas-liquid mixture reaches the minimum preset value, and the gas content reaches the maximum preset value. Due to the small mass and high pressure of the gas-liquid mixture ejected per minute, the effective spray distance of the nozzle 100 is long, but the impact force on the photovoltaic panel within this effective spray distance is weak. This is suitable for cleaning stains with weak adhesion and large solid particles on the photovoltaic panel, including sand, dust, and plastics. The 1000 photovoltaic panel cleaning equipment can select different gas-liquid ratios in the gas-liquid mixture according to the level of contamination on the photovoltaic panels, so as to achieve better cleaning results while reducing liquid consumption and improving cleaning efficiency.

[0056] In one specific embodiment, to ensure that the gas-liquid mixture ejected by the nozzle 100 has an effective cleaning distance and impact force that meets the requirements of the cleaning operation, while not exceeding the maximum payload of the drone 200, the container 400 includes a liquid tank 401 and a gas tank 402. The liquid tank 401 contains 50L of liquid, and the gas tank has a volume of 15L and is filled with gas at a pressure of 35MPa. The nozzle 100 can eject a gas-liquid mixture of Q1 = 4.8L and Q2 = 1.44L per minute (i.e., Q2 / Q1 = 0.3). A single nozzle 100 can continuously spray the gas-liquid mixture for 10 minutes to achieve a better cleaning effect while reducing liquid consumption and improving cleaning efficiency.

[0057] Optionally, the drone 200 can move the nozzle 100 above the photovoltaic panel to perform fixed-point cleaning for a longer duration, which is suitable for removing contaminants with strong adhesion on the photovoltaic panel. The drone 200 can also move the nozzle 100 continuously above the photovoltaic panel, and the nozzle 100 continuously or intermittently sprays a gas-liquid mixture during the movement to perform large-area cleaning operations on the photovoltaic panel, which is suitable for removing contaminants with weak adhesion on the photovoltaic panel, as well as when the contaminants on the photovoltaic panel are relatively dispersed.

[0058] Optionally, the container 400 can directly output a gas-liquid mixture to the nozzle 100, or it can output liquid and gas separately to the nozzle 100, where the liquid and gas mix to form a gas-liquid mixture; there are no restrictions. Optionally, the liquid in the gas-liquid mixture can be water, cleaning agent, or a solution of water, etc., and the gas in the gas-liquid mixture can be air, argon, helium, or nitrogen, etc., without restriction.

[0059] By connecting the nozzle 100 to the container 400 and spraying a gas-liquid mixture, the spray angle of the nozzle 100 is adapted to the tilt angle of the photovoltaic panel. The controller can change the flow rate and gas-liquid ratio of the gas-liquid mixture by controlling the pressure and flow rate of the fluid output from the container 400. This allows the photovoltaic panel cleaning equipment 1000 to reduce liquid consumption and improve cleaning effect by changing the spray angle of the nozzle 1000 and the flow rate and gas-liquid ratio of the gas-liquid mixture when cleaning the photovoltaic panel.

[0060] Please refer to Figures 2 to 6 The nozzle 100 includes a nozzle 10, which has a spray channel 11. The spray channel 11 extends through the nozzle 10 in a first direction X. The spray channel 11 includes a first segment 111, a second segment 112, and a third segment 113 arranged sequentially in the first direction X. The first segment 111 is connected to the container 400. The second segment 112 extends along the first direction X. Both the first segment 111 and the third segment 113 are flared. The angle between the extension direction of the inner peripheral wall of the first segment 111 and the first direction X is C1, which satisfies: 7.5°≤C1≤45°. The angle between the extension direction of the inner peripheral wall of the third segment 113 and the first direction X is C2, which satisfies: 45°≤C2≤50°.

[0061] Optionally, in any cross-section of the nozzle 10 along the first direction X, the outlines of the first segment 111, the second segment 112, and the third segment 113 can be circular, elliptical, triangular, rectangular, etc., without limitation. Specifically, in any cross-section of the nozzle 10 along the first direction X, the outlines of the first segment 111, the second segment 112, and the third segment 113 are all circular, so that the shape of the gas-liquid mixture ejected by the nozzle 10 is conical, maximizing the coverage area of ​​the gas-liquid mixture on the photovoltaic panel when the distance between the nozzle 10 and the photovoltaic panel remains constant, and the spray angle of the nozzle 10 remains constant. Optionally, in a cross-section perpendicular to the first direction X, the inner walls of the first segment 111, the second segment 112, and the third segment 113 are all straight lines to reduce the resistance experienced by the gas-liquid mixture within the spray channel 11.

[0062] Optionally, the maximum inner diameter of the first segment 111 is D1, the inner diameter of the second segment 112 is D2, and the maximum inner diameter of the third segment 113 is D3, satisfying: D1 = D3, and both D1 and D3 are greater than D2. This allows the gas-liquid mixture to be gradually compressed further in the first segment 111 as it enters the second segment 112, increasing the ejection speed of the gas-liquid mixture and thus improving its cleaning ability. At the same time, as the gas-liquid mixture enters the third segment 113 from the second segment 112 and is ejected, it can be ejected in a conical shape under the constraint of the inner circumferential wall of the third segment 113. This ensures that the shape of the gas-liquid mixture ejected by the nozzle 10 is conical, maximizing the coverage area of ​​the gas-liquid mixture on the photovoltaic panel when the distance between the nozzle 10 and the photovoltaic panel remains constant, and the ejection angle of the nozzle 10 remains constant.

