Joint module, lower hanging device and photovoltaic panel cleaning equipment

Abstract

A photovoltaic panel is used for the lower hanging device of the photovoltaic panel cleaning equipment, the lower hanging device further comprises a lower hanging module, the photovoltaic panel cleaning equipment further comprises an unmanned aerial vehicle, the lower hanging module is installed on the unmanned aerial vehicle, the unmanned aerial vehicle is placed on a supporting face when stopped, and the unmanned aerial vehicle flies to the position above the photovoltaic panel when working. The joint module comprises a supporting assembly and a spraying assembly, the supporting assembly is rotationally connected with the lower hanging module, and the spraying assembly is rotationally connected with the supporting assembly; when the unmanned aerial vehicle is switched between the stop state and the working state, the supporting assembly rotates relative to the lower hanging module, and when the unmanned aerial vehicle stops, the supporting assembly and the spraying assembly are spaced from the supporting face. The joint module is high in cleaning efficiency and good in use safety.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic panel cleaning, and specifically to a joint module, a hanging device and photovoltaic panel cleaning equipment. Background Art

[0002] Dust has always been a major challenge affecting the power generation efficiency and operation and maintenance of photovoltaic power stations. First, dust on the surface of photovoltaic panels will have a shielding effect on photovoltaic modules, reducing the intensity of solar radiation received by the photovoltaic module panels, resulting in power loss; moreover, surface dust coverage will increase the thermal resistance of the photovoltaic module panels, affecting the heat dissipation of photovoltaic modules, and stubborn stains will even form hot spot effects on the surface of photovoltaic panels, which will not only affect power generation, but also increase safety risks; in addition, when acidic or alkaline dust adheres to the surface of photovoltaic modules for a long time, it will slowly corrode the glass material on the surface of photovoltaic modules, forming pits, causing light to diffusely reflect when it enters the surface of the module, and the actual amount of solar energy reaching the surface of the photovoltaic module will be reduced, resulting in reduced power generation and a shortened module life. Therefore, cleaning photovoltaic panels is an important task.

[0003] Existing photovoltaic panels are difficult to clean and have low cleaning efficiency. Summary of the invention

[0004] The purpose of this application is to provide a joint module, a hanging device and a photovoltaic panel cleaning device. The joint module can be folded and flipped according to the take-off and landing of the drone and the angle of the photovoltaic panel. It is safe to use and has high cleaning efficiency.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a joint module, which is used for a hanging device of a photovoltaic panel cleaning equipment, wherein the hanging device also includes a hanging module, and the photovoltaic panel cleaning equipment also includes a drone, wherein the hanging module is installed on the drone, and the drone is placed on a supporting surface when stopped, and flies above the photovoltaic panel when working. The joint module includes a supporting assembly and a spray assembly, wherein the supporting assembly is rotatably connected to the hanging module, and the spray assembly is rotatably connected to the supporting assembly; when the drone switches between a stopped state and a working state, the supporting assembly rotates relative to the hanging module, and when the drone is stopped, the supporting assembly and the spray assembly are both spaced apart from the supporting surface.

[0007] In one embodiment, the support assembly includes a first rotating structure and a first support rod, the first rotating structure is installed on the lower hanging module, one end of the first support rod is connected to the first rotating structure, and the end of the first support rod away from the first rotating structure is connected to the spray assembly, and the first rotating structure is used to drive the first support rod to rotate; when the UAV is stopped, the distance from the end of the first support rod away from the first rotating structure to the lower hanging module in the first direction is a first distance D1, and when the UAV is working, the distance from the end of the first support rod away from the first rotating structure to the lower hanging module in the first direction is a second distance D2, satisfying: D2>D1, and the first direction is the height direction of the UAV.

[0008] In one embodiment, when the UAV is stopped, a first angle A1 is formed between the first support rod and the first direction, satisfying: 60°≤A1≤120°; and / or, when the spray assembly is working, a second angle A2 is formed between the first support rod and the first direction, satisfying: 0°≤A1≤60°.

[0009] In one embodiment, the spray assembly also includes a second rotating structure, a second support rod and a plurality of nozzles, wherein the second rotating structure connects an end of the first support rod away from the lower hanging module and the second support rod, and the plurality of nozzles are arranged at intervals on the second support rod. When the spray assembly is working, the nozzles are used to spray cleaning substances to clean the photovoltaic panel; the second rotating structure is used to drive the second support rod to rotate relative to the first support rod, and when the drone flies above the photovoltaic panel, the second rotating structure drives the second support rod to rotate relative to the first support rod according to the inclination angle of the photovoltaic panel, and ensures that when the spray assembly is working, the angle between the second support rod and the photovoltaic panel satisfies the first range.

[0010] In one embodiment, when the UAV is stopped, a third angle B1 is formed between the second support rod and the first direction, satisfying: 70°≤B1≤110°; and / or, when the spray assembly is working, a fourth angle B2 is formed between the second support rod and the first direction, satisfying: 45°≤B2≤135°.

[0011] In one embodiment, the joint module also includes a plurality of detection members, and the plurality of detection members are arranged at intervals on the second support rod, and the plurality of detection members are used to detect the distance between themselves and the photovoltaic panel and obtain a plurality of distance data, and the plurality of distance data are also used to obtain the angle between the second support rod and the photovoltaic panel; the second rotating structure drives the second support rod to rotate according to the plurality of distance data, and makes the angle between the second support rod and the photovoltaic panel satisfy the first range.

