A new type of solar panel cleaning aircraft based on vector rotors

Abstract

The present invention discloses a novel solar panel cleaning aircraft based on vector rotors. The aircraft comprises a main mast with paired propeller tilting structures fixed on both sides. The aircraft is equipped with a control device on the top, a modular quick-swap battery in the middle, and a brush cleaning structure on the bottom. The tilting structures on both sides are fixed to the main mast by pipe clamps, screws, and nuts. The base of the control device is a flight control fixing plate, with four pipe clamps installed below the plate and fixed to the main mast by screws and nuts. The battery is fixed to the battery latch plate with a cable tie. The battery latch plate has quick-swap pins that match the slots on the battery fixing plate, allowing for modular and rapid removal. The battery is provided with a quick charging port for convenient charging. The battery fixing plate is fixed to the battery fixing rod by six pipe clamps. The present invention can achieve efficient and green cleaning of solar panels, and can also estimate the flight status of the aircraft in real time to control the aircraft's stable flight operation.

Description

Technical Field

[0001] The present invention relates to the fields of mechanical design and aircraft control, and in particular to a novel clean aircraft based on vector rotors and adaptable to tilted solar panels. Background Art

[0002] With the booming development of my country's photovoltaic power generation industry, solar panels are being widely promoted nationwide. Due to the country's enormous demand for computers, the efficiency of solar panels in photovoltaic power generation has received increasing attention. Key factors affecting solar panel efficiency include ordinary dust accumulation, mud clumps from rain, and stains left by birds. Due to these persistent solar panel cleaning issues, the actual efficiency of panels has dropped from 23%-25% to 17%-18%, resulting in significant annual economic losses. Furthermore, if solar panels are not cleaned for a long time, the batteries will not be able to maintain sufficient charge, requiring frequent charging, shortening their lifespan and affecting power generation efficiency. Therefore, the operation and maintenance of photovoltaic charging stations urgently require a highly intelligent, automated, reliable, and cost-effective solar panel cleaning technology solution to improve "green energy" conversion efficiency and meet the needs of a low-carbon economy.

[0003] Current methods for cleaning solar panels are manual and machine cleaning. Manual cleaning is not only inefficient, costly, and wastes water resources, but also poses a high risk of heatstroke due to prolonged exposure to high temperatures. With the rapid development of robotics, machine cleaning has gained popularity, resulting in track-mounted, suspended, and towed photovoltaic cleaning robots. These robots require fixed tracks, operate slowly, and are easily affected by factors such as terrain and array structure, hindering widespread use. Furthermore, the length of these robots must be customized to suit specific circumstances, resulting in high costs and long replacement cycles. Summary of the Invention

[0004] Based on the above problems, the present invention discloses a new type of solar panel cleaning aircraft and control method with flexible operation, low cost and strong adaptability. It utilizes a tilting structure and a brush rotation structure, effectively combines the lift of the propeller rotors, and realizes the docking of solar panels and the movement between solar panels.

[0005] The technical solution of the present invention includes: a novel solar panel cleaning aircraft based on vector rotors, comprising a main rod (14), with paired propeller tilting structures fixed on both sides of the main rod (14), a control device on the upper part of the aircraft, a modular quick-swap battery (13) in the middle part, and a brush cleaning structure on the lower part; the tilting structures on both sides are fixed to the main rod (14) by means of pipe clamps (9), screws, and nuts;

[0006] The base of the control device is a flight control fixing plate (34), four pipe clamps (9) are installed under the plate and fixed to the main rod (14) through screws and nuts; the battery (13) is fixed to the battery latch plate (15) through a cable tie; the battery latch plate (15) is provided with a quick plug-in plug that matches the card slot on the battery fixing plate (17) and can be modularly and quickly disassembled; a quick charging port is left on the battery (13) for convenient charging; the battery fixing plate (17) is fixed to the battery fixing rod (16) through six pipe clamps (9).

[0007] Furthermore, the main rod (14) is a carbon tube with an outer diameter of 40 mm, and the battery fixing rod (16) is a carbon tube with an outer diameter of 25 mm.

