A photovoltaic solar panel cleaning system based on multi-rotor drone

Abstract

The invention discloses a photovoltaic solar panel cleaning system based on a multi-rotor unmanned aerial vehicle, comprising a fuselage, a roller tripod at the lower layer of the fuselage, and three parallel carbon rods at the upper layer of the fuselage, a main control compartment composed of a carbon plate is provided through a pipe clamp, and brushless motor carbon rods are connected in parallel and vertically on both sides through three-way pipe fittings, and four brushless motors are installed at the four ends of the brushless motor carbon rods, and the four brushless motors are respectively connected to blades; the main body of the roller tripod is composed of two equal-length tripod carbon rods and two support frame carbon rods, and the support frame carbon rods are connected to the tripod carbon rods through the tripod three-way pipe fittings, and a battery compartment support carbon rod is provided between the two support frame carbon rods, and the battery compartment support carbon rod is fixed to the support frame carbon rod through the support frame three-way pipe fittings. The invention realizes the speed regulation of the rolling brush and the driving direction adjustment of the high-speed roller brush cleaning vehicle body through the cooperation of the bearing rubber wheel and the roller brush, thereby improving the accuracy and convenience of use.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a photovoltaic solar panel cleaning unmanned aerial vehicle. Background Art

[0002] With the rapid economic and social development in modern society, the demand for clean energy is increasing day by day, and solar energy with high quality and high energy output has been widely used. However, as the most commonly used photovoltaic solar panels for collecting solar energy, their collection and storage performance and efficiency are greatly restricted by the dirt and dust on their surface, and the degree of impact can reach up to 70% of the total collection. In order to overcome the current problems of dusting and reduced conversion efficiency caused by long-term work of photovoltaic solar panels, and the large-scale use of photovoltaic solar panels in some areas, manual cleaning is inefficient and time-consuming; at the same time, some photovoltaic solar panels are set at a high height and with a large slope, and manual cleaning is highly dangerous, and the use of ground water trucks for cleaning is energy-consuming and difficult due to problems such as water pressure; cleaning methods such as ground water trucks spraying water mist, hydraulic arm cleaning, and high-pressure water gun cleaning have low cleanliness, high water consumption, high cost, and easy to cause component wear. The present invention provides a photovoltaic solar panel cleaning system based on a multi-rotor drone. The tripod of a traditional multi-rotor drone is transformed into a tripod with four lightweight rubber wheels at both ends. The tripod is wrapped with a roller brush except for the connection part with the support frame of the upper layer of the fuselage. The brush can be driven by a transmission mechanism composed of a motor and a synchronous pulley to rotate at high speed. The entire tripod, support frame and upper layer of the fuselage can rotate freely using bearings. The photovoltaic solar cleaning system uses a hovering multi-rotor drone equipped with a high-speed roller brush to clean the vehicle body, which can minimize the pressure of the cleaning system on the photovoltaic solar panel. The large-area wind field generated by the multi-rotor drone and the high-speed roller brush can achieve high-efficiency cleaning of dirt and dust on the photovoltaic solar panel. The attitude control of the multi-rotor drone and the four-wheel drive control of the high-speed roller can be used to control the yaw direction of the high-speed roller brush cleaning vehicle body. The multi-rotor large-area wind field cleaning reflects the advantages of energy saving and fast cleaning operations. The carbon rod connection between the multi-rotor drone and the high-speed roller brush cleaning vehicle body reduces the pressure of the vehicle body on the photovoltaic solar panels. The high-speed rotation of the roller plays a role in raising dust and driving stubborn stains. The multi-rotor large-area wind field ensures the effectiveness and cleaning efficiency of cleaning. At the same time, the full-body carbon rod structure is adopted, the body is stable, not easy to deform, and responds quickly after being stressed. The ARM single-chip embedded control realizes automated operation, reduces labor costs, has high automated control accuracy, high operation precision, and significant cleaning efficiency and quality. Summary of the invention