[0012] In one embodiment, the joint module also includes a control component, and the control component is electrically connected to the first rotating structure, the second rotating structure and the plurality of detection components. When the drone flies above the photovoltaic panel, based on the distance from the drone to the photovoltaic panel detected by the plurality of detection components, the control component controls the first rotating structure to drive the first support rod to rotate relative to the lower hanging module. The control component also controls the second rotating structure to drive the second support rod to rotate relative to the first support rod, so that the angle between the second support rod and the photovoltaic panel satisfies the first range, and the distances from the plurality of detection components to the photovoltaic panel all satisfy the second range.

[0013] In one embodiment, when the drone switches from a working state to a stopping state, the plurality of detection members are also used to detect the distance between the drone and the supporting surface, and the control member controls the first rotating structure to drive the first support rod to rotate relative to the lower hanging module according to the distance detected by the detection member, and the control member also controls the second rotating structure to drive the second support rod to rotate relative to the first support rod according to the angle between the second support rod and the supporting surface, so that when the drone is stopped, the support assembly and the spray assembly are both spaced apart from the supporting surface.

[0014] In a second aspect, the present application also provides a lower hanging device, comprising a lower hanging module and a joint module as described in any one of the various embodiments of the first aspect, wherein the lower hanging module is installed on the drone, and the supporting assembly of the joint module is rotatably connected to the lower hanging module.

[0015] In a third aspect, the present application also provides a photovoltaic panel cleaning device, comprising a drone and a hanging device as described in the second aspect, wherein the hanging device is installed on the drone.

[0016] By setting up a support assembly and a spray assembly, when the UAV flies above the photovoltaic panel, the support assembly and the spray assembly are unfolded, and the spray assembly can be rotated relative to the support assembly according to the inclination angle of the photovoltaic panel, so that the cleaning efficiency is high; when the UAV is stopped, the support assembly and the spray assembly are spaced from the supporting surface to avoid collision or interference with the supporting surface, and the safety of use is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1is a schematic diagram of a photovoltaic panel cleaning device in one state according to an embodiment;

[0019] Figure 2 is a schematic diagram of a photovoltaic panel cleaning device according to an embodiment in another state;

[0020] Figure 3 is a front view schematic diagram of a photovoltaic panel cleaning device according to an embodiment in another state;

[0021] Figure 4 is a schematic side view of a photovoltaic panel cleaning device in another state according to an embodiment;

[0022] Figure 5 It is an exploded schematic diagram of a joint module of an embodiment.

[0023] Description of reference numerals:

[0024] 1000- Photovoltaic panel cleaning equipment;

[0025] 100-UAV, 10-landing gear;

[0026] 200-hanging device, 20-hanging module, 21-support frame, 22-cleaning container, 30-joint module, 31-support assembly, 311-first rotating structure, 312-first supporting rod, 313-first connecting member, 314-second connecting member, 315-first driving member, 32-spraying assembly, 321-second rotating structure, 322-second supporting rod, 323-spray head, 324-third connecting member, 325-fourth connecting member, 326-second driving member;

[0027] Z-first direction, A1-first angle, B1-third angle, B2-fourth angle, D1-first distance, D2-second distance, L1-first length, L2-second length. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] 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 there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0030] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0031] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0032] Please refer to Figure 1 An embodiment of the present application provides a photovoltaic panel cleaning device 1000, including a drone 100 and a hanging device 200 in the embodiment of the present application, and the hanging device 200 is installed on the drone 100.

[0033] The drone 100 may be any feasible drone 100 in the art, such as a fixed-wing drone, a rotary-wing drone, etc. The drone 100 may be a quadcopter drone, a hexacopter drone, or an octacopter drone, etc. The drone 100 may be a self-produced drone, or any usable drone, without limitation.

[0034] The drone 100 includes a fuselage, a power system, a flight control system, a landing gear, etc., and the various parts can be connected and fixed by welding, bonding, clamping, screwing, riveting, magnetic connection, etc. The fuselage can be an integrated structure or a split structure, without limitation. The power system includes a motor, a propeller, a battery, etc., and the take-off, hovering and movement of the drone 100 are achieved by adjusting the speed and direction of different propellers. The propeller can be a foldable and rotatable propeller. The flight control system includes a gyroscope, an accelerometer, a GPS module, an electronic compass, and a barometer. The gyroscope is used to detect the rotation change of the drone 100, the accelerometer monitors its linear acceleration, the GPS module provides the accurate position information of the drone 100, the electronic compass is used to determine the heading information of the drone 100, and the barometer is used to measure the height of the drone 100. These sensors together help the flight control system maintain the stability of the flight and realize functions such as automatic navigation, fixed-point hovering or flight path planning. The landing gear includes a landing gear 10 and a landing device, which is used for the drone 100 to take off, land, taxi and park on the ground or water. The height of the landing gear 10 needs to be high enough to ensure that the lower hanging device 200 does not contact the ground or other supporting surfaces when landing. The landing gear 10 is generally made of lightweight materials such as composite materials or carbon fiber materials to ensure the take-off and landing stability of the drone 100.

[0035] The connection between the lower hanging device 200 and the drone 100 can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation. The photovoltaic panel cleaning device 1000 in the embodiment of the present application is used to clean the photovoltaic panel. The drone 100 is placed on a support surface when it is stopped, and flies above the photovoltaic panel when it is working.

[0036] The photovoltaic panel cleaning device 1000 in the embodiment of the present application adopts the drone 100 and the lower hanging device 200 in the embodiment of the present application. The connection between the lower hanging device 200 and the drone 100 is stable. The drone 100 carries the lower hanging device 200 to fly above the photovoltaic panel for cleaning. The cleaning method is efficient and can also save costs.

