Redundancy Matching Control Method and System for Photovoltaic Cleaning Nozzles and Water Tanks of Unmanned Aerial Vehicles

Abstract

This invention belongs to the field of UAV photovoltaic cleaning technology, and relates to a redundancy matching control method and system for UAV photovoltaic cleaning nozzles and water tanks. This invention simultaneously performs anti-jamming intervention and spray parameter adjustment within the same control framework. When the nozzle angle is limited due to collision avoidance, it actively compensates for water flow parameters, thereby maintaining uniform cleaning coverage while ensuring mechanical safety. This invention establishes a dynamic redundancy space model that varies with angle, minimizing the reserved gap at each angle while ensuring no jamming, thereby reducing load volume and weight and improving UAV endurance. The method of this invention can be run on the existing hardware configuration of UAV photovoltaic cleaning platforms without adding additional sensors or actuators; it can be implemented simply by upgrading the control software, offering advantages such as low cost and rapid deployment.

Description

Technical Field

[0001] This invention belongs to the field of UAV photovoltaic cleaning technology, and relates to a redundant matching control method and system for UAV photovoltaic cleaning nozzles and water tanks. Background Technology

[0002] In drone-based photovoltaic cleaning systems, adjustable cleaning nozzles and fixed or semi-fixed water tanks are typically included. The nozzles are driven by servo motors, stepper motors, or linkage mechanisms, and their actual angle is fed back by encoders or potentiometers. The relative distance between the nozzle and the water tank can be detected using infrared, ultrasonic, laser rangefinders, or visual sensors.

[0003] However, existing systems often experience mechanical jamming or limit switch damage when adjusting the nozzle at large angles because they do not consider the spatial interference between the nozzle housing and the water tank surface at different angles. Simply increasing the fixing gap to avoid jamming would increase the drone's payload size and weight, affecting its endurance. In addition, at large angles, the water flow is easily blocked by the edge of the water tank, resulting in reduced uniformity of cleaning coverage. Summary of the Invention

[0004] The purpose of this invention is to provide a redundant matching control method and system for a drone photovoltaic cleaning nozzle and a water tank, so as to solve the technical problems of easy mechanical jamming between the nozzle and the water tank when the nozzle is adjusted at a large angle, and the difficulty in ensuring the uniformity of spraying.

[0005] To achieve the above objectives, the present invention employs the following technical solution: In a first aspect, the present invention discloses a redundancy matching control method for a UAV photovoltaic cleaning nozzle and a water tank, characterized by comprising the following steps: Real-time acquisition of the adjustment angle of the nozzle relative to the water tank; Based on the preset redundancy space model, the minimum safe distance threshold under the current adjustment angle is determined, wherein the minimum safe distance threshold decreases monotonically as the adjustment angle increases. Obtain the actual distance between the nozzle and the surface of the water tank; When the actual distance is less than the sum of the minimum safe distance threshold and the preset safety margin, an anti-jamming intervention action is performed. The anti-jamming intervention action includes at least: limiting the nozzle angular velocity, or pausing angle adjustment, or instructing the nozzle to retreat in a direction away from the water tank surface. At the same time, the water jet parameters are adjusted according to the currently achievable nozzle angle to compensate for the decrease in the uniformity of cleaning coverage caused by the limitation of the angle or the change of the spacing.

[0006] Furthermore, the redundancy space model is pre-established through the following steps: Three-dimensional geometric modeling was performed on the nozzle and water tank under different adjustment angles to obtain a three-dimensional model; Based on the three-dimensional model, the theoretical minimum distance function between the most prominent point of the nozzle housing and the surface of the water tank is extracted, with the adjustment angle as the independent variable. The minimum safe distance threshold is obtained based on the theoretical minimum distance function, and the formula for obtaining the minimum safe distance threshold is as follows:

[0007] in, This is the minimum safe distance threshold; For safety factors, the value ranges from 1.2 to 1.8; It is the theoretical minimum distance function; To adjust the angle.

[0008] Furthermore, the anti-lag intervention action also includes: The nozzle adjustment angular velocity is limited to within the maximum permissible angular velocity at the current adjustment angle, wherein the maximum permissible angular velocity at the current adjustment angle decreases as the adjustment angle increases.