[0063] In one specific embodiment, please refer to Figure 3 , Figure 3 The first nozzle P1 is shown. The first nozzle P1 has C1=C2=45°, D1=D3 and D1 / D2=D3 / D2=2, that is, the first segment 111 and the third segment 113 are symmetrically arranged with respect to the second segment 112. Since the first segment 111 and the third segment 113 are shorter in the first direction X, and the second segment 112 is longer in the first direction X, the gas-liquid mixture can be quickly compressed in the first segment 111 and enter the second segment 112 with a faster flow rate. This reduces the residence time of the gas-liquid mixture in the injection channel 11, which is beneficial to reduce the velocity loss of the gas-liquid mixture in the injection channel 11 and improve the cleaning effect.

[0064] In another specific embodiment, please refer to Figure 4 , Figure 4The second nozzle P2 is shown. The second nozzle P2 has C1 = 7.5°, C2 = 45°, 2 < D1 / D2 < 3, and 5 < D3 / D2 < 6. Since the first segment 111 is longer in the first direction X, while the second and third segments 112 and 113 are shorter in the first direction X, the gas-liquid mixture is compressed while moving through the first segment 111, and is uniformly mixed under the constraint of the inner wall of the first segment 111, before being rapidly ejected through the second and third segments 112 and 113. The photovoltaic panel cleaning equipment 1000 can select either the first nozzle P1 or the second nozzle P2 to clean the photovoltaic panel according to the degree of contamination, achieving a better cleaning effect while reducing liquid consumption and improving cleaning efficiency.

[0065] Optionally, when the ratio of D1 / D2 of nozzle 10 remains constant, the larger C1 is, the shorter the length of the first segment 111 in the first direction X, the shorter the residence time of the gas-liquid mixture in the injection channel 11, the less velocity loss of the gas-liquid mixture in the injection channel 11, and the stronger the impact force of the gas-liquid mixture on the photovoltaic panel; the smaller C1 is, the longer the length of the first segment 111 in the first direction X, the longer the residence time of the gas-liquid mixture in the injection channel 11, which is beneficial to the uniform mixing of the gas-liquid mixture in the injection channel 11.

[0066] Optionally, the coverage area of ​​the gas-liquid mixture on the photovoltaic panel can be changed by altering the angle of C2. With the distance between the nozzle 10 and the photovoltaic panel remaining constant, a smaller C2 results in a smaller coverage area of ​​the gas-liquid mixture on the photovoltaic panel, but a longer effective spray distance, leading to a greater amount of gas-liquid mixture per unit area on the photovoltaic panel, resulting in faster and more effective removal of contaminants. Conversely, a larger C2 results in a larger coverage area of ​​the gas-liquid mixture on the photovoltaic panel, but a shorter effective spray distance, leading to less gas-liquid mixture per unit area on the photovoltaic panel, suitable for large-scale cleaning of photovoltaic panels. Specifically, C2 can be 45°, 46°, 47°, 48°, 49°, and 50°, etc., without limitation.

[0067] By setting a nozzle 10, which has a spray channel 11, the spray channel 11 penetrates the nozzle 10 in the first direction X. The spray channel 11 includes a first section 111, a second section 112, and a third section 113 arranged sequentially in the first direction X. The first section 111 is connected to the container 400, and the second section 112 extends along the first direction X. Both the first section 111 and the third section 113 are flared. The angle between the extension direction of the inner peripheral wall of the first section 111 and the first direction X is C1, which satisfies: 7.5°≤C1≤45°. The angle between the extension direction of the inner peripheral wall of the third section 113 and the first direction X is C2, which satisfies: 45°≤C2≤50°. This allows the gas-liquid mixture to be compressed under the constraint of the inner peripheral wall of the first section 111 when it moves from the first section 111 to the second section 112, thereby increasing the spray speed of the gas-liquid mixture. At the same time, the gas-liquid mixture is sprayed out in a preset shape under the constraint of the inner peripheral wall of the third section 113 to adapt to different cleaning requirements.

[0068] Please refer to Figures 5 to 7 The third segment 113 includes multiple mutually isolated sub-channels 1131. The multiple sub-channels 1131 are evenly distributed in the circumferential direction of the nozzle 10. The same end of the multiple sub-channels 1131 in the first direction X is connected to the second segment 112. From the direction of the first segment 111 approaching the third segment 113, the spacing between the multiple sub-channels 1131 gradually increases.

[0069] The gas-liquid mixture is ejected through multiple sub-channels 1131 of the third section 113 via the second section 112. The gas-liquid mixture ejected from each sub-channel 1131 moves in a roughly straight line and forms a cylinder. Since the inner diameter of each sub-channel 1131 is smaller than the maximum inner diameter of the third section 113, the gas-liquid mixture ejected from each sub-channel 1131 has a faster jet speed and a stronger impact on the photovoltaic panel compared to the gas-liquid mixture ejected from the first nozzle P1 and the second nozzle P2. This makes it suitable for cleaning stubborn stains on the photovoltaic panel, including dust, mud, water stains, and sludge, and it covers a wider area.

[0070] In one specific embodiment, please refer to Figure 5 , Figure 5 The third nozzle P3 is shown. The third nozzle P3 has C1 = 45°, C2 = 50°, and D1 / D2 = 2. To ensure that each sub-channel 1131 has an inner diameter that meets preset requirements to guarantee that the nozzle 10 can eject a sufficient gas-liquid mixture, D3 / D2 > 2. Optionally, the inner peripheral wall of each sub-channel 1131 extends in a straight line, and the included angle between any two sub-channels 1131 arranged radially opposite each other in the second segment 112 is 100°.