[0008] Furthermore, in the brush cleaning structure, the roller motor (23) is fixed to the roller motor fixed carbon plate (25) through an aluminum part, the output shaft of the roller motor (23) cooperates with the motor gear (20), the transmission gear (19) is fixedly installed on the brush, and the transmission belt (21) drives the transmission gear (19) to rotate, thereby driving the brush (28) to rotate, thereby achieving a cleaning effect; the roller motor fixed carbon plate (25) is fixed to the plane of the two brush tube clamps (27) through screws and nuts, and a brush tube clamp (27) and the brush (28) are fixed. Two brush bearings (26) facilitate the rotation of the brush; the flat part of the carbon tube direct connection (24) is fixed to the roller motor fixed carbon plate (25) through screws and nuts, and the vertical part of the carbon tube direct connection (24) connects the rotating structure as a whole to the fuselage through the tripod (22); the brush (28) adopts a large-area roller brush to increase the maximum area of ​​a single cleaning; when the aircraft is docked on the solar panel and the posture is adjusted, the flight control board (36) gives a signal to the electric regulator (11), and the electric regulator (11) drives the brushless motor to rotate, so that the brush starts to rotate to clean the solar panel.

[0009] Furthermore, the tripod (22) is a carbon tube with an outer diameter of 30 mm.

[0010] Furthermore, in the tilting structure, the upper blade (1) and the lower blade (2) are fixed to the upper motor (5) and the lower motor (18) respectively through nuts, and the upper motor (5) and the lower motor (18) are fixed to two tilting carbon plates (6) by four screws of specific lengths; the tilting carbon plate (6) is fixed to the fixed aluminum part (8) through screws, nuts and pipe clamps (9), and the main rod (14) and the tilting structure are connected using the tilting fixed carbon plate (7) and the pipe clamp (9). The servo (31) is fixed between the two tilting fixed carbon plates (7) through the servo fixing member (32). (31) is a standard 25T output shaft, which is connected to the high-strength aluminum alloy rudder arm (29). The rudder arm extension (30) is a clamp structure. On the one hand, it holds the tilting carbon tube (3), and on the other hand, it can be screwed from the side and fixed with the thread on the rudder arm (29); a bearing is installed between the tilting carbon tube (3) and the tube clamp (9) to facilitate rotation, share the axial stress of the motor tilting, and prevent damage to the internal gear of the servo (31); a slot hole for 360-degree rotation of the rudder arm (29) and the rudder arm extension (30) is left on the tilting fixed carbon plate (7), making the tilting structure more flexible.

[0011] Furthermore, the tilting carbon tube (3) is a carbon tube with an outer diameter of 25 mm.

[0012] Furthermore, the control device comprises a receiver (33), a wireless downloader (35), a flight control board (36), an inertial navigation damping board (37), an antenna (38), a level (39), and an inertial sensor (40); the receiver (33) is a receiving end of the remote controller on the drone, and the wireless downloader (35) is a program burning tool to facilitate subsequent software updates; the flight control board (36) adopts an STM32F407VET6 main control chip, integrates a TAJ1044 CAN communication chip, supports SPI, TTL serial port, CAN, IIC and other communication modes, and solves the GPS and IMU data received from the inertial sensor (40) and can issue instructions to multiple motors and steering gears; the power supply end of the flight control board (36) integrates an anti- The protection is connected, and the reset restart switch is used to deal with some emergencies. An inertial navigation damping plate (37) is added under the inertial sensor (40) to effectively offset part of the vibration effect. The antenna (38) is preferably a Beitian four-arm spiral antenna for receiving GPS and RTK signals. It is fixed on the flight control fixing plate (34) through an antenna base, screws and nuts. The level (39) can perform basic calibration on the inertial sensor (40) during initial installation. The inertial sensor (40) can fuse GPS and RTK differential data and output angle, angular velocity, acceleration, position, and speed information corresponding to the Northeast Sky coordinate system. The flight control board (36) receives the data of the inertial sensor (40) to form a multi-loop feedback control system to control the movement of the servo and motor and stabilize the posture of the drone.

[0013] Furthermore, the invention also includes six electric regulators (11), which respectively drive two upper motors (5), two lower motors (18), and two roller motors (23) according to the signal of the flight control board (36). The sensor components are composed of IMU, GPS, barometer, and angle meter sensors, collect external information and transmit it to the flight control board (36), and establish communication between the flight control board (36) and the remote controller and the ground station. The flight control board (36) sends a CAN signal to the electric regulator (11) to drive the motors respectively; sends a signal to the steering gear (31), drives the steering gear (31) to tilt the two upper motors (5) and the two lower motors (18), and adjusts the attitude of the UAV in real time through a multi-stage feedback control system. During the cleaning operation, the electric regulator (11) drives the roller motor (23) through the flight control board (36), performs the cleaning operation and pushes the UAV forward. The multi-stage feedback control system is composed of a position controller, a speed controller, an angle controller, an angular velocity controller, and an angular acceleration controller in cascade. The multi-stage feedback control system can estimate the flight state of the UAV in real time and control the UAV to fly smoothly.