[0003] The purpose of the present invention is to provide a photovoltaic solar panel cleaning system based on a multi-rotor drone to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a photovoltaic solar panel cleaning system based on a multi-rotor drone, comprising a fuselage, a roller tripod on the lower layer of the fuselage and three parallel first carbon rods 21, second carbon rods 3, and third carbon rods 22 on the upper layer of the fuselage, a main control cabin 2 composed of a carbon plate is mounted on the first carbon rod 21, the second carbon rod 3, and the third carbon rod 22 through a pipe clamp 6, the first carbon rod 21, the second carbon rod 3, and the third carbon rod 22 are connected to a brushless motor carbon rod 7 on both sides in parallel and vertically through a three-way pipe fitting, four brushless motors 4 are installed at the four ends of the brushless motor carbon rod 7, and the four brushless motors 4 are respectively connected to blades 8; the roller tripod The main body of the tube tripod is composed of two equal-length tripod carbon rods 17 and two support frame carbon rods 11. The support frame carbon rod 11 is connected to the tripod carbon rod 17 through a tripod three-way pipe fitting 23. At the same time, a battery compartment support carbon rod 12 is installed between the two support frame carbon rods 11. It is fixed to the support frame carbon rod 11 through a support frame three-way pipe fitting 25, forming two T-shaped structures, which makes the fuselage support more stable. The battery compartment is located close to the ground, causing the center of gravity of the entire fuselage to move downward. A battery compartment carbon plate 14 is fixed to the battery compartment support carbon rod 12 by two pipe clamps, and a fixed battery 15 and other electronic sensors are also placed on the battery compartment carbon plate 14.

[0005] Furthermore, roller brushes 16 are sleeved on the carbon rods 17 on both sides of the tripods. The roller brushes 16 are composed of a large-diameter carbon rod 20 and a plurality of cleaning brushes 26. The roller brushes are connected to the inner tripod carbon rod 17 by bearing supports. A tripod three-way pipe fitting 23 is installed in the middle of each tripod carbon rod 17. The surface of the carbon rod 20 of the roller brush 16 has a circle of roller brush grooves 28, so that the brush synchronous pulley 5 can be embedded therein without sliding easily.

[0006] Furthermore, the brush synchronous pulley 5 is driven by the motor synchronous pulley 13 to rotate at high speed, the motor synchronous pulley 13 is connected to the synchronous belt brushless motor 10, and the synchronous belt brushless motor 10 is installed on the battery compartment carbon plate 14 supported by the battery compartment support carbon rod 12.

[0007] Furthermore, the second carbon rod 3 is connected to the support frame carbon rod 11 through a rotating three-way pipe fitting 1, and two lightweight bearings 24 are installed at the connection between the rotating three-way pipe fitting 1 and the second carbon rod 3, and the lightweight bearings 24 enable the support frame carbon rod 11 to rotate around the second carbon rod 3 as the axis; at the same time, the rotating three-way pipe fitting 1 has a circle of rotating three-way pipe fitting groove 27 inside, and its diameter should be equal to the outer diameter of the lightweight bearing 24, and the diameter of the second carbon rod 3 should be equal to the inner diameter of the lightweight bearing 24, so that the rotation of the support frame carbon rod 11 around the second carbon rod 3 as the axis is more stable. At the same time, when the body lands on the surface of the photovoltaic solar panel, the lower end of the tripod contacts the surface of the photovoltaic solar panel as a whole. As the body lands, the tripod will naturally adapt to the inclination of the photovoltaic solar panel through the rotation of the support frame carbon rod 11 around the second carbon rod 3 as the axis, so that the system can adapt to the operation tasks of photovoltaic solar panels at different angles.

[0008] Furthermore, both ends of the tripod carbon rod 17 are covered with a bearing rubber wheel, and the bearing rubber wheel is composed of a bearing 18 and a rubber lightweight tire 19, and the bearing 18 is fixed inside the bearing rubber wheel. The tripod three-way pipe fitting 23 and the bearing rubber wheel both play a role in limiting the roller brush 16; when the machine body is completely landed on the surface of the photovoltaic solar panel, the bearing rubber wheel serves as a support point under the machine body, and its rubber material can play a certain anti-skid role. The bearing rubber wheel has no driving force, and its diameter is slightly larger than the roller brush 16. When the roller brush 16 rotates at high speed, because the diameter of the bearing rubber wheel is slightly larger, the roller brush 16 does not touch the ground, and its rolling friction with the photovoltaic solar panel is converted into sliding friction, and the cleaning efficiency is higher. At the same time, the high-speed rotating roller brush 16 can also drive the bearing rubber wheel to move, and cooperate with its four-wheel drive characteristics to realize the free movement of the machine body on the photovoltaic solar panel.