[0071] In another specific embodiment, please refer to Figure 6 , Figure 6The fourth nozzle P4 is shown. The structure of the fourth nozzle P4 is similar to that of the third nozzle P3. The difference is that the C1 of the fourth nozzle P4 is 7.5°. The photovoltaic panel cleaning equipment 1000 can select the third nozzle P3 or the fourth nozzle P4 to clean the photovoltaic panel according to the degree of contamination on the photovoltaic panel, so as to achieve a better cleaning effect while reducing liquid consumption and improving cleaning efficiency.

[0072] In addition, the photovoltaic panel cleaning equipment 1000 also includes a conversion device, which is installed on the hanging device 300. The aforementioned first nozzle P1, second nozzle P2, third nozzle P3, and fourth nozzle P4 are all pre-installed on the conversion device. The conversion device can select different nozzles 10 to connect to the aforementioned container 400 according to the contamination level on the photovoltaic panel. Specifically, the conversion device includes a fixed part, a driving part, and a rotating part. The fixed part is connected to the hanging device 300, and the driving part is connected to the fixed part and the rotating part. The first nozzle P1, second nozzle P2, third nozzle P3, and fourth nozzle P4 are all installed on the rotating part. The driving part is used to drive the rotating part to rotate relative to the fixed part to realize the switching between the first nozzle P1, second nozzle P2, third nozzle P3, and fourth nozzle P4.

[0073] By setting the third segment 113 to include multiple mutually isolated sub-channels 1131, the multiple sub-channels 1131 are evenly distributed in the circumferential direction of the nozzle 10. The same end of the multiple sub-channels 1131 in the first direction X is connected to the second segment 112. From the direction of the first segment 111 towards the third segment 113, the interval between the multiple sub-channels 1131 gradually increases, so that the gas-liquid mixture ejected by the nozzle 10 has an impact force that meets the cleaning requirements, while also improving the cleaning range of the gas-liquid mixture on the photovoltaic panel.

[0074] Please refer to Figures 8 to 10 The nozzle 100 also includes an installation tube 20, which is connected to the hanging device 300. The installation tube 20 has an installation cavity 21, which is connected to the container 400. One end of the installation tube 20 in the first direction X also has an installation port 22. The nozzle 10 is used to extend into the installation cavity 21 from the installation port 22 and be sealed to the installation tube 20. The first section 111 is connected to the installation cavity 21.

[0075] Optionally, the container 400 may directly output a gas-liquid mixture into the mounting cavity 21, or it may output liquid and gas separately into the mounting cavity 21. The liquid and gas are mixed in the mounting cavity 21 and / or the injection channel 11 to form a gas-liquid mixture, without limitation.

[0076] For example, the mounting tube 20 is threadedly connected to the nozzle 10, that is, the inner peripheral wall of the mounting cavity 21 at the mounting port 22, and the outer peripheral surface of the part of the nozzle 10 that extends into the mounting cavity 21 are both provided with mutually mating threads. Optionally, the mounting tube 20 and the nozzle 10 can also be connected and fixed by means of snap-fit, riveting, magnetic attraction, etc., without limitation.

[0077] Optionally, a first groove 12 is formed on the outer peripheral surface of the nozzle 10, extending circumferentially along the nozzle 10. The nozzle 100 also includes a first sealing ring 40, which is fitted onto the nozzle 10 and located within the first groove 12. When the nozzle 10 is connected to the mounting tube 20, the first sealing ring 40 abuts against the bottom wall of the first groove 12 and the inner wall of the mounting cavity 21 to achieve a sealed connection. Optionally, the aforementioned first nozzle P1, second nozzle P2, third nozzle P3, and fourth nozzle P4 can all be connected to the container 400 via the mounting tube 20, eliminating the need to disassemble and reconnect the nozzle 10 and container 400 when replacing the nozzle 10, thus reducing the installation difficulty of the nozzle 10.

[0078] By setting up an installation pipe 20, which is connected to the hanging device 300, the installation pipe 20 has an installation cavity 21, which is connected to the container 400. One end of the installation pipe 20 in the first direction X also has an installation port 22. The nozzle 10 is used to extend into the installation cavity 21 from the installation port 22 and be sealed to the installation pipe 20. The first section 111 is connected to the installation cavity 21, which makes the connection between the nozzle 10 and the hanging device 300 more stable. At the same time, it also allows the gas-liquid mixture to be transported to the spray channel 11 through the installation cavity 21, so that the gas-liquid mixture can be more fully mixed in the nozzle 100, thereby improving the cleaning ability of the photovoltaic panel cleaning equipment 1000.

[0079] Please refer to Figures 8 to 10 and combined Figure 1 The container 400 includes a liquid tank 401 and a gas tank 402. The mounting tube 20 also has a first interface 23 and a second interface 24. The first interface 23 connects the mounting cavity 21 and the liquid tank 401, and the second interface 24 connects the mounting cavity 21 and the gas tank 402. The nozzle 100 also includes a mixing tube 30, which is housed in the mounting cavity 21. One end of the mixing tube 30 in the first direction X is sealed to the mounting tube 20, and the other end is sealed to the nozzle 10. The mixing tube 30 has a mixing cavity 31, which is connected to the first interface 23, the second interface 24, and the first segment 111. The mixing cavity 31 is used to generate a gas-liquid mixture.