[0037] Please refer to Figure 1 , Figure 2 and Figure 3 The embodiment of the present application also provides a lower hanging device 200, including a lower hanging module 20 and a joint module 30 in the embodiment of the present application, the lower hanging module 20 is installed on the drone 100, and the supporting assembly 31 of the joint module 30 is rotatably connected to the lower hanging module 20.

[0038] First define the direction. Figure 2 As shown, Z is the height direction of the drone 100. The height direction of the drone 100 is the height direction of the drone 100 when the drone 100 is parked horizontally on the ground, that is, the gravity direction.

[0039] The lower hanging module 20 is connected to the end of the drone 100 away from the propeller in the Z direction. Optionally, the lower hanging module 20 includes a support frame 21, and the support frame 21 is connected and fixed to the drone 100. The connection method can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation. The lower hanging device 200 also includes a cleaning container 22, and the cleaning container 22 is accommodated in the support frame 21 and connected and fixed to the support frame 21. The cleaning container 22 is used to accommodate a cleaning medium. The cleaning medium in the cleaning container 22 can be determined according to actual conditions. For the photovoltaic panel cleaning device 1000 in the embodiment of the present application, the cleaning medium in the cleaning container 22 can be water, air, detergent, etc., without limitation.

[0040] The support frame 21 includes a plurality of support beams. Optionally, there are twelve support beams, and the plurality of support beams are connected and fixed to form a rectangular parallelepiped shape. The support frame 21 also includes a crossbeam, which is connected between two side beams away from the drone 100 and perpendicular to the height direction of the drone 100, and the joint module 30 is rotatably connected to the midpoint of the crossbeam. In this arrangement, the center of gravity of the lower hanging module 20 roughly coincides with the center of gravity of the drone 100, and the overall weight of the photovoltaic panel cleaning device 1000 is balanced.

[0041] Optionally, the size of the support frame 21 in the Z direction is smaller than the size of the landing gear 10 in the Z direction, so as to avoid interference between the support frame 21 and the support surface when the drone 100 is shut down and the landing gear 10 contacts the support surface.

[0042] Optionally, the lower hanging module 20 can be connected and fixed to a variety of different models of drones 100 to improve the adaptability of the lower hanging device 200.

[0043] The lower hanging device 200 in the embodiment of the present application is configured with a lower hanging module 20 and a joint module 30. The lower hanging module 20 carries a cleaning medium, and the lower hanging module 20 can be adapted to different types of drones 100, and has a wide range of uses. The lower hanging device 200 will not interfere with the supporting surface when the drone 100 stops and lands, and has high safety.

[0044] The joint module 30 in the embodiment of the present application is introduced in detail below.

[0045] Please refer to Figure 2 and Figure 3 The embodiment of the present application provides a joint module 30, which is used for the lower hanging device 200 of the photovoltaic panel cleaning equipment 1000. The drone 100 is placed on the support surface when it is stopped, and flies above the photovoltaic panel when the drone 100 is working.

[0046] The joint module 30 includes a support assembly 31 and a spray assembly 32. The support assembly 31 is rotatably connected to the lower hanging module 20, and the spray assembly 32 is rotatably connected to the support assembly 31. When the drone 100 switches between the stop state and the working state, the support assembly 31 rotates relative to the lower hanging module 20, so that when the drone 100 is stopped, the support assembly 31 and the spray assembly 32 are both spaced from the support surface.

[0047] The connection between the support assembly 31 and the lower hanging module 20 can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation. The connection between the various parts of the joint module 30, such as between the spray assembly 32 and the various parts of the support assembly 31, between the various parts of the spray assembly 32 and the various parts of the support assembly 31, can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation.

[0048] The support assembly 31 is used to rotate relative to the lower hanging module 20 to drive the spray assembly 32 to fold or unfold. The spray assembly 32 is used to rotate relative to the support assembly 31 according to the inclination angle of the photovoltaic panel and clean the surface of the photovoltaic panel.

[0049] When the drone 100 is in a stopped state, Figure 3As shown, the landing gear 10 of the drone 100 contacts the support surface to support the photovoltaic panel cleaning device 1000. At this time, the support assembly 31 and the spray assembly 32 are both in a folded state. At this time, there is a gap between the support assembly 31 and the spray assembly 32 and the support surface to avoid interference and collision. When the drone 100 switches from the shutdown state to the working state, the support assembly 31 can rotate relative to the lower hanging module 20 (i.e., from the folded state to the unfolded state, as shown in FIG. 2 ). Figure 1 As shown in FIG. 1 , the folded state can also be maintained without restriction. When the drone 100 flies above the photovoltaic panel, as shown in FIG. Figure 2 As shown, the support assembly 31 is in the unfolded state, and the spray assembly 32 rotates relative to the support assembly 31 according to the inclination angle of the photovoltaic panel, and cleans the surface of the photovoltaic panel. When the drone 100 flies away from the photovoltaic panel, the spray assembly 32 can rotate back to the folded position, or maintain the rotation angle during cleaning without restriction; the support assembly 31 can rotate from the unfolded state relative to the lower hanging module 20 to enter the folded state, or maintain the unfolded state without restriction. When the drone 100 switches from the working state to the shutdown state, the support assembly 31 and the spray assembly 32 are both switched from the unfolded state to the folded state, so that when the drone 100 is shut down, there is a gap between the support assembly 31 and the spray assembly 32 and the support surface.

[0050] The joint module 30 in the embodiment of the present application is equipped with a support component 31 and a spray component 32. When the drone 100 flies above the photovoltaic panel, the support component 31 and the spray component 32 are unfolded, and the spray component 32 can be rotated relative to the support component 31 according to the inclination angle of the photovoltaic panel, so that the cleaning efficiency is high; when the drone 100 stops, the support component 31 and the spray component 32 are folded to avoid collision or interference with the supporting surface, so that the safety of use is high.