[0009] Furthermore, the adjustment of the water jet parameters includes at least one of the following: Adjust water pressure; Adjust the duty cycle of the injection pulse.

[0010] Furthermore, when the actual achievable nozzle angle deviates from the expected nozzle angle by more than a preset threshold, the jet angle-pressure joint compensation table is invoked. This compensation table pre-stores the water pressure increment and duty cycle correction under different angle deviations. The angle deviation is the difference between the expected nozzle angle and the actual achievable nozzle angle.

[0011] Furthermore, it also includes an initial calibration step, as detailed below: Control the nozzle to sweep across the working angle range at a low speed; The actual mechanical clearance can be inferred by detecting changes in motion resistance during limit contact. The redundant space model is corrected based on the actual mechanical clearances derived from the reverse calculation.

[0012] Furthermore, it also includes: using a coverage deviation coefficient to evaluate the spray uniformity, wherein the coverage deviation coefficient is equal to the standard deviation of the impact force distribution divided by the mean of the impact force distribution, and setting a control target for the coverage deviation coefficient to be less than 0.15.

[0013] Furthermore, it also includes predictive control steps, as detailed below: Obtain an estimated value for the tilt angle of photovoltaic modules; The desired nozzle angle is determined based on the estimated value. Before the nozzle reaches the desired nozzle angle, output a water tank position fine-tuning command or a drone attitude adjustment command to reserve redundant space.

[0014] Secondly, this invention discloses a drone photovoltaic cleaning system, which includes a method for redundant matching control of the drone photovoltaic cleaning nozzle and water tank, comprising: Unmanned aerial vehicle (UAV) platform; A water tank is installed on the drone platform; The nozzle is mounted on the drone platform, and the nozzle angle is adjustable. An angle detection module is used to obtain the adjustment angle of the nozzle relative to the water tank in real time; A spacing detection module is used to obtain the actual spacing between the nozzle and the surface of the water tank. The execution module is used to perform anti-jamming intervention actions and adjust water jet parameters. The anti-jamming intervention actions include at least limiting the nozzle angular velocity, pausing angle adjustment, or instructing the nozzle to retreat in a direction away from the water tank surface. The adjustment of water jet parameters includes at least adjusting the water pressure or adjusting the jet pulse duty cycle. The control module is connected to the angle detection module, the spacing detection module, and the execution module. The control module is configured to execute a redundant matching control method between the UAV photovoltaic cleaning nozzle and the water tank.

[0015] Furthermore, the side of the water tank facing the nozzle has a non-planar or stepped profile, which is used to locally increase redundant space when the adjustment angle is large.

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention simultaneously performs anti-jamming intervention and spray parameter adjustment within the same control framework. When the nozzle angle is limited to avoid collisions, it actively compensates for water flow parameters, thereby maintaining uniform cleaning coverage while ensuring mechanical safety. This invention establishes a dynamic redundancy space model that varies with angle, minimizing the reserved gaps at each angle while ensuring no jamming, thus reducing load volume and weight and improving the drone's endurance. The method of this invention can be run on the existing hardware configuration of drone photovoltaic cleaning platforms without adding extra sensors or actuators; it can be implemented simply by upgrading the control software, offering advantages such as low cost and rapid deployment.

[0017] The system of this invention includes an unmanned aerial vehicle platform, a water tank, a nozzle, an angle detection module, a spacing detection module, an execution module, and a control module. It can monitor the angle and spacing in real time during nozzle adjustment, actively prevent jamming, and synchronously compensate for spray parameters to form a complete closed-loop control. Attached Figure Description

[0018] Figure 1This is a flowchart of the method of the present invention. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] The present invention will now be described in further detail with reference to the accompanying drawings: Example 1: See Figure 1 This invention discloses a redundancy matching control method for a drone photovoltaic cleaning nozzle and a water tank, comprising the following steps: S1 acquires the adjustment angle of the nozzle relative to the water tank in real time, providing real-time input parameters for subsequent redundancy space matching calculations. That is, only by acquiring the current adjustment angle in real time can the corresponding safety clearance threshold be dynamically determined for that angle, achieving angle-related fine-grained control, rather than using a globally fixed safety clearance.