[0009] Preferably, the carbon rods on both sides of the tripod three-way pipe fitting are covered with roller brushes, and the whole fuselage has a total of four roller brushes, and the roller brushes are connected to the inner carbon rod of the tripod by bearing support.

[0010] Preferably, four synchronous brushless motors are installed at the four corners of the battery compartment carbon plate, and a customized motor synchronous pulley is installed on the synchronous brushless motor, and the motor synchronous pulley is connected to the brush synchronous pulley through a synchronous belt. The brush is driven by the brush synchronous pulley to rotate at high speed. When the brush moves on the surface of the photovoltaic solar panel, the high-speed rotating brush rubs against the photovoltaic solar panel, providing a driving force for the tripod under the body to move forward. At the same time, due to the four motors, its four-wheel drive characteristics allow the body to freely adjust the speed on the photovoltaic solar panel and turn to a certain extent, ensuring the accuracy and speed of cleaning.

[0011] Preferably, the roller brush is composed of a large-caliber carbon rod and a plurality of cleaning brushes, and the cleaning brushes are spirally adhered to the outer surface of the large-caliber carbon rod. The surface of the carbon rod of the roller brush has a circle of grooves, so that the brush synchronous pulley can be embedded in it without slipping.

[0012] Preferably, the brushless motor and the blades remain in working condition when the fuselage lands on the surface of the photovoltaic solar panel, so that the entire fuselage is not easy to slide along the slope of the photovoltaic solar panel while maintaining the posture of the multi-rotor drone; the high-speed rotating multi-rotor also provides a large-scale wind field, which plays an important role in cleaning the dirt and dust on the surface of the photovoltaic solar panel. The existence of the wind field will also give the fuselage a reverse force relative to gravity, which is conducive to reducing the pressure of the fuselage on the photovoltaic solar panel.

[0013] Preferably, the photovoltaic solar panel cleaning system based on the multi-rotor drone adopts a horizontal x-axis direction cleaning solution, avoiding the problem of high energy consumption in climbing upward due to gravity when cleaning in the longitudinal y-axis direction, and at the same time cooperates with the rotation of the carbon rod of the support frame with the second carbon rod as the axis and the natural adaptation of the tripod to different inclinations when landing on the photovoltaic solar panel, thereby realizing the operating movement of the machine body in the horizontal x-axis direction of the photovoltaic solar panel.

[0014] The technical effects and advantages of the present invention are as follows:

[0015] (1) The present invention uses a rotating three-way pipe fitting and a lightweight bearing to rotatably connect the second carbon rod and the support frame carbon rod, and then cooperates with the setting of the bearing rubber wheel and the roller brush at the end of the tripod carbon rod, so that the photovoltaic solar panel cleaning system can achieve the effect of naturally landing parallel to the inclined surface of the photovoltaic solar panel, thereby improving the extensiveness and adaptability of cleaning photovoltaic solar panels with different inclination angles.

[0016] (2) The present invention cooperates with a bearing rubber wheel and a high-speed rotating roller brush. The diameter of the bearing rubber wheel is slightly larger than that of the roller brush. When the roller brush rotates at a high speed, its surface cleaning brush generates sliding friction on the surface of the solar photovoltaic panel, which not only cleans stubborn dirt but also drives the bearing rubber wheel to move forward. At the same time, through the cooperation of the brush synchronous pulley and the motor synchronous pulley, the speed of the rolling brush and the driving direction of the high-speed roller brush cleaning the vehicle body can be adjusted, thereby improving the accuracy and convenience of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is the overall design diagram of the solar panel cleaning system;

[0018] Figure 2 Design drawings for the support frame and tripod;

[0019] Figure 3 Detail of the cleaning brush;

[0020] Figure 4 Mechanical diagram for photovoltaic solar panels;

[0021] Figure 5 Detailed design drawing for rotating tee fittings;

[0022] Figure 6 This is a schematic diagram of the synchronous belt and synchronous pulley drive;

[0023] Figure 7 Schematic diagram of the rubber wheel and internal bearing.