[0080] Optionally, liquid tank 401 is used to input liquid into mounting cavity 21 through first interface 23, and gas tank 402 is used to input gas into mounting cavity 21 through second interface 24. The liquid and gas in mounting cavity 21 enter mixing cavity 31 to mix and form gas-liquid mixture, which then enters injection channel 11 from mixing cavity 31. The volume of mixing cavity 31 is smaller than the volume of mounting cavity 21, ensuring more uniform mixing of liquids within mixing cavity 31 without pressure drop.

[0081] Optionally, the nozzle 10 is further provided with a second groove 13 on the end face facing the mixing tube 30. The second groove 13 extends circumferentially along the nozzle 10. The nozzle 100 also includes a second sealing ring 50, which is sleeved on the nozzle 10 and located in the second groove 13. When the nozzle 10 is connected to the mounting tube 20 and the mixing tube 30, the second sealing ring 50 abuts against the bottom wall of the mixing tube 30 and the second groove 13 to achieve a sealed connection between the nozzle 10 and the mixing tube 30.

[0082] Optionally, the mixing tube 30 includes a tube body 32 and a protrusion 33. The protrusion 33 is connected to the end of the tube body 32 near the nozzle 10 and protrudes from the outer peripheral surface of the tube body 32. The end face of the protrusion 33 away from the tube body 32 in the first direction X abuts against the second sealing ring 50. The protrusion 33 can also be used to determine the installation direction of the mixing tube 30 during installation, preventing incorrect installation. Optionally, the mixing tube 30 is a three-way tube with three openings communicating with the mixing chamber 31. One opening is for liquid to enter the mixing chamber 31, another opening is for gas to enter the mixing chamber 31, and the third opening communicates with the injection channel 11.

[0083] The container 400 includes a liquid tank 401 and a gas tank 402. The mounting tube 20 also has a first interface 23 and a second interface 24. The first interface 23 connects the mounting cavity 21 and the liquid tank 401, and the second interface 24 connects the mounting cavity 21 and the gas tank 402. The nozzle 100 also includes a mixing tube 30, which is housed in the mounting cavity 21. One end of the mixing tube 30 in the first direction X is sealed to the mounting tube 20, and the other end is sealed to the nozzle 10. The mixing tube 30 has a mixing chamber 31, which is connected to the first... Interface 23, interface 24 and the first segment 111 are all connected. The mixing chamber 31 is used to generate a gas-liquid mixture, so that the photovoltaic panel cleaning equipment 1000 can provide gas and liquid to the nozzle 100 separately through the liquid tank 401 and the gas tank 402. This makes it easy to load different gases and liquids according to different pollution conditions on the photovoltaic panel. At the same time, the liquid and gas can be evenly mixed in the mixing chamber 31 to form a gas-liquid mixture before being sprayed out through the nozzle 10, which prolongs the mixing time of the gas and liquid and makes the cleaning effect of the gas-liquid mixture better.

[0084] Please refer to Figures 8 to 10 The first interface 23 is located on the side of the mixing tube 30 away from the nozzle 10 in the first direction X. The second interface 24 is located on the outer side of the mixing tube 30. The mixing chamber 31 penetrates the mixing tube 30 in the first direction X and has a first opening 34 and a second opening 35. The first opening 34 is connected to the first interface 23, and the second opening 35 is connected to the first segment 111. The outer peripheral wall of the mixing tube 30 is also provided with a plurality of through holes 36. The plurality of through holes 36 are evenly distributed in the circumferential direction and the first direction X of the mixing tube 30. The plurality of through holes 36 connect the second interface 24 and the mixing chamber 31. The first opening 34 is used for liquid to enter the mixing chamber 31, and the through holes 36 are used for gas to enter the mixing chamber 31.

[0085] In this process, liquid enters the mixing chamber 31 through the first opening 34, while gas enters the mixing chamber 31 through multiple through holes 36 and mixes with the liquid to form a gas-liquid mixture. Optionally, the mounting chamber 21 includes a first chamber 211, a second chamber 212, and a third chamber 213 arranged sequentially in the first direction X. The first chamber 211 connects the first interface 23 and the first opening 34, the second chamber 212 is used to accommodate the mixing tube 30 and connects the second interface 24 and the multiple through holes 36, and the third chamber 213 is used to accommodate the nozzle 10. Optionally, in the orthographic projection in the first direction X, the outlines of the first chamber 211, the second chamber 212, the third chamber 213, and the mixing chamber 31 are all circular. The inner diameter of the first chamber 211 is smaller than the inner diameter of the second chamber 212 and also smaller than the inner diameter of the mixing chamber 31. This ensures that when the liquid enters the mixing chamber 31 from the first chamber 211, it will not enter the second chamber 212 through the gap between the mixing pipe 30 and the mounting pipe 20, thus ensuring that the pressure of the liquid entering the mixing chamber 31 will not decrease.

[0086] Optionally, in the radial orthogonal projection of the mixing tube 30, the outline shape of the through hole 36 is rectangular. The outline shape of the through hole 36 can also be circular, elliptical, or other non-circular shapes, without limitation. Optionally, multiple through holes 36 can partially overlap in the first direction X, or they can be staggered in the first direction X, without limitation.