[0014] The present invention utilizes a linear aircraft structure. Theoretical analysis indicates that the aircraft can be stabilized by its tripod when docked on a photovoltaic panel. Multi-sensor fusion estimates the aircraft's attitude in real time, and an auto-disturbance rejection algorithm stabilizes the drone's position and attitude. Compared to traditional linear multi-rotor drones and two-axis tilt-rotor drones, the present invention offers the following advantages:

[0015] 1. The present invention greatly simplifies the power and attitude devices of the linear multi-rotor UAV, solves the problem of structural redundancy, prolongs the flight time but increases the control difficulty.

[0016] 2. The tilting structure of the present invention separates the main rod and the steering gear tilting shaft, and the dual bearings share the radial force, shortening the length of the steering gear output shaft and extending the life of the steering gear gear.

[0017] 3. The tilting structure of the present invention adopts a paired propeller structure, which balances the torque between the upper and lower rotors and can reduce the rotational inertia of the UAV's pitch and yaw.

[0018] 4. The tilting structure of the present invention can provide an oblique upward lift for the cleaning brush, ensuring that the entire body will not fall during the cleaning process.

[0019] 5. The present invention uses an auto-disturbance rejection algorithm for body control. The recoil force of the solar panels on the aircraft during docking is introduced as a disturbance into the body control, and a differential tracker is used to track the input signal.

[0020] 6. The present invention is equipped with an integrated brush rotating cleaning structure, which can provide forward thrust during cleaning and reduce the dependence on the tilting structure.

[0021] 7. The present invention adopts waterless cleaning, applies appropriate pressure to the solar panel, uses a rotating brush to loosen dust blocks, and blows off the dust through the downwash wind field. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Attachment Figure 1 This is the overall structure diagram of the new solar panel cleaning aircraft;

[0023] Attachment Figure 2 This is a front view of the new solar panel cleaning aircraft;

[0024] Attachment Figure 3 This is a new solar panel cleaning aircraft brush cleaning structure diagram;

[0025] Attachment Figure 4 This is a diagram of the tilting structure of the new solar panel cleaning aircraft;

[0026] Attachment Figure 5 This is a diagram of the control device for a new type of solar panel cleaning aircraft;

[0027] Attachment Figure 6 This is a framework diagram of the new solar panel cleaning aircraft system;

[0028] Attachment Figure 7 This is a software system framework diagram for a new solar panel cleaning aircraft;

[0029] Attachment Figure 8 This is a flow chart of the multi-stage feedback control system of a new solar panel cleaning aircraft;

[0030] Figure 2 In the middle, 1-upper propeller blade, 2-lower propeller blade, 3-tilt aluminum part, 4-tilt carbon tube, 5-upper motor, 6-tilt carbon plate, 7-tilt fixed carbon plate, 8-fixed aluminum part, 9-tube clamp, 10-ESC fixing plate, 11-ESC, 12-tee, 13-battery, 14-main pole, 15-battery latch plate, 16-battery fixing rod, 17-battery fixing plate, 18-lower motor.

[0031] Figure 3 Among them, 19-transmission gear, 20-motor gear, 21-transmission belt, 22-foot bracket, 23-drum motor, 24-carbon tube direct connector, 25-drum motor fixed carbon plate, 26-brush bearing, 27-brush tube clamp, 28-brush. Figure 4 Among them, 29-rudder arm, 30-rudder arm extension, 31-servo, 32-servo fixing part.

[0032] Figure 5 Among them, 33-receiver, 34-flight control fixing plate, 35-wireless downloader, 36-flight control board, 37-inertial navigation shock absorber plate, 38-antenna, 39-level meter, 40-inertial sensor. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and examples.

[0034] Figure 1 The overall structure diagram of the new solar panel cleaning aircraft shown in the figure shows that compared with traditional photovoltaic cleaning devices, the present invention can achieve fast and efficient movement between panels, use the wind field generated by the brush and the drone rotor to achieve waterless cleaning, save local water resources, and can be widely used in large-scale photovoltaic power stations.