[0024] In the figure: 1. Rotating three-way pipe fitting; 2. Main control compartment; 3. Second carbon rod; 4. Brushless motor; 5. Brush synchronous pulley; 6. Pipe clamp; 7. Brushless motor carbon rod; 8. Paddle; 9. Three-way pipe fitting; 10. Brushless motor with synchronous belt; 11. Support frame carbon rod; 12. Battery compartment support carbon rod; 13. Motor synchronous pulley; 14. Battery compartment carbon plate; 15. Battery; 16. Roller brush; 17. Tripod carbon rod; 18. Bearing; 19. Rubber lightweight tire; 20. Roller brush large-diameter carbon rod; 21. First carbon rod; 22. Third carbon rod; 23. Tripod three-way pipe fitting; 24. Support frame rotating bearing; 25. Support frame three-way pipe fitting; 26. Cleaning brush; 27. Rotating three-way pipe fitting groove; 28. Roller brush groove; 29. ​​Synchronous belt. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The present invention provides Figure 1-7 The photovoltaic solar panel cleaning system based on a multi-rotor drone shown in the figure comprises a fuselage, a roller tripod at the lower layer of the fuselage and three parallel first carbon rods 21, second carbon rods 3 and third carbon rods 22 at the upper layer of the fuselage, a main control cabin 2 composed of a carbon plate is mounted on the first carbon rod 21, the second carbon rod 3 and the third carbon rod 22 through a pipe clamp 6, the first carbon rod 21, the second carbon rod 3 and the third carbon rod 22 are connected to a brushless motor carbon rod 7 in parallel and vertically on both sides through a three-way pipe fitting, four brushless motors 4 are installed at the four ends of the brushless motor carbon rod 7, and the four brushless motors 4 are respectively connected to blades 8; the main body of the roller tripod consists of two The tripod carbon rod 17 is composed of equal lengths and two support frame carbon rods 11. The support frame carbon rod 11 is connected to the tripod carbon rod 17 through a tripod three-way pipe fitting 23. At the same time, a battery compartment support carbon rod 12 is installed between the two support frame carbon rods 11. The battery compartment support carbon rod 12 is fixed to the support frame carbon rod 11 through a support frame three-way pipe fitting 25. The two T-shaped structures formed make the fuselage support more stable. The battery compartment is located close to the ground, causing the center of gravity of the entire fuselage to move downward. The battery compartment carbon plate 14 is fixed to the battery compartment support carbon rod 12 by two pipe clamps. The battery compartment carbon plate 14 is also mounted with a fixed battery 15 and other electronic sensors.

[0027] The overall frame composed of carbon rods is more stable than the carbon plate frame, can withstand greater mechanical stress, is more controllable, and has better adaptability to strong winds during high-altitude operations. The brushless motor and blades remain in working condition when the fuselage lands on the surface of the photovoltaic solar panel, while maintaining the posture of the multi-rotor drone, making it difficult for the entire fuselage to slide with the slope of the photovoltaic solar panel; the high-speed rotating multi-rotor also provides a large-scale wind field, which plays an important role in cleaning the dirt and dust on the surface of the photovoltaic solar panel. The existence of the wind field will also give the fuselage a reverse force relative to gravity, which is conducive to reducing the pressure of the fuselage on the photovoltaic solar panel.

[0028] The above-mentioned two side tripod carbon rods 17 are both covered with roller brushes 16, which are composed of a large-diameter carbon rod 20 and a plurality of cleaning brushes 26. The roller brush is connected to the inner tripod carbon rod 17 by a bearing support. A tripod three-way pipe fitting 23 is installed in the middle of each tripod carbon rod 17. The surface of the carbon rod 20 of the roller brush 16 has a circle of roller brush grooves 28, so that the brush synchronous pulley 5 can be embedded therein without sliding easily.

[0029] The brush synchronous pulley 5 is driven by the motor synchronous pulley 13 to rotate at high speed. The motor synchronous pulley 13 is connected to the synchronous brushless motor 10, and the synchronous brushless motor 10 is installed on the battery compartment carbon plate 14 supported by the battery compartment supporting carbon rod 12.