[0087] By setting the first interface 23 to be located on the side of the mixing tube 30 away from the nozzle 10 in the first direction X, and the second interface 24 to be located on the outer circumference of the mixing tube 30, the mixing chamber 31 penetrates the mixing tube 30 in the first direction X and has a first opening 34 and a second opening 35. The first opening 34 is connected to the first interface 23, and the second opening 35 is connected to the first segment 111. The outer circumferential wall of the mixing tube 30 is also provided with a plurality of through holes 36. The plurality of through holes 36 are evenly distributed in the circumferential direction and in the first direction X of the mixing tube 30. The plurality of through holes 36 are connected to the second interface 24 and the mixing chamber 31. The first opening 34 is used for liquid to enter the mixing chamber 31, and the through holes 36 are used for gas to enter the mixing chamber 31. When the liquid flows along the first direction X, the gas can enter the mixing chamber 31 through the plurality of through holes 36 and mix with the liquid to produce a gas-liquid mixture. This increases the contact area between the liquid and the gas, which is beneficial to improving the uniformity of the gas-liquid mixture and the spraying speed, and reducing the liquid consumption of the photovoltaic panel cleaning equipment 1000.

[0088] Please refer to Figures 8 to 10 The nozzle 100 also includes a first connector 60 and a second connector 70. Both the first connector 60 and the second connector 70 are one-way valves. One end of the first connector 60 extends into the first interface 23 and is sealed and connected to the installation tube 20. The other end of the first connector 60 is connected to the liquid tank 401. One end of the second connector 70 extends into the second interface 24 and is sealed and connected to the installation tube 20. The other end of the second connector 70 is connected to the gas tank 402.

[0089] Optionally, both the first connector 60 and the second connector 70 can be connected to the mounting tube 20 by threads, or by snap-fitting and riveting, without limitation. Optionally, the channels formed by the first connector 60 and the channels formed by the second structure both extend in a straight line, so that gas and liquid can be introduced into the mounting cavity 21 in a straight direction, reducing the pressure loss of gas and liquid.

[0090] Since the pressure inside the installation cavity 21 is greater than that inside the liquid tank 401 and the gas tank 402 when the liquid and gas mixture is introduced into the installation cavity 21 but not ejected from the spray channel 11, a first connector 60 and a second connector 70 are provided. Both the first connector 60 and the second connector 70 are one-way valves. One end of the first connector 60 extends into the first interface 23 and is sealed to the installation pipe 20, while the other end of the first connector 60 is connected to the liquid tank 401. One end of the second connector 70 extends into the second interface 24 and is sealed to the installation pipe 20, while the other end of the second connector 70 is connected to the gas tank 402. This ensures that the liquid and gas mixture does not flow back into the installation cavity 21 due to the pressure inside the installation cavity 21 when it is introduced into the installation cavity 21. This guarantees the ejection speed of the gas-liquid mixture and the impact force on the photovoltaic panel, thereby improving the cleaning effect of each unit of gas-liquid mixture and reducing the liquid consumption.

[0091] Please refer to Figure 1 The device comprises multiple nozzles 100, which are evenly distributed on the hanging device 300. A controller is used to control the multiple nozzles 100 to operate simultaneously or alternately. Optionally, the nozzles 10 of the multiple nozzles 100 can be any one of the aforementioned first nozzle P1, second nozzle P2, third nozzle P3, and fourth nozzle P4, without limitation. The photovoltaic panel cleaning equipment 1000 provided by this invention can use different nozzles 10 to perform cleaning operations according to different contamination conditions on the photovoltaic panel.

[0092] Optionally, when the photovoltaic panel cleaning equipment 1000 is in synchronous spray mode, multiple nozzles 100 simultaneously spray a gas-liquid mixture, and the liquid consumption and cleaning range of the photovoltaic panel cleaning equipment 1000 in synchronous spray mode both reach the maximum preset values. When the photovoltaic panel cleaning equipment 1000 is in mid-position spray mode, at least one of the multiple nozzles 100 sprays a gas-liquid mixture. When the photovoltaic panel cleaning equipment 1000 is in alternating spray mode, the multiple nozzles 100 sequentially and alternately spray a gas-liquid mixture, and the liquid consumption and cleaning range of the photovoltaic panel cleaning equipment 1000 in mid-position spray mode or alternating spray mode are both less than those in synchronous spray mode.

[0093] Optionally, the spray angles of the multiple nozzles 100 can be the same or different, and the liquid content and gas content of the gas-liquid mixture sprayed by the multiple nozzles 100 can also be the same or different, without restriction. The photovoltaic panel cleaning equipment 1000 can reduce liquid consumption and improve cleaning effect by changing the spray angle of different nozzles 100 and the flow rate and gas-liquid ratio of the gas-liquid mixture according to the pollution situation on the photovoltaic panel.

[0094] By setting multiple nozzles 100, which are evenly distributed on the hanging device 300, and controlling the multiple nozzles 100 to work simultaneously or alternately, the photovoltaic panel cleaning equipment 1000 can control the multiple nozzles 100 to work simultaneously or alternately according to the pollution level on the photovoltaic panel, thereby improving the cleaning range and cleaning efficiency of the photovoltaic panel cleaning equipment 1000.