[0051] In one embodiment, Figure 2 and Figure 5 As shown, the support assembly 31 includes a first rotating structure 311 and a first support rod 312. The first rotating structure 311 is installed on the lower hanging module 20. One end of the first support rod 312 is connected to the first rotating structure 311. One end of the first support rod 312 away from the first rotating structure 311 is connected to the spray assembly 32. The first rotating structure 311 is used to drive the first support rod 312 to rotate.

[0052] The first rotating structure 311 includes a first connecting member 313, a second connecting member 314 and a first driving member 315. The first connecting member 313 is connected and fixed to the lower hanging module 20, and the second connecting member 314 is connected and fixed to the first support rod 312. The first driving member 315 is used to drive the second connecting member 314 to rotate relative to the first connecting member 313 to drive the first support rod 312 to rotate.

[0053] The first driving member 315 can be a stepper motor, a DC motor, a hydraulic cylinder, etc., or any other feasible driving structure in the art, without limitation. The shapes of the first connecting member 313 and the second connecting member 314 can be roughly block-shaped, columnar, or any other feasible structure, without limitation. The first driving member 315 can be connected to any one or more of the first connecting member 313, the second connecting member 314, the lower hanging module 20, and the first support rod 312, and the connection method can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation.

[0054] In a specific embodiment, Figure 5 As shown, the first connecting member 313 and the second connecting member 314 jointly enclose a first receiving cavity, the first driving member 315 is received in the first receiving cavity, and the stator of the first driving member 315 is connected and fixed to the first connecting member 313, and the rotor of the first driving member 315 is connected and fixed to the second connecting member 314.

[0055] like Figure 2 and Figure 4 As shown, when the UAV 100 is stopped, the distance between the end of the first support rod 312 away from the first rotating structure 311 in the first direction and the lower hanging module 20 is a first distance D1. When the UAV 100 is working, the distance between the end of the first support rod 312 away from the first rotating structure 311 in the first direction and the lower hanging module 20 is a second distance D2, satisfying: D2>D1, and the first direction is the height direction of the UAV 100, that is, the Z direction.

[0056] When the drone 100 is stopped, Figure 4 As shown, the end of the first support rod 312 away from the first rotating structure 311, i.e., the end of the first support rod 312 connected to the spray assembly 32, has a smaller first distance D1 to the lower hanging module 20 in the Z direction, i.e., the support assembly 31 is folded, thereby preventing the spray assembly 32 and the first support rod 312 from colliding with the supporting surface, thereby reducing the service life.

[0057] When the drone 100 is working, Figure 2 As shown, one end of the first support rod 312 away from the first rotating structure 311, that is, the end of the first support rod 312 connected to the spray assembly 32 is farther away from the lower hanging module 20 in the Z direction, that is, the support assembly 31 is unfolded. At this time, the spray assembly 32 is far away from the drone 100, and the spray assembly 32 has a larger activity space, which is convenient for the spray assembly 32 to rotate relative to the first support rod 312 according to the inclination angle of the photovoltaic panel, and can improve the cleaning efficiency of the spray assembly 32.

[0058] In one embodiment, Figure 4As shown, when the drone 100 is stopped, a first angle A1 is formed between the first support rod 312 and the Z direction, satisfying: 60°≤A1≤120°; and / or, when the spray assembly 32 is working, a second angle A2 is formed between the first support rod 312 and the Z direction, satisfying: 0°≤A1≤60°.

[0059] The angle between the first support rod 312 and the Z direction is the angle between the extension direction of the first support rod 312 and the Z direction. Optionally, one side of the first angle A1 and the second angle A2 is the extension direction of the first support rod 312, and the other side extends from the connection position of the first support rod 312 and the spray assembly 32 to a side away from the drone 100 in the Z direction.

[0060] Optionally, the size of the first angle A1 can be 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, 120°, etc., without limitation. When the first angle A1 is greater than 120°, the angle at which the first support rod 312 is folded toward the drone 100 is too large, and the spray assembly 32 may interfere with the landing gear 10 of the drone 100; when the first angle A1 is less than 120°, the distance between the end of the first support rod 312 away from the drone 100 and the support surface in the Z direction is relatively close, and the spray assembly 32 may collide with the support surface.

[0061] Optionally, the size of the second angle A2 can be 0°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc., without limitation. The size of the second angle A2 can be adjusted according to the arrangement of the photovoltaic panel, thereby adjusting the distance from the spray assembly 32 to the photovoltaic panel. When the second angle A2 is 0°, the extension direction of the first support rod 312 is parallel to the Z direction, and the farthest distance of the spray assembly 32 from the drone 100 is the maximum value; when the first angle A1 is greater than 60°, the first support rod 312 folds toward the drone 100 at a larger angle. Since the spray assembly 32 will also rotate relative to the first support rod 312, the spray assembly 32 may interfere with the drone 100.

[0062] In a specific embodiment, Figure 2 As shown, when the drone 100 flies above the photovoltaic panel or hovers, the second angle A2 is 0°, and the first support rod 312 extends along the direction of gravity; when the drone 100 is stopped, Figure 4 As shown, the first angle A1 is 90°, and the extending direction of the first support rod 312 is perpendicular to the direction of gravity.