[0035] Figure 2 The front view of the aircraft for cleaning the new solar panels. It mainly consists of the following parts: upper blade

[0036] (1), lower propeller (2), tilting aluminum part (3), tilting carbon tube (4), upper motor (5), tilting carbon plate (6), tilting fixed carbon plate (7), fixed aluminum part (8), pipe clamp (9), electric adjustment fixed plate (10), electric adjustment (11), three-way (12), battery (13), main rod (14), battery latch plate (15), battery fixing rod (16), battery fixing plate (17), lower motor (18), transmission gear (19), motor gear (20), transmission belt (21), A tripod (22), a roller motor (23), a carbon tube direct connector (24), a roller motor fixing carbon plate (25), a brush bearing (26), a brush tube clamp (27), a brush (28), a rudder arm (29), a rudder arm extension (30), a steering gear (31), a steering gear fixing member (32), a receiver (33), a flight control fixing plate (34), a wireless downloader (35), a flight control board (36), an inertial navigation damping plate (37), an antenna (38), a level (39), and an inertial sensor (40).

[0037] The new solar panel cleaning aircraft has a main rod (14) as the main body, with a pair of propeller tilting structures fixed on both sides, a control device in the middle and upper part, a modular quick-swap battery (13) in the middle, and a brush cleaning structure in the lower part; the tilting structure is fixed to the main rod (14) by a pipe clamp (9), screws, and nuts. The present invention takes into account the impact loss caused by docking to the solar panel and designs a fixed aluminum part (8) with enhanced strength to replace the conventional carbon tube connection tee (12), connect the tripod (22), and stabilize the flight as a whole. The base of the control device is a flight control fixing plate (34), and four pipe clamps (9) are installed under the plate and fixed to the main rod (14) by screws and nuts. The battery (13) is fixed to the battery latch plate (15) by a cable tie. The battery latch plate has a quick-swap pin that matches the card slot on the battery fixing plate (17) and can be modularly and quickly disassembled. A quick charging port is left on the battery (13) for convenient charging. The battery fixing plate (17) is fixed to the battery fixing rod (16) through six pipe clamps (9).

[0038] The main rod (14) of the present invention is preferably a carbon tube with an outer diameter of 40 mm, the tilting carbon tube (3) is preferably a carbon tube with an outer diameter of 25 mm, the tripod (22) is preferably a carbon tube with an outer diameter of 30 mm, and the battery fixing rod (16) is preferably a carbon tube with an outer diameter of 25 mm. The carbon tubes above ensure the stability of the overall structure while minimizing the take-off weight of the aircraft body.

[0039] Figure 3 The present invention is a brush cleaning structure diagram for a new type of solar panel cleaning aircraft. The drum motor (23) of the present invention is preferably an EA180KV40 high-torque motor, which is fixed to the drum motor fixed carbon plate (25) through an aluminum part. Its output shaft cooperates with the motor gear (20). The transmission gear (19) is fixedly installed on the brush. The transmission belt (21) drives the transmission gear (19) to rotate, thereby driving the brush (28) to rotate, achieving a cleaning effect. The drum motor fixed carbon plate (25) is fixed to the plane of the two brush tube clamps (27) through screws and nuts. Two brush bearings (26) are fixed between the brush tube clamps (27) and the brush (28) to facilitate the rotation of the brush. The flat part of the carbon tube direct connector (24) is fixed to the drum motor fixed carbon plate (25) through screws and nuts, and the vertical part connects the rotating structure as a whole to the fuselage through the tripod (22). The brush (28) adopts a large-area drum brush to increase the maximum area of ​​a single cleaning. When the aircraft is docked on the solar panel and its attitude is adjusted, the flight control board (36) gives a signal to the electric regulator (11), and the electric regulator (11) drives the brushless motor to rotate, so that the brush starts to rotate and clean the solar panel, achieving a comprehensive and efficient cleaning effect.