[0095] Please refer to Figure 1The photovoltaic panel cleaning equipment 1000 also includes a detection element and a first rotating mechanism 500. The detection element is installed on the drone 200 or the undermount device 300 and is electrically connected to the controller. The first rotating mechanism 500 is installed on the undermount device 300 and connected to the nozzle 100. The photovoltaic panel has multiple areas to be cleaned arranged in an array. The detection element is used to detect the degree of contamination of the multiple areas to be cleaned. The controller is used to control the first rotating mechanism 500 to drive the nozzle 100 to rotate around the first axis L1 and / or the second axis L2 so that the spray angle of the nozzle 100 is adapted to the tilt angle of the photovoltaic panel, and the nozzle 10 sprays a gas-liquid mixture onto at least one area to be cleaned. The second axis L2 intersects the first axis L1.

[0096] Optionally, the first rotating mechanism 500 includes a first mounting member 501, a second mounting member 502, a third mounting member 503, and a first driving member 504. The first mounting member 501 is fixedly connected to the lower hanging device 300. The second mounting member 502 is rotatably connected to the first mounting member 501 about a first axis L1. The first driving member 504 is fixedly connected to the second mounting member 502. The third mounting member 503 is connected to the output end of the first driving member 504 and is connected to the nozzle 100. The first driving member 504 is used to drive the nozzle 100 to rotate about a second axis L2. Optionally, the first rotating mechanism 500 further includes a second driving member, which is mounted on the first mounting member 501. The second mounting member 502 is connected to the output end of the second driving member. The second driving member is used to drive the second mounting member 502 to rotate relative to the first mounting member 501 about the first axis L1.

[0097] Optionally, the first mounting member 501 has a guide groove 505 extending circumferentially, and the first rotating mechanism 500 further includes a limiting member 506, which passes through the guide groove 505 and is connected to the second mounting member 502 to limit the rotation angle of the second mounting member 502 relative to the first mounting member 501. Optionally, the second mounting member 502 drives the nozzle 100 to rotate around the first axis L1 by an angle of 0°-90°, specifically 0°, 30°, 45°, 60°, and 90°, etc., without limitation. Optionally, the first driving member 504 drives the nozzle 100 to rotate around the second axis L2 by an angle of 0°-180°, specifically 0°, 60°, 90°, 120°, and 180°, etc., without limitation.

[0098] Where the distance and angle between the photovoltaic cleaning equipment and the photovoltaic panel remain unchanged, the detection component can detect the angle between the spray angle of the nozzle 100 and the photovoltaic panel, and control the first rotating mechanism 500 through the controller to drive the nozzle 100 to rotate around the first axis L1 and / or the second axis L2, so that the spray angle of the nozzle 100 is adapted to the tilt angle of the photovoltaic panel.

[0099] Optionally, there are multiple nozzles 100 and multiple first rotating mechanisms 500. These multiple first rotating mechanisms 500 are evenly arranged on the lower hanging device 300, and each of the multiple first rotating mechanisms 500 is connected to a corresponding nozzle 100. The detection element can detect the contamination status on the photovoltaic panel and drive each nozzle 100 to rotate around a first axis L1 and / or a second axis L2 via a controller and the multiple first rotating mechanisms 500. Optionally, the gas-liquid mixtures sprayed by the multiple nozzles 100 may have alternating coverage areas on the photovoltaic panel, or the gas-liquid mixtures sprayed by at least two nozzles 100 may have at least partially overlapping coverage areas on the photovoltaic panel; this is not limited.

[0100] By setting up a detection element and a first rotating mechanism 500, the detection element is installed on the UAV 200 or the undermount device 300 and electrically connected to the controller. The first rotating mechanism 500 is installed on the undermount device 300 and connected to the nozzle 100. The photovoltaic panel has multiple areas to be cleaned arranged in an array. The detection element is used to detect the degree of contamination in multiple areas to be cleaned. The controller is used to control the first rotating mechanism 500 to drive the nozzle 100 to rotate around the first axis L1 and / or the second axis L2, so that the spray angle of the nozzle 100 is adapted to the tilt angle of the photovoltaic panel, and the nozzle 10 sprays a gas-liquid mixture onto at least one area to be cleaned. The second axis L2 intersects with the first axis L1. Compared with the solution of matching the spray angle of the nozzle 100 with the tilt angle of the photovoltaic panel by changing the tilt angle of the drone 200, the photovoltaic panel cleaning equipment 1000 can detect the angle between the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel, as well as the pollution status on the photovoltaic panel, through the detection component. Then, the control component controls the first rotating mechanism 500 to drive the nozzle 100 to rotate, so that the spray angle of the nozzle 100 matches the tilt angle of the photovoltaic panel. This reduces the operation difficulty of the photovoltaic panel cleaning equipment 1000 and improves the working efficiency of the photovoltaic panel cleaning equipment 1000.

[0101] Please refer to Figure 1The lower attachment device 300 includes a second rotating mechanism 301, a third rotating mechanism 302, a first connecting arm 303, and a second connecting arm 304. The second rotating mechanism 301 is mounted on the UAV 200. One end of the first connecting arm 303 is connected to the second rotating mechanism 301, and the other end of the first connecting arm 303 is connected to the third rotating mechanism 302. The second connecting arm 304 is connected to the third rotating mechanism 302. The first rotating mechanism 500 is mounted on the second connecting arm 304. The second rotating mechanism 301 and the third rotating mechanism 302... Both are electrically connected to the controller. The detection component is also used to detect the angle between the second connecting arm 304 and the photovoltaic panel. The second rotation mechanism 301 is used to drive the first connecting arm 303 to rotate around the third axis L3. The third rotation mechanism 302 is used to drive the second connecting arm 304 to rotate around the fourth axis L4 so that the spray angle of the nozzle 100 is adapted to the tilt angle of the photovoltaic panel. The third axis L3 intersects the length direction of the fourth axis L4 and the first connecting arm 303. The fourth axis L4 intersects the first axis L1 and the second axis L2.