[0022] S2. Based on the preset redundancy space model, determine the minimum safe distance threshold at the current adjustment angle. The minimum safe distance threshold decreases monotonically as the adjustment angle increases. When the adjustment angle is small, the nozzle is far away from the water tank, allowing for a larger safe distance. When the adjustment angle increases and the nozzle gradually gets closer to the water tank, the safe distance threshold decreases accordingly. By establishing a functional relationship between the adjustment angle and the safe distance threshold, dynamic matching of the redundancy space is achieved.

[0023] In a preferred embodiment of the present invention, the redundancy space model is pre-established through the following steps: Three-dimensional geometric modeling was performed on the nozzle and water tank under different adjustment angles to obtain a three-dimensional model; Based on the three-dimensional model, the theoretical minimum distance function between the most prominent point of the nozzle housing and the surface of the water tank is extracted, with the adjustment angle as the independent variable. The minimum safe distance threshold is obtained based on the theoretical minimum distance function, and the formula for obtaining the minimum safe distance threshold is as follows:

[0024] in, This is the minimum safe distance threshold; For safety factors, the value ranges from 1.2 to 1.8; It is the theoretical minimum distance function; To adjust the angle.

[0025] Based on the three-dimensional model, this invention calculates the theoretical minimum distance between the most prominent point of the nozzle shell and the surface of the water tank within a set step size within the nozzle adjustment angle range, obtaining discrete data points; then, through spline interpolation or polynomial fitting, a continuous theoretical minimum distance function f(θ) with the adjustment angle as the independent variable is constructed.

[0026] The theoretical minimum distance function between the most prominent point of the nozzle shell and the surface of the water tank is extracted by three-dimensional geometric modeling, and a safety factor is introduced to calculate the minimum safe distance threshold, so that the determination of the safety threshold has a clear geometric basis, rather than empirical estimation or a globally fixed value.

[0027] S3, obtain the actual distance between the nozzle and the surface of the water tank; S4. When the actual distance is less than the sum of the minimum safe distance threshold and the preset safety margin, an anti-jamming intervention is executed. This anti-jamming intervention includes at least: limiting the nozzle angular velocity, pausing angle adjustment, or instructing the nozzle to retreat in a direction away from the water tank surface. The preset safety margin is a preset protection distance used to overcome control delay and measurement errors. Limiting the nozzle angular velocity reduces the adjustment speed, allowing more response time for the control system and reducing the risk of overshoot collisions due to inertia. Pausing angle adjustment immediately stops the adjustment action when the distance is extremely dangerous, preventing further approach to the water tank. Instructing the nozzle to retreat fundamentally eliminates the risk of collision. Simultaneously, the introduction of the preset safety margin overcomes the uncertainties caused by sensor sampling delay, control response delay, and measurement errors, ensuring early intervention before the actual distance reaches the theoretical danger value, thus improving the system's reliability and robustness.

[0028] In a preferred embodiment of the present invention, the preset safety margin is determined based on the product of the system's maximum control delay time and the nozzle's maximum angular velocity, the measurement accuracy of the spacing detection module, and the safety factor, with a recommended value range of 2 to 8 millimeters.

[0029] In a preferred embodiment of the present invention, the anti-lag intervention action further includes: The nozzle adjustment angular velocity is limited to within the maximum allowable angular velocity at the current adjustment angle. The maximum allowable angular velocity at the current adjustment angle decreases as the adjustment angle increases. Under the premise of ensuring safety, the adjustment capability of the nozzle is maintained as much as possible, and the operation is not interrupted or the efficiency is reduced due to excessive intervention (such as frequent pauses or retreats). This achieves a balance between safety and smooth operation.