[0063] In summary, by setting the first angle A1 between the first support rod 312 and the Z direction to satisfy 60°≤A1≤120° when the drone 100 is stopped, and / or the second angle A2 between the first support rod 312 and the Z direction to satisfy 0°≤A1≤60° when the spray assembly 32 is working, the rotation angle of the first support rod 312 is reasonable, which can avoid the joint module 30 from colliding with the supporting surface when the drone 100 is stopped, and avoid interference between the spray assembly 32 and parts of the drone 100 when the drone 100 flies above the photovoltaic panel, and has high safety in use.

[0064] In one embodiment, Figure 2 and Figure 5 As shown, the spray assembly 32 also includes a second rotating structure 321, a second support rod 322 and a plurality of nozzles 323. The second rotating structure 321 connects the end of the first support rod 312 away from the lower hanging module 20 and the second support rod 322. The plurality of nozzles 323 are arranged at intervals on the second support rod 322. When the spray assembly 32 is working, the nozzles 323 are used to spray cleaning substances to clean the photovoltaic panels. The second rotating structure 321 is used to drive the second support rod 322 to rotate relative to the first support rod 312.

[0065] The second rotating structure 321 includes a third connecting member 324, a fourth connecting member 325 and a second driving member 326. The third connecting member 324 is fixedly connected to the first support rod 312, and the fourth connecting member 325 is fixedly connected to the second support rod 322. The second driving member 326 is used to drive the fourth connecting member 325 to rotate relative to the third connecting member 324 to drive the second support rod 322 to rotate.

[0066] The second driving member 326 can be a stepper motor, a DC motor, a hydraulic cylinder, etc., or any other feasible driving structure in the art, without limitation. The shapes of the third connecting member 324 and the fourth connecting member 325 can be roughly block-shaped, columnar, or any other feasible structure, without limitation. The second driving member 326 can be connected to any one or more of the third connecting member 324, the fourth connecting member 325, the first support rod 312 and the second support rod 322, and the connection method can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation.

[0067] In a specific embodiment, Figure 5 As shown, the third connecting member 324 constitutes at least a part of the stator of the second driving member 326. The third connecting member 324 has a second receiving cavity, and the second receiving cavity receives at least a part of the rotor of the second driving member 326. The rotor of the second driving member 326 is exposed from the third connecting member 324 and is connected and fixed to the fourth connecting member 325.

[0068] The number of the nozzles 323 can be 2, 3, 4, 5, 6, etc., without limitation. For example, as shown in the figure, the number of the nozzles 323 is 4. The plurality of nozzles 323 can be arranged at equal intervals on the second support rod 322, and the distance between two adjacent nozzles 323 can also be different, without limitation.

[0069] The nozzle 323 is fixedly connected to the second support rod 322, and / or the nozzle 323 is rotatably connected to the second support rod 322. Optionally, multiple nozzles 323 are all fixedly connected to the second support rod 322; or, multiple nozzles 323 are all rotatably connected to the second support rod 322; or, at least one of the multiple nozzles 323 is fixedly connected to the second support rod 322, and at least one of the multiple nozzles 323 is rotatably connected to the second support rod 322, all of which are possible and are not specifically limited. The connection method between the nozzle 323 and the second support rod 322 can be welding, bonding, clamping, screwing, riveting, magnetic connection, etc., without limitation.

[0070] The nozzle 323 can be used to spray cleaning media such as ion wind or air-water mist. According to the degree of dirtiness of the photovoltaic panel, the user can choose the nozzle 323 to spray different cleaning media for cleaning.

[0071] When the drone 100 flies above the photovoltaic panel, the second rotating structure 321 drives the second support rod 322 to rotate relative to the first support rod 312 according to the inclination angle of the photovoltaic panel, so that when the spray assembly 32 is working, the angle between the second support rod 322 and the photovoltaic panel satisfies the first range.

[0072] Optionally, the first range may be 0° to 10°, and when the angle between the second support rod 322 and the photovoltaic panel is 0°, the second support rod 322 is parallel to the photovoltaic panel. By controlling the angle between the second support rod 322 and the photovoltaic panel to be smaller, the overlapping area between the cleanable ranges of the multiple nozzles 323 can be reduced, and the cleaning efficiency of the spray assembly 32 is high.

[0073] By configuring the spray assembly 32 to also include a second rotating structure 321, a second support rod 322 and a plurality of nozzles 323, when the spray assembly 32 is working, the angle between the second support rod 322 and the photovoltaic panel satisfies the first range, and the overlapping area between the cleanable ranges of the plurality of nozzles 323 can be reduced, thereby increasing the cleaning efficiency of the spray assembly 32.

[0074] In one embodiment, when the drone 100 is stopped, Figure 3 As shown, there is a third angle B1 between the second support rod 322 and the Z direction, which satisfies: 70°≤B1≤110°; and / or, when the spray assembly 32 is working, as shown Figure 2 As shown, there is a fourth angle B2 between the second support rod 322 and the Z direction, which satisfies: 45°≤B2≤135°.

[0075] The angle between the second support rod 322 and the Z direction is the angle between the extension direction of the second support rod 322 and the Z direction. Optionally, one side of the third angle B1 and the fourth angle B2 is the extension direction of the second support rod 322, and the other side extends from the connection position of the second support rod 322 and the second rotating structure 321 in the Z direction to the side away from the drone 100, or the other side extends from the connection position of the second support rod 322 and the second rotating structure 321 in the Z direction to the side toward the drone 100, without limitation.

[0076] Optionally, the third angle B1 may be 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, etc., without limitation. When the third angle B1 is greater than 110° or less than 70°, the distances between the two ends of the second support rod 322 and the support surface differ too much, which may cause one end to contact or collide with the support surface.