[0030] The above-mentioned second carbon rod 3 is connected to the support frame carbon rod 11 through a rotating three-way pipe fitting 1, and two lightweight bearings 24 are installed at the connection between the rotating three-way pipe fitting 1 and the second carbon rod 3, and the lightweight bearings 24 enable the support frame carbon rod 11 to rotate with the second carbon rod 3 as the axis; at the same time, the rotating three-way pipe fitting 1 has a circle of rotating three-way pipe fitting groove 27 inside, and its diameter should be equal to the outer diameter of the lightweight bearing 24, and the diameter of the second carbon rod 3 should be equal to the inner diameter of the lightweight bearing 24, so that the rotation of the support frame carbon rod 11 with the second carbon rod 3 as the axis is more stable. At the same time, when the body lands on the surface of the photovoltaic solar panel, the lower end of the tripod contacts the surface of the photovoltaic solar panel as a whole. As the body lands, the tripod will naturally adapt to the inclination of the photovoltaic solar panel through the rotation of the support frame carbon rod 11 with the second carbon rod 3 as the axis, so that the system can adapt to the operation tasks of photovoltaic solar panels at different angles.

[0031] Both ends of the tripod carbon rod 17 are sleeved with a bearing rubber wheel, which is composed of a bearing 18 and a rubber lightweight tire 19, and the bearing 18 is fixed inside the bearing rubber wheel. The tripod three-way pipe fitting 23 and the bearing rubber wheel both play a role in limiting the roller brush 16; when the machine body is completely landed on the surface of the photovoltaic solar panel, the bearing rubber wheel serves as a support point under the machine body, and its rubber material can play a certain anti-skid role. The bearing rubber wheel has no driving force, and its diameter is slightly larger than the roller brush 16. When the roller brush 16 rotates at high speed, because the diameter of the bearing rubber wheel is slightly larger, the roller brush 16 does not touch the ground, and its rolling friction with the photovoltaic solar panel is converted into sliding friction, which has a higher cleaning efficiency. At the same time, the high-speed rotating roller brush 16 can also drive the bearing rubber wheel to move, and cooperate with its four-wheel drive characteristics to achieve the free movement of the machine body on the photovoltaic solar panel.

[0032] The rubber light tire 19 is sleeved on the tripod carbon rod 17 through the bearing 18, and the rubber light tire 19 and the bearing 18 are concentrically sleeved together.

[0033] Working principle of the present invention: when the operator needs to use the system to perform photovoltaic solar panel cleaning operations, the operator operates the multi-rotor drone to hover over the photovoltaic solar panel, so that the multi-rotor drone naturally lands on the surface of the photovoltaic solar panel. In this process, the multi-rotor drone tripod preferentially contacts the surface of the photovoltaic solar panel. As the height decreases, the support frame carbon rod 11 rotates with the second carbon rod 3 as the axis, and the tripod naturally adapts to the inclination of the photovoltaic solar panel as it rotates. The four bearing rubber wheels 18 and 19 are naturally parked on the surface of the photovoltaic solar panel. At this time, the weight carried by the multi-rotor drone is reduced, and energy consumption is reduced. The blades 8 and the brushless motor 4 are still rotating at high speed, providing a large-scale wind field while keeping the upper fuselage posture stable; the fuselage naturally lands on the surface of the photovoltaic solar panel, and the synchronous brushless motors 10 at the four corners of the battery compartment start to work, rotating and driving the motor synchronous pulley 13 and the brush synchronous pulley 5 to rotate. The brush synchronous pulley 5 rotates at high speed, providing the forward driving force for the fuselage, while driving the bearing rubber wheel to move forward, the roller brush 16 constantly slides and rubs against the photovoltaic solar panel, raising dust and brushing off some dirt. The dirt and dust are finally blown away by the large-scale wind field generated by the drone, completing all the cleaning work. After completing the operation of a horizontal row of photovoltaic solar panels, the multi-rotor drone takes off at the end of the photovoltaic solar panel. At this time, the support frame carbon rod 11 naturally rotates to a natural vertical state again with the second carbon rod 3 as the axis, and the multi-rotor drone can select the next operation target and repeat the above operation again.