[0030] S5. Simultaneously, based on the currently achievable nozzle angle, the water jet parameters are adjusted to compensate for the decrease in cleaning coverage uniformity caused by angle limitations or spacing changes. This achieves coordinated control of anti-jamming and cleaning quality. When the anti-jamming intervention in step S4 prevents the nozzle from reaching the desired angle, this step actively adjusts the water jet parameters (such as water pressure, duty cycle, etc.) to compensate for the coverage defects caused by angle limitations. The desired nozzle angle is obtained by the control module based on the tilt angle, arrangement spacing, and flight speed of the photovoltaic modules, or set based on experience.

[0031] In a preferred embodiment of the present invention, adjusting the water jet parameters includes either adjusting the water pressure or adjusting the jet pulse duty cycle. By selecting at least one of water pressure adjustment or pulse duty cycle adjustment, different pump types and control accuracy requirements can be flexibly adapted, achieving continuous adjustability of the jet energy and providing sufficient execution freedom for subsequent angle deviation compensation.

[0032] In a preferred embodiment of the present invention, when the actual achievable nozzle angle deviates from the desired nozzle angle by more than a preset threshold, a jet angle-pressure joint compensation table is invoked. This compensation table pre-stores water pressure increments and duty cycle corrections under different angle deviations, where the angle deviation is the difference between the desired nozzle angle and the actual achievable nozzle angle. The jet angle-pressure joint compensation table is obtained through prior experimental calibration. By introducing a pre-calibrated joint compensation table, a deterministic mapping between angle deviation and jet parameters is achieved, avoiding the delay and oscillation risks of online iterative optimization. This allows the compensation action to be completed within a single control cycle, significantly improving dynamic response speed and compensation consistency.

[0033] In a preferred embodiment of the present invention, an initial calibration step is further included, as follows: Control the nozzle to sweep across the working angle range at a low speed; The actual mechanical clearance can be inferred by detecting changes in motion resistance during limit contact. The redundant space model is corrected based on the actual mechanical clearances derived from the reverse calculation.

[0034] The calibration steps of this invention can adaptively compensate for individual differences caused by assembly tolerances, wear, and deformation, and correct the theoretical geometric model into a personalized model that matches the actual hardware. This eliminates the adverse effects of inconsistencies in mass production on safety control and reduces the reliance on high-precision assembly processes.

[0035] In a preferred embodiment of the present invention, the method further includes: evaluating the uniformity of spraying using a coverage deviation coefficient, wherein the coverage deviation coefficient is equal to the standard deviation of the impact force distribution divided by the mean of the impact force distribution, and setting a control target for the coverage deviation coefficient to be less than 0.15. During the calibration stage, an array of M×N miniature pressure sensors is arranged at equal intervals on the surface of the photovoltaic panel to measure the impact force distribution of the nozzle under given spraying parameters; or a multi-branch pipeline flow distribution method is used for indirect characterization. By introducing a dimensionless coverage deviation coefficient as a unified quantitative evaluation index, an objectively measurable control target is provided for the spraying compensation effect, making the merits of the compensation strategy comparable and verifiable, and also providing a clear feedback benchmark for subsequent closed-loop adaptive adjustment.

[0036] In a preferred embodiment of the present invention, a predictive control step is further included, as follows: Obtain an estimated value for the tilt angle of photovoltaic modules; The desired nozzle angle is determined based on the estimated value. Before the nozzle reaches the desired nozzle angle, output a water tank position fine-tuning command or a drone attitude adjustment command to reserve redundant space.

[0037] The predictive control steps of this invention transform the traditional reactive collision response into proactive avoidance by sensing the tilt angle of the photovoltaic module in advance and pre-setting redundant space. This eliminates the safety hazards caused by the adjustment delay of large inertia mechanisms and is especially suitable for dynamic operation scenarios under large-angle rapid sweeping or strong wind disturbance.

[0038] This invention also discloses a drone photovoltaic cleaning system, comprising: Unmanned aerial vehicle (UAV) platform; The water tank is installed on the drone platform. The water tank can be installed on the drone platform via a miniature electric slide rail, which can achieve micro-position adjustment along the direction of the nozzle.