[0077] Optionally, the size of the fourth angle B2 can be 45°, 50°, 55°, 60°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, etc., without limitation. The size of the fourth angle B2 can be adjusted according to the inclination angle of the photovoltaic panel, so that the second support rod 322 is roughly parallel to the photovoltaic panel, the coverage area of ​​the nozzle 323 is increased, and the cleaning efficiency of the spray assembly 32 is improved. When the fourth angle B2 is greater than 135° or less than 45°, the inclination of the second support rod 322 relative to the Z direction is too large, and the cleaning medium sprayed by the nozzle 323 may fall under the influence of gravity, which will reduce the coverage area of ​​the nozzle 323 and affect the cleaning efficiency of the spray assembly 32. In addition, the inclination angle of the photovoltaic panel relative to the ground generally does not exceed 45° to avoid affecting the utilization rate of light energy by the photovoltaic panel.

[0078] In summary, by setting the third angle B1 between the second support rod 322 and the Z direction to satisfy 70°≤B1≤110° when the drone 100 is stopped, and / or, when the spray assembly 32 is working, the fourth angle B2 between the second support rod 322 and the Z direction satisfies 45°≤B2≤135°, the rotation angle of the second support rod 322 is reasonable, the coverage area of ​​the nozzle 323 is large, the cleaning efficiency of the spray assembly 32 is high, and the risk of collision between the spray assembly 32 and the supporting surface can be reduced when the drone 100 is stopped, and the safety of use is high.

[0079] Optionally, the extension direction of the first support rod 312 is approximately perpendicular to the extension direction of the second support rod 322, and the angle between the two can be 0°-10°, avoiding a large difference in the distance from both ends of the second support rod 322 to the landing gear 10, thereby reducing the risk of collision.

[0080] Optionally, the first support rod 312 has a first length L1, and the second support rod 322 has a second length L2, satisfying: 1 / 5≤L1 / L2≤1 / 2. Specifically, the value of L1 / L2 can be 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc., without limitation.

[0081] Optionally, the second length L2 satisfies: 3m≤L2≤5m. Specifically, the second length L2 can be 3m, 3.5m, 4m, 4.5m, 5m, etc., without limitation. The value of the second length L2 can be determined according to the width of the photovoltaic panel, preferably, the overall coverage width of the multiple nozzles 323 on the second support rod 322 is equal to the width of the photovoltaic panel.

[0082] In one embodiment, the joint module 30 further includes a plurality of detection members (not shown in the figure), which are arranged at intervals on the second support rod 322, and the plurality of detection members are used to detect the distance from the second support rod 322 to the photovoltaic panel and obtain a plurality of distance data, which are also used to obtain the angle between the second support rod 322 and the photovoltaic panel. The second rotating structure 321 drives the second support rod 322 to rotate according to the plurality of distance data, and makes the angle between the second support rod 322 and the photovoltaic panel meet the first range.

[0083] The detection element may be a commonly used distance measuring detection element in the art, such as a laser rangefinder, an infrared measuring instrument, a magnetoresistive angle sensor, etc., or any other feasible distance measuring structure, without specific limitation.

[0084] The inspection process of the inspection parts can be roughly as follows: when the drone 100 flies above the photovoltaic panel, Figure 1 As shown, multiple detection members respectively detect the initial distance from themselves to the photovoltaic panel and obtain multiple distance data. The angle between the second support rod 322 and the photovoltaic panel at this time can be obtained based on the difference between the multiple distance data. Subsequently, the second rotating structure 321 drives the second support rod 322 to rotate according to the detected multiple distance data to reduce the difference between the multiple distance data, thereby reducing the angle between the second support rod 322 and the photovoltaic panel. After the second support rod 322 rotates a certain angle, the multiple detection members can be detected again. If the angle between the second support rod 322 and the photovoltaic panel still does not meet the first range, the second rotating structure 321 drives the second support rod 322 to rotate again according to the detected multiple distance data, until the detection data of the multiple detection members indicate that the angle between the second support rod 322 and the photovoltaic panel meets the first range, as shown in FIG. Figure 2As shown; if the angle between the second support rod 322 and the photovoltaic panel meets the first range, the angle adjustment of the second support rod 322 is completed. At this time, the coverage area of ​​the nozzle 323 on the photovoltaic panel is larger and the cleaning efficiency is high.

[0085] It is feasible that the first range is 0°-10°. When the difference between the multiple distance data is zero, that is, the distances from the multiple detection members to the photovoltaic panel are equal, the second support rod 322 is parallel to the photovoltaic panel, and the angle between the second support rod 322 and the photovoltaic panel is zero.

[0086] Exemplarily, there are two detection members, and one detection member is installed at each of the two ends of the second support rod 322 .

[0087] By setting up multiple detection parts, the angle between the second support rod 322 and the photovoltaic panel is obtained according to the distance from the multiple detections to the photovoltaic panel and the multiple distance data. The second rotating structure 321 drives the second support rod 322 to rotate according to the multiple distance data, and makes the angle between the second support rod 322 and the photovoltaic panel meet the first range. The coverage area of ​​the nozzle 323 on the photovoltaic panel is large and the cleaning efficiency is high.

[0088] In one embodiment, the joint module 30 also includes a control component (not shown in the figure), which is electrically connected to the first rotating structure 311, the second rotating structure 321 and multiple detection components. When the drone 100 flies above the photovoltaic panel, based on the distance from itself to the photovoltaic panel detected by multiple detection components, the control component controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20. The control component also controls the second rotating structure 321 to drive the second support rod 322 to rotate relative to the first support rod 312, so that the angle between the second support rod 322 and the photovoltaic panel satisfies the first range, and the distances between the multiple detection components and the photovoltaic panel all satisfy the second range.