[0034] In the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", and "fix" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can all be customized according to the description and the drawings.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A photovoltaic solar panel cleaning system based on a multi-rotor drone, characterized in that: The invention comprises a fuselage, a roller tripod at the lower layer of the fuselage, and three parallel first carbon rods (21), second carbon rods (3), and third carbon rods (22) at the upper layer of the fuselage, wherein a main control compartment (2) composed of a carbon plate is mounted on the first carbon rod (21), the second carbon rod (3), and the third carbon rod (22) via a pipe clamp (6), and the two sides of the first carbon rod (21), the second carbon rod (3), and the third carbon rod (22) are parallelly and vertically connected to a brushless motor carbon rod (7) via a three-way pipe fitting, and four brushless motors (4) are installed at the four ends of the brushless motor carbon rod (7), and the four brushless motors (4) are respectively connected to blades (8); the main body of the roller tripod is composed of two tripod carbon rods (1 7) is composed of two support frame carbon rods (11), the support frame carbon rod (11) is connected to the tripod carbon rod (17) through a tripod three-way pipe fitting (23), and a battery compartment support carbon rod (12) is installed between the two support frame carbon rods (11), which is fixed to the support frame carbon rod (11) through a support frame three-way pipe fitting (25), forming two T-shaped structures, so that the fuselage support is more stable, the battery compartment is located close to the ground, so that the center of gravity of the entire fuselage moves downward, and a battery compartment carbon plate (14) is fixed to the battery compartment support carbon rod (12) through two pipe clamps, and a fixed battery (15) and other electronic sensors are placed on the battery compartment carbon plate (14); The two side tripod carbon rods (17) are both sleeved with roller brushes (16), which are composed of a large-caliber carbon rod (20) and a plurality of cleaning brushes (26). The roller brush is connected to the inner tripod carbon rod (17) by a bearing support, and a tripod three-way pipe fitting (23) is installed in the middle of each tripod carbon rod (17). The surface of the carbon rod (20) of the roller brush (16) is provided with a circle of roller brush grooves (28), so that the brush synchronous pulley (5) can be embedded therein without sliding easily. The brush synchronous pulley (5) is driven by the motor synchronous pulley (13) to rotate at a high speed, the motor synchronous pulley (13) is connected to the synchronous brushless motor (10), and the synchronous brushless motor (10) is installed on a battery compartment carbon plate (14) supported by a battery compartment supporting carbon rod (12); The second carbon rod (3) is connected to the support frame carbon rod (11) through a rotating three-way pipe fitting (1). Two light bearings (24) are installed at the connection between the rotating three-way pipe fitting (1) and the second carbon rod (3). The light bearings (24) enable the support frame carbon rod (11) to rotate around the second carbon rod (3) as an axis. At the same time, the rotating three-way pipe fitting (1) has a circle of rotating three-way pipe fitting grooves (27) inside, and its diameter should be equal to the outer diameter of the light bearings (24). The diameter of the second carbon rod (3) should be equal to the inner diameter of the light bearings (24), so that the rotation of the support frame carbon rod (11) around the second carbon rod (3) as an axis is more stable. At the same time, when the aircraft body lands on the surface of the photovoltaic solar panel, the lower end of the tripod contacts the surface of the photovoltaic solar panel as a whole. As the aircraft body lands, the tripod will naturally adapt to the inclination of the photovoltaic solar panel through the rotation of the support frame carbon rod (11) around the second carbon rod (3) as an axis, so that the system can adapt to the operation tasks of photovoltaic solar panels at different angles.

2. A photovoltaic solar panel cleaning system based on a multi-rotor drone according to claim 1, characterized in that: A bearing rubber wheel is sleeved on both ends of the tripod carbon rod (17), and the bearing rubber wheel is composed of a bearing (18) and a rubber lightweight tire (19). The bearing (18) is fixed inside the bearing rubber wheel. The tripod three-way pipe fitting (23) and the bearing rubber wheel both play a role of limiting the roller brush (16). The bearing rubber wheel has no driving force, and its diameter is slightly larger than the roller brush (16). When the roller brush (16) rotates at a high speed, the roller brush (16) does not touch the ground because the diameter of the bearing rubber wheel is slightly larger. At the same time, the high-speed rotating roller brush (16) can also drive the bearing rubber wheel to move, and cooperate with its four-wheel drive characteristics to achieve free movement of the machine body on the photovoltaic solar panel.

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