[0039] The nozzle is mounted on the drone platform, and the nozzle angle is adjustable. An angle detection module is used to obtain the adjustment angle of the nozzle relative to the water tank in real time; A spacing detection module is used to obtain the actual spacing between the nozzle and the surface of the water tank. The execution module is used to perform anti-jamming intervention actions and adjust water jet parameters; The control module is connected to the angle detection module, the spacing detection module, and the execution module. The control module is configured to execute a redundant matching control method between the UAV photovoltaic cleaning nozzle and the water tank.

[0040] In a preferred embodiment of the present invention, the side of the water tank facing the nozzle has a non-planar or stepped profile, which is used to locally increase redundant space when the adjustment angle is large.

[0041] This invention can monitor the angle and spacing in real time during nozzle adjustment, actively prevent jamming, and simultaneously compensate for spray parameters to form a complete closed-loop control.

[0042] Example 2: This embodiment is based on a drone photovoltaic cleaning system, including a drone platform, a water tank, a nozzle, an angle detection module, a spacing detection module, an execution module, and a control module.

[0043] The water tank is fixedly installed below or to the side of the drone platform. The nozzle is mounted on the drone platform via a hinge or linkage mechanism, and its angle is adjustable; it can be driven by a stepper motor or servo motor.

[0044] An angle detection module, which can be an encoder or a potentiometer, is installed on the rotating shaft of the nozzle to obtain the adjustment angle of the nozzle relative to the water tank in real time.

[0045] The spacing detection module can use an infrared ranging sensor or a laser ranging sensor, which is installed on the nozzle housing to obtain the actual spacing between the nozzle and the water tank surface.

[0046] The execution module includes a nozzle drive motor, a water pump, and a nozzle solenoid valve controlled by PWM (Pulse Width Modulation) to perform anti-jamming intervention actions and adjust water jet parameters.

[0047] The control module is a UAV flight control board or an independent embedded controller, which is connected to the above modules to run the method of the present invention.

[0048] In a preferred embodiment of the present invention, the steps for establishing the redundancy space model are as follows: The first step is to create a three-dimensional geometric model of the nozzle and water tank, which can be done using CAD models or 3D scanning to obtain point cloud data.

[0049] The second step is to calculate the theoretical minimum distance between the most protruding point of the nozzle housing and the surface of the water tank within the adjustable angle range of the nozzle, with an appropriate step size, and obtain the theoretical minimum distance function with the adjustment angle as the independent variable.

[0050] The third step is to set a safety factor and calculate the minimum safe distance threshold, which is equal to the safety factor multiplied by the theoretical minimum distance function.

[0051] Geometric analysis shows that when the adjustment angle is small, the nozzle is far from the water tank, resulting in a larger theoretical minimum distance. As the adjustment angle increases to near its limit, the nozzle gradually moves closer to the water tank, and the theoretical minimum distance decreases accordingly. Therefore, the minimum safe distance threshold monotonically decreases as the adjustment angle increases; that is, the larger the angle, the smaller the required safe distance threshold.

[0052] See Figure 1 This invention discloses a redundancy matching control method for a drone photovoltaic cleaning nozzle and a water tank, comprising the following steps: Step S101: The control module obtains the real-time adjustment angle of the nozzle through the angle detection module.

[0053] Step S102: Calculate the minimum safe distance threshold under the current adjustment angle based on the redundancy space model.

[0054] Step S103: Obtain the actual distance between the nozzle and the surface of the water tank through the distance detection module.

[0055] Step S104: Determine whether the actual distance is less than the sum of the minimum safe distance threshold and the preset safety margin. If not, the current distance is safe, and return to step S101; if yes, the distance is too close, and proceed to step S105. The preset safety margin is a pre-set protection distance used to overcome control delay and measurement errors.

[0056] Step S105: Perform anti-lag intervention actions. This includes one or more of the following methods: The nozzle adjustment angular velocity is limited to within the maximum permissible angular velocity at the current adjustment angle. This maximum permissible angular velocity decreases as the adjustment angle increases; that is, the larger the angle and the closer the nozzle is to the water tank, the slower the permissible adjustment speed. At the same time, this maximum permissible angular velocity can also be dynamically adjusted according to the ratio of the current actual distance to the minimum safe distance threshold. The closer the distance is to the threshold, the smaller the permissible angular velocity.