[0089] Optionally, the control component receives an external control signal (such as a control signal sent by a remote control) and controls the rotation of the first rotating structure 311 and the second rotating structure 321, or the control component automatically controls the rotation of the first rotating structure 311 and the second rotating structure 321 according to the distance data detected by the detection component, or the control component can also be any other feasible control method without limitation.

[0090] The control component is also used to control the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20 according to multiple distance data detected by multiple detection components, so that the distances between the multiple detection components and the photovoltaic panel all meet the second range. When the drone 100 is working, the distance from the first support rod 312 to the photovoltaic panel can be adjusted to a specified height, thereby facilitating the control of the drone 100 to fly at a fixed altitude.

[0091] By setting a control component, the control component controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20, and the distance between the first support rod 312 and the lower hanging module 20 and the photovoltaic panel can be adjusted to control the drone 100 to fly at a fixed altitude; the control component controls the second rotating structure 321 to drive the second support rod 322 to rotate relative to the first support rod 312, and the coverage of multiple nozzles 323 on the photovoltaic panel can be adjusted to improve cleaning efficiency.

[0092] In one embodiment, when the drone 100 switches from a working state to a shutdown state, multiple detection components are also used to detect the distance between the drone 100 and the support surface. The control component controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20 according to the distance detected by the detection component. The control component also controls the second rotating structure 321 to drive the second support rod 322 to rotate relative to the first support rod 312 according to the angle between the second support rod 322 and the support surface, so that when the drone 100 is shut down, the support assembly 31 and the spray assembly 32 are both spaced apart from the support surface.

[0093] The control component receives an external control signal (for example, a control signal sent by a remote control) or automatically controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20 according to multiple distance data detected by multiple detection components, so that the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is a first distance D1; the control component controls the second rotating structure 321 to drive the second support rod 322 to rotate, and makes the angle between the second support rod 322 and the Z direction be a third angle B1. The distances from the first support rod 312 and the second support rod 322 to the supporting surface can be adjusted before the drone 100 is shut down, so as to avoid collision or interference between the support assembly 31 and the spray assembly 32 and the supporting surface when the drone 100 is shut down, and the use safety is high.

[0094] Optionally, the states of the photovoltaic panel cleaning device 1000 can be roughly divided into: the drone 100 is in a shutdown state (such as Figure 3 As shown); the UAV 100 is in working state, and the UAV 100 leaves the supporting surface and has not yet flown above the photovoltaic panel; the UAV 100 is in working state, the UAV 100 flies above the photovoltaic panel, and the spray assembly 32 works (as shown Figure 2 ); UAV 100 working state, UAV 100 leaves from above the photovoltaic panel and has not yet flown above the support surface; UAV 100 working state, UAV 100 flies above the support surface. After the photovoltaic panel cleaning device 1000 enters the above states one round in sequence, the photovoltaic panel cleaning device 1000 completes a cleaning operation.

[0095] When the drone 100 enters the working state from the stop state, the drone 100 leaves the support surface, and the drone 100 does not fly above the photovoltaic panel, the support assembly 31 can remain in the folded state, that is, the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is still the first distance D1; when the drone 100 flies above the photovoltaic panel, the first rotating structure 311 drives the first support rod 312 to rotate, and makes the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 to the second distance D2, and the spray assembly 32 works. Alternatively, when the drone 100 enters the working state from the stop state, the drone 100 leaves the support surface, and the drone 100 does not fly above the photovoltaic panel, the first rotating structure 311 drives the first support rod 312 to rotate, and makes the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 to the second distance D2, and maintains this state until the drone 100 flies above the photovoltaic panel, and the spray assembly 32 works.

[0096] During the operation of the spray assembly 32, the second angle A2 between the first support rod 312 and the Z direction and the fourth angle B2 between the second support rod 322 and the Z direction can be adjusted according to the laying conditions of the photovoltaic panels and the inclination angle of the photovoltaic panels. For example, when the photovoltaic panels are laid along a straight line and the drone 100 flies above the photovoltaic panels and the spray assembly 32 is working, multiple detection components can regularly detect the distance between the drone 100 and the photovoltaic panels, and the control components can make real-time adjustments according to the conditions of the photovoltaic panels to improve the cleaning efficiency of the photovoltaic panel cleaning device 1000.

[0097] Optionally, the second support rod 322 can also rotate around the Z direction under the drive of the second rotating structure 321. When the photovoltaic panel is laid along the arc, the drone 100 flies above the photovoltaic panel and the spray assembly 32 is working, multiple detection components can regularly detect the distance between itself and the photovoltaic panel, and the control component makes real-time adjustments according to the situation of the photovoltaic panel, so that the extension direction of the second support rod 322 remains roughly parallel to the width direction of the photovoltaic panel, thereby improving the cleaning efficiency of the photovoltaic panel cleaning device 1000 and avoiding the waste of cleaning media.

[0098] After the spray assembly 32 completes its work, the drone 100 leaves from above the photovoltaic panel, and when the drone 100 has not flown above the supporting surface, the spray assembly 32 can maintain a tilted state, that is, the angle between the second support rod 322 and the Z direction is still the fourth angle B2, and the support assembly 31 can also maintain an unfolded state, that is, the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is still the second distance D2, until the drone 100 flies above the supporting surface, the first rotating structure 311 drives the first support rod 312 to rotate, and makes the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 the first distance D1, and the second rotating structure 321 drives the second support rod 322 to rotate, and makes the angle between the second support rod 322 and the Z direction the third angle B1.