[0102] Optionally, the undermount device 300 also includes a mounting bracket 305 and a landing gear 306. The mounting bracket 305 is connected and fixed to the drone 200. The container 400 is installed in the receiving space enclosed by the mounting bracket 305. Specifically, the container 400 includes a gas tank 402 and a liquid tank 401. Both the gas tank 402 and the liquid tank 401 are installed on the mounting bracket 305. The landing gear 306 is connected to the end of the mounting bracket 305 away from the drone 200. When the photovoltaic panel cleaning equipment 1000 is in a stopped state, the drone 200 does not work, and the photovoltaic panel cleaning equipment 1000 is located on the ground or landing platform. The landing gear 306 contacts the ground or landing platform to support the photovoltaic panel cleaning equipment 1000.

[0103] Optionally, the second rotating mechanism 301 includes a fourth mounting member 3011 and a third driving member 3012. The fourth mounting member 3011 is connected and fixed to the mounting bracket 305. The third driving member 3012 is connected to the fourth mounting member 3011. The output end of the third driving member 3012 is connected to the first connecting arm 303. The third driving member 3012 is used to drive the first connecting arm 303 to rotate around the third axis L3. Optionally, the rotation angle of the first connecting arm 303 relative to the mounting bracket 305 is 0°-180°, specifically 0°, 60°, 90°, 120°, and 180°, etc., without limitation. Optionally, the third driving member 3012 can drive the first connecting arm 303 to rotate 0°-90° around the third axis L3 in any one direction (Y) of the photovoltaic panel cleaning equipment, without limitation.

[0104] Optionally, the third rotating mechanism 302 includes a fourth driving member 3021. The fourth driving member 3021 is connected to the end of the first connecting arm 303 away from the second rotating mechanism 301. The output end of the fourth driving member 3021 is connected to the second connecting arm 304. Specifically, the output end of the fourth driving member 3021 is connected to the middle position of the second connecting arm 304. The fourth driving member 3021 is used to drive the second connecting arm 304 to rotate around the fourth axis L4. Optionally, the rotation angle of the second connecting arm 304 relative to the first connecting arm 303 is 0°-90°, specifically 0°, 30°, 45°, 60°, and 90°, etc., without limitation. Optionally, the fourth driving member 3021 can drive the second connecting arm 304 to rotate 0°-45° around the fourth axis L4 to any side of the left-right direction Z of the photovoltaic panel cleaning equipment, without limitation.

[0105] The detection element is used to measure the angle between the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel. The controller controls the second rotation mechanism 301, the third rotation mechanism 302, and the aforementioned first rotation mechanism 500 to change the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel so that the spray angle of the nozzle 100 matches the tilt angle of the photovoltaic panel.

[0106] Optionally, when the photovoltaic panel cleaning equipment 1000 is in a stopped state, the drone 200 is not working, and the lower attachment device 300 is in a retracted state. Specifically, the second rotation mechanism 301 controls the first connecting arm 303 to rotate into the aforementioned landing gear 306, that is, the extension direction of the first connecting arm 303 is the front-rear direction Y of the photovoltaic panel cleaning equipment. The third rotation mechanism 302 controls the second connecting arm 304 to be perpendicular to the first connecting arm 303, that is, the extension direction of the second connecting arm 304 is the left-right direction Z of the photovoltaic panel cleaning equipment. When the photovoltaic panel cleaning equipment 1000 is in a working state, the drone 200 takes off and is above the photovoltaic panel, and the second rotation mechanism 301 controls the first connecting arm 303 to extend from the landing gear 306.

[0107] By configuring a second rotating mechanism 301, a third rotating mechanism 302, a first connecting arm 303, and a second connecting arm 304, the second rotating mechanism 301 is mounted on the drone 200. One end of the first connecting arm 303 is connected to the second rotating mechanism 301, and the other end of the first connecting arm 303 is connected to the third rotating mechanism 302. The second connecting arm 304 is connected to the third rotating mechanism 302. The first rotating mechanism 500 is mounted on the second connecting arm 304. Both the second rotating mechanism 301 and the third rotating mechanism 302 are electrically connected to the controller. The detection element is also used to detect the angle between the second connecting arm 304 and the photovoltaic panel. The second rotating mechanism 301 is used to drive the first connecting arm 304. A connecting arm 303 rotates around a third axis L3, and a third rotating mechanism 302 drives a second connecting arm 304 to rotate around a fourth axis L4 so that the spray angle of the nozzle 100 matches the tilt angle of the photovoltaic panel. The third axis L3 intersects the length direction of the fourth axis L4 and the first connecting arm 303, and the fourth axis L4 intersects the first axis L1 and the second axis L2. This allows the photovoltaic panel cleaning equipment 1000 to control the position of the nozzle 100 and the angle between the spray angle of the nozzle 100 and the tilt angle of the photovoltaic panel through the second rotating mechanism 301 and the third rotating mechanism 302, so as to adapt to the respective working states of the photovoltaic panel cleaning equipment 1000.