[0057] Pause the angle adjustment and wait until the actual distance returns to a safe range before continuing the adjustment.

[0058] The indicator nozzle retracts along the normal direction of the water tank surface. The retraction distance is determined based on the difference between the current actual distance and the safety threshold; the larger the difference, the larger the retraction distance. When the actual distance has reached or exceeded the safety threshold, no retraction is required.

[0059] Step S106: Obtain the current actual achievable nozzle angle (which may be smaller than the expected angle due to anti-jamming intervention).

[0060] Step S107: Adjust the water jet parameters to compensate for the uniformity of coverage.

[0061] In a preferred embodiment of the present invention, the injection parameter compensation method is as follows: When the deviation between the actual achievable nozzle angle and the expected nozzle angle exceeds a preset threshold, the injection angle-pressure joint compensation table is invoked.

[0062] The compensation table uses angle deviation as an index and pre-stores water pressure increments and duty cycle corrections. Generally, when the actual angle is smaller than the expected angle (i.e., the nozzle fails to reach the expected large angle position), it is necessary to increase the water pressure and increase the duty cycle to compensate for insufficient spray coverage; when the actual angle is larger than the expected angle, the water pressure can be appropriately reduced or the duty cycle can be lowered to avoid over-spraying.

[0063] In addition, a coverage deviation coefficient is used to evaluate the uniformity of spraying. This coefficient is equal to the standard deviation of the impact force distribution on the photovoltaic panel surface divided by the average value of the impact force distribution; the smaller the value, the more uniform the spraying. The control target is set so that this coefficient is less than a preset threshold (e.g., 0.15).

[0064] In a preferred embodiment of the present invention, an initial calibration step is further included, as follows: Each drone can perform an initial calibration procedure after leaving the factory or each time it is powered on: The nozzle is controlled to sweep across its working angle range at a low speed, and the feedback from the current or force sensor of the nozzle drive motor is monitored in real time. When a sudden increase in current or abnormal resistance is detected, it is determined that the nozzle has made limit contact with the water tank, and the angle at this time is recorded.

[0065] Based on the difference between the actual contact angle and the theoretical limit angle, the actual mechanical assembly clearance is calculated. If the actual contact angle is earlier than the theoretical limit angle, it indicates that the assembly clearance is too small, and the safety factor needs to be increased accordingly or the theoretical minimum distance function needs to be directly corrected. Conversely, if the contact angle is later than the theoretical limit angle, it indicates that the clearance is too large, and the safety threshold can be appropriately reduced. Through this calibration step, the model is adapted to the individual differences of each piece of equipment.

[0066] In a preferred embodiment of the present invention, a predictive control step is further included, as follows: Before performing a cleaning task, the drone flight control system can obtain an estimated tilt angle of the photovoltaic modules (e.g., through visual recognition or mission planning documents).

[0067] Based on this estimated value, the desired nozzle angle is determined. Before the nozzle actually reaches the desired angle, the control module outputs a water tank position fine-tuning command (e.g., moving the water tank a preset small distance via a micro-rail) or a drone attitude adjustment command in advance, so as to reserve a larger redundancy space when the nozzle reaches the large angle area, thereby avoiding temporary intervention or reducing the intervention magnitude.

[0068] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A redundancy matching control method for photovoltaic cleaning nozzles and water tanks of unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: Real-time acquisition of the adjustment angle of the nozzle relative to the water tank; Based on the preset redundancy space model, the minimum safe distance threshold under the current adjustment angle is determined, wherein the minimum safe distance threshold decreases monotonically as the adjustment angle increases. Obtain the actual distance between the nozzle and the surface of the water tank; When the actual distance is less than the sum of the minimum safe distance threshold and the preset safety margin, an anti-jamming intervention action is performed. The anti-jamming intervention action includes at least: limiting the nozzle angular velocity, or pausing angle adjustment, or instructing the nozzle to retreat in a direction away from the water tank surface. At the same time, the water jet parameters are adjusted according to the currently achievable nozzle angle to compensate for the decrease in the uniformity of cleaning coverage caused by the limitation of the angle or the change of the spacing.