[0099] Alternatively, at any time during the process from when the drone 100 leaves from above the photovoltaic panel to when the drone 100 flies above the supporting surface, the first rotating structure 311 drives the first support rod 312 to rotate, and makes the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 be a first distance D1, and the second rotating structure 321 drives the second support rod 322 to rotate, and makes the angle between the second support rod 322 and the Z direction be a third angle B1, without specific limitation.

[0100] Alternatively, after the spray assembly 32 completes its work, before the drone 100 leaves from above the photovoltaic panel, the first rotating structure 311 drives the first support rod 312 to rotate, and makes the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 be the first distance D1, and the second rotating structure 321 drives the second support rod 322 to rotate, and makes the angle between the second support rod 322 and the Z direction be the third angle B1, that is, when the drone 100 leaves from above the photovoltaic panel, the support assembly 31 and the spray assembly 32 have been folded, and when the drone 100 flies above the supporting surface, it can directly stop on the supporting surface and enter the parking state.

[0101] Optionally, the photovoltaic panel cleaning device 1000 may also adopt any other feasible working scheme without limitation.

[0102] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0103] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A joint module, characterized in that: A hanging device for a photovoltaic panel cleaning device, the hanging device further comprising a hanging module, the photovoltaic panel cleaning device further comprising a drone, the hanging module being mounted on the drone, the drone being placed on a support surface when stopped, and the drone flying above the photovoltaic panel when working, the joint module comprising: A support assembly, rotatably connected to the lower hanging module; A spray assembly, rotatably connected to the support assembly; When the UAV switches between a stop state and a working state, the support assembly rotates relative to the lower hanging module, so that when the UAV is stopped, the support assembly and the spray assembly are spaced apart from the support surface.

2. The joint module according to claim 1, characterized in that: The support assembly includes a first rotating structure and a first supporting rod, wherein the first rotating structure is installed on the lower hanging mold assembly, one end of the first supporting rod is connected to the first rotating structure, and one end of the first supporting rod away from the first rotating structure is connected to the spray assembly, and the first rotating structure is used to drive the first supporting rod to rotate; When the UAV is stopped, the distance from one end of the first support rod away from the first rotating structure to the lower hanging module in the first direction is a first distance D1. When the UAV is working, the distance from one end of the first support rod away from the first rotating structure to the lower hanging module in the first direction is a second distance D2, satisfying: D2>D1, and the first direction is the height direction of the UAV.

3. The joint module according to claim 2, characterized in that: When the drone is stopped, a first angle A1 is formed between the first support rod and the first direction, satisfying: 60°≤A1≤120°; And / or, when the spray assembly is working, a second angle A2 is formed between the first support rod and the first direction, satisfying: 0°≤A1≤60°.

4. The joint module according to claim 2, characterized in that: The spray assembly further includes a second rotating structure, a second support rod and a plurality of spray heads, wherein the second rotating structure connects an end of the first support rod away from the lower hanging module and the second support rod, and the plurality of spray heads are arranged at intervals on the second support rod, and when the spray assembly is working, the spray heads are used to spray cleaning substances to clean the photovoltaic panels; The second rotating structure is used to drive the second support rod to rotate relative to the first support rod. When the UAV flies above the photovoltaic panel, the second rotating structure drives the second support rod to rotate relative to the first support rod according to the inclination angle of the photovoltaic panel, and when the spray assembly is working, the angle between the second support rod and the photovoltaic panel satisfies the first range.

5. The joint module according to claim 4, characterized in that: When the drone is stopped, a third angle B1 is formed between the second support rod and the first direction, satisfying: 70°≤B1≤110°; And / or, when the spray assembly is working, a fourth angle B2 is formed between the second support rod and the first direction, satisfying: 45°≤B2≤135°.

6. The joint module according to claim 4, characterized in that: The joint module also includes a plurality of detection parts, which are arranged at intervals on the second support rod, and are used to detect the distance between themselves and the photovoltaic panel and obtain a plurality of distance data. The plurality of distance data are also used to obtain the angle between the second support rod and the photovoltaic panel; the second rotating structure drives the second support rod to rotate according to the plurality of distance data, and makes the angle between the second support rod and the photovoltaic panel satisfy the first range.

7. The joint module according to claim 6, characterized in that: The joint module also includes a control component, which is electrically connected to the first rotating structure, the second rotating structure and multiple detection components. When the drone flies above the photovoltaic panel, based on the distance from the drone to the photovoltaic panel detected by the multiple detection components, the control component controls the first rotating structure to drive the first support rod to rotate relative to the lower hanging module. The control component also controls the second rotating structure to drive the second support rod to rotate relative to the first support rod, so that the angle between the second support rod and the photovoltaic panel satisfies the first range, and the distances from the multiple detection components to the photovoltaic panel all satisfy the second range.

8. The joint module according to claim 7, characterized in that: When the drone switches from a working state to a stopping state, the multiple detection parts are also used to detect the distance between the drone and the supporting surface. The control part controls the first rotating structure to drive the first support rod to rotate relative to the lower hanging module according to the distance detected by the detection part. The control part also controls the second rotating structure to drive the second support rod to rotate relative to the first support rod according to the angle between the second support rod and the supporting surface, so that when the drone is stopped, the support assembly and the spray assembly are both spaced apart from the supporting surface.

9. A hanging device, characterized in that: It comprises a lower hanging module and a joint module as claimed in any one of claims 1 to 8, wherein the lower hanging module is installed on the drone, and the supporting assembly of the joint module is rotatably connected to the lower hanging module.

10. A photovoltaic panel cleaning device, characterized in that: It comprises a drone and a lower hanging device as claimed in claim 9, wherein the lower hanging device is installed on the drone.

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