[0108] In the description of the embodiments of the present invention, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other indicators are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0109] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A photovoltaic panel cleaning device, characterized in that, The photovoltaic panel cleaning equipment is used for cleaning photovoltaic panels and includes: Drones; The lower attachment device is connected to the drone; The container is installed on the lower hanging device; The controller is used to control the pressure and flow rate of the fluid output from the container; A nozzle is disposed on the lower hanging device, the nozzle is connected to the container, the nozzle is used to spray a gas-liquid mixture, and the spray angle of the nozzle is adapted to the tilt angle of the photovoltaic panel. Wherein, the liquid content of the gas-liquid mixture sprayed by the nozzle per minute is Q1, and the gas content is Q2, satisfying: 0.1≤Q2 / Q1≤0.5, 0≤Q1≤6L; The photovoltaic panel cleaning equipment also includes a detection component and a first rotating mechanism. The detection component is installed on the drone or the under-mount device and is electrically connected to the controller. The first rotating mechanism is installed on the under-mount device and connected to the nozzle. The photovoltaic panel has multiple areas to be cleaned arranged in an array. The detection element is used to detect the degree of contamination of the multiple areas to be cleaned. The controller is used to control the first rotating mechanism to drive the nozzle to rotate around a first axis and / or a second axis so that the spray angle of the nozzle is adapted to the tilt angle of the photovoltaic panel, and the nozzle sprays a gas-liquid mixture at least one of the areas to be cleaned. The second axis intersects the first axis. The lower attachment device includes a second rotating mechanism, a third rotating mechanism, a first connecting arm, and a second connecting arm. The second rotating mechanism is mounted on the UAV. One end of the first connecting arm is connected to the second rotating mechanism, and the other end of the first connecting arm is connected to the third rotating mechanism. The second connecting arm is connected to the third rotating mechanism, and the first rotating mechanism is mounted on the second connecting arm. Both the second and third rotating mechanisms are electrically connected to the controller. The detection element is also used to detect the angle between the second connecting arm and the photovoltaic panel. The second rotating mechanism is used to drive the first connecting arm to rotate around the third axis, and the third rotating mechanism is used to drive the second connecting arm to rotate around the fourth axis, so that the spray angle of the nozzle is adapted to the tilt angle of the photovoltaic panel. The third axis intersects the fourth axis and the length direction of the first connecting arm, and the fourth axis intersects the first axis and the second axis.

2. The photovoltaic panel cleaning equipment according to claim 1, characterized in that, The nozzle includes a nozzle with a spray channel that extends through the nozzle in a first direction. The spray channel includes a first segment, a second segment, and a third segment arranged sequentially in the first direction. The first segment communicates with the container, the second segment extends along the first direction, and both the first segment and the third segment are flared. The angle between the extension direction of the inner peripheral wall of the first segment and the first direction is C1, which satisfies: 7.5°≤C1≤45°. The angle between the extension direction of the inner peripheral wall of the third segment and the first direction is C2, which satisfies: 45°≤C2≤50°.

3. The photovoltaic panel cleaning equipment according to claim 2, characterized in that, The third segment includes multiple mutually isolated sub-channels, which are evenly distributed in the circumferential direction of the nozzle. The same end of each sub-channel in the first direction is connected to the second segment. The spacing between the sub-channels gradually increases from the direction of the first segment toward the third segment.

4. The photovoltaic panel cleaning equipment according to claim 2, characterized in that, The nozzle also includes a mounting tube connected to the hanging device. The mounting tube has a mounting cavity that communicates with the container. One end of the mounting tube in the first direction also has a mounting port. The nozzle is used to extend into the mounting cavity from the mounting port and be sealed to the mounting tube. The first section communicates with the mounting cavity.

5. The photovoltaic panel cleaning equipment according to claim 4, characterized in that, The container includes a liquid tank and a gas tank, and the mounting pipe also has a first interface and a second interface, the first interface connecting the mounting cavity and the liquid tank, and the second interface connecting the mounting cavity and the gas tank; The nozzle also includes a mixing tube housed within the mounting cavity. One end of the mixing tube is sealed to the mounting tube in the first direction, and the other end is sealed to the nozzle. The mixing tube has a mixing cavity that communicates with the first interface, the second interface, and the first segment. The mixing cavity is used to generate a gas-liquid mixture.

6. The photovoltaic panel cleaning equipment according to claim 5, characterized in that, The first interface is located on the side of the mixing tube away from the nozzle in the first direction, and the second interface is located on the outer periphery of the mixing tube. The mixing chamber extends through the mixing tube in the first direction and has a first opening and a second opening, the first opening communicating with the first interface and the second opening communicating with the first segment; The outer peripheral wall of the mixing tube is also provided with a plurality of through holes, which are evenly distributed in the circumferential direction and the first direction of the mixing tube. The plurality of through holes connect the second interface and the mixing chamber. The first opening is used for liquid to enter the mixing chamber, and the through holes are used for gas to enter the mixing chamber.

7. The photovoltaic panel cleaning equipment according to claim 5, characterized in that, The nozzle also includes a first connector and a second connector, both of which are one-way valves. One end of the first connector extends into the first interface and is sealed to the mounting tube, while the other end of the first connector is connected to the liquid tank. One end of the second connector extends into the second interface and is sealed to the mounting tube, while the other end of the second connector is connected to the gas tank.

8. The photovoltaic panel cleaning equipment according to any one of claims 1-7, characterized in that, The nozzles are multiple and are evenly distributed on the hanging device. The controller is used to control the multiple nozzles to work simultaneously or alternately.

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