2. The redundant matching control method for UAV photovoltaic cleaning nozzles and water tanks according to claim 1, characterized in that, The redundancy space model is pre-established through the following steps: Three-dimensional geometric modeling was performed on the nozzle and water tank under different adjustment angles to obtain a three-dimensional model; Based on the three-dimensional model, the theoretical minimum distance function between the most prominent point of the nozzle housing and the surface of the water tank is extracted, with the adjustment angle as the independent variable. The minimum safe distance threshold is obtained based on the theoretical minimum distance function, and the formula for obtaining the minimum safe distance threshold is as follows: in, This is the minimum safe distance threshold; For safety factors, the value ranges from 1.2 to 1.8; It is the theoretical minimum distance function; To adjust the angle.

3. The redundant matching control method for UAV photovoltaic cleaning nozzles and water tanks according to claim 1, characterized in that, The anti-lag intervention also includes: The nozzle adjustment angular velocity is limited to within the maximum permissible angular velocity at the current adjustment angle, wherein the maximum permissible angular velocity at the current adjustment angle decreases as the adjustment angle increases.

4. The redundant matching control method for the UAV photovoltaic cleaning nozzle and water tank according to claim 1, characterized in that, The adjustment of water jet parameters includes at least one of the following: Adjust water pressure; Adjust the duty cycle of the injection pulse.

5. The redundant matching control method for the UAV photovoltaic cleaning nozzle and water tank according to claim 4, characterized in that, When the actual achievable nozzle angle deviates from the expected nozzle angle by more than a preset threshold, the jet angle-pressure joint compensation table is invoked. This compensation table pre-stores the water pressure increment and duty cycle correction under different angle deviations. The angle deviation is the difference between the expected nozzle angle and the actual achievable nozzle angle.

6. The redundant matching control method for UAV photovoltaic cleaning nozzles and water tanks according to claim 1, characterized in that, It also includes an initial calibration step, as detailed below: Control the nozzle to sweep across the working angle range at a low speed; The actual mechanical clearance can be inferred by detecting changes in motion resistance during limit contact. The redundant space model is corrected based on the actual mechanical clearances derived from the reverse calculation.

7. The redundant matching control method for UAV photovoltaic cleaning nozzles and water tanks according to claim 1, characterized in that, Also includes: The uniformity of spraying is evaluated using a coverage deviation coefficient, which is equal to the standard deviation of the impact force distribution divided by the mean of the impact force distribution, and the control target for the coverage deviation coefficient is set to be less than 0.

15.

8. The redundant matching control method for UAV photovoltaic cleaning nozzles and water tanks according to claim 1, characterized in that, It also includes predictive control steps, as detailed below: Obtain an estimated value for the tilt angle of photovoltaic modules; The desired nozzle angle is determined based on the estimated value. Before the nozzle reaches the desired nozzle angle, output a water tank position fine-tuning command or a drone attitude adjustment command to reserve redundant space.

9. A drone photovoltaic cleaning system, used to implement the redundant matching control method for the drone photovoltaic cleaning nozzle and water tank as described in any one of claims 1 to 8, characterized in that, include: Unmanned aerial vehicle (UAV) platform; A water tank is installed on the drone platform; The nozzle is mounted on the drone platform, and the nozzle angle is adjustable. An angle detection module is used to obtain the adjustment angle of the nozzle relative to the water tank in real time; A spacing detection module is used to obtain the actual spacing between the nozzle and the surface of the water tank. The execution module is used to perform anti-jamming intervention actions and adjust water jet parameters. The anti-jamming intervention actions include at least limiting the nozzle angular velocity, pausing angle adjustment, or instructing the nozzle to retreat in a direction away from the water tank surface. The adjustment of water jet parameters includes at least adjusting the water pressure or adjusting the jet pulse duty cycle. A control module is connected to the angle detection module, the spacing detection module, and the execution module, and the control module is configured to perform the method according to any one of claims 1 to 8.

10. A UAV photovoltaic cleaning system according to claim 9, characterized in that, The side of the water tank facing the nozzle has a non-planar or stepped profile, which is used to locally increase redundant space when the adjustment angle is large.

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