[0040] Figure 4The figure shows the tilting structure of a new type of solar panel cleaning aircraft. The upper blade (1) and the lower blade (2) are fixed to the upper motor (5) and the lower motor (18) respectively by nuts. The upper motor (5) and the lower motor (18) are fixed to two tilting carbon plates (6) with four screws of specific length. The tilting carbon plate (6) is fixed to the fixed aluminum part (8) by screws, nuts and pipe clamps (9). In order to further enhance the stability of the tilting structure, the present invention uses a tilting fixed carbon plate (7) and a pipe clamp (9) to connect the main rod (14) and the tilting structure, and the servo (31) is fixed between the two tilting fixed carbon plates (7) by a servo fixing member (32). The servo (31) is a standard 25T output shaft connected to a high-strength aluminum alloy rudder arm (29). The rudder arm extension (30) is a clamp structure. On the one hand, it holds the tilting carbon tube (3), and on the other hand, it can be fixed from the side by screws and threads on the rudder arm (29). A bearing is installed between the tilting carbon tube (3) and the tube clamp (9) to facilitate rotation, share the axial stress of the motor tilting, and prevent damage to the internal gears of the servo (31). The tilting fixed carbon plate (7) is provided with slots for the rudder arm (29) and the rudder arm extension (30) to rotate 360 ​​degrees, making the tilting structure more flexible. The present invention adopts a separate design of the tilting axis and the fixed axis to reduce the servo loss caused by excessive torque at the end of the motor. The propeller structure of the present invention can effectively offset the anti-torque torque of the upper and lower blades, providing more lift for the drone.

[0041] Figure 5The control device diagram of a new type of solar panel cleaning aircraft. The base of the control device is a flight control fixing plate (34), which is equipped with four pipe clamps (9) and fixed to the main rod (14) by screws and nuts. The control device is installed on the flight control fixing plate (34). The control device includes a receiver (33), a wireless downloader (35), a flight control board (36), an inertial navigation damping plate (37), an antenna (38), a level (39), and an inertial sensor (40). The receiver (33) is preferably a Tiandifei ET16S, which is the receiving end of the remote control on the drone. The wireless downloader (35) is a program burning tool that facilitates subsequent software updates. The flight control board (36) uses an STM32F407VET6 main control chip and integrates a TAJ1044 CAN communication chip. It supports multiple communication modes such as SPI, TTL serial port, CAN, and IIC. It solves the GPS and IMU data received from the inertial sensor (40) and can issue instructions to multiple motors and servos. The power supply terminal of the flight control board (36) is integrated with reverse connection protection and a reset restart switch to deal with some emergencies. Since the drone of the present invention adopts a linear fuselage structure, there is high-frequency vibration at the control device position, and the inertial navigation system is easily interfered with, resulting in non-convergence. In response to this problem, the present invention adds an inertial navigation shock-absorbing plate (37) under the inertial sensor (40) to effectively offset part of the vibration effect. The antenna (38) is preferably a Beitian four-arm spiral antenna, which is used to receive GPS and RTK signals and is fixed to the flight control fixing plate (34) through an antenna base and screw nuts. The level (39) can perform basic calibration on the inertial sensor (40) during initial installation. The inertial sensor (40) can fuse GPS and RTK differential data and output angle, angular velocity, acceleration, position, and speed information corresponding to the Northeast Sky coordinate system. The flight control board (36) of the present invention receives data from the inertial sensor (40) to form a multi-loop feedback control system to control the movement of the servo and motor and stabilize the drone's posture.

[0042] Figure 6 This is a framework diagram of a new solar panel cleaning aircraft system. The flight control system of the present invention is composed of a control device, an actuator and a ground station. The control device is as follows: Figure 5The actuator is composed of an electric regulator (11), an upper motor (5), a lower motor (18), and a roller motor (23). The present invention has a total of six electric regulators (11), which respectively drive two upper motors (5), two lower motors (18), and two roller motors (23) according to the signal of the flight control board (36). First, the IMU, GPS, barometer, and angle meter sensors collect external information and transmit it to the flight control board (36), and at the same time establish communication between the flight control board (36) and the remote controller and the ground station. The flight control board (36) sends a CAN signal to the electric regulator (11) to drive the motors respectively; sends a signal to the steering gear (31), drives the steering gear (31) to tilt the two upper motors (5) and the two lower motors (18), and adjusts the attitude of the drone in real time through a multi-level feedback control system. During the cleaning operation, the present invention drives the roller motor (23) through the flight control board (36) and the electric regulator (11) to perform the cleaning operation and propel the drone forward. The present invention adopts a cascade structure of a position controller, a speed controller, an angle controller, an angular velocity controller and an angular acceleration controller to estimate the flight state of the UAV in real time and control the UAV to fly smoothly.

[0043] The specific workflow of the present invention is described in detail below:

[0044] Figure 7 Framework diagram of the software system for the new solar panel cleaning aircraft.

[0045] First, the new solar panel cleaning aircraft is initialized.

[0046] Step 1: Initialize the actuator to determine whether the communication between the two upper motors (5), the two lower motors (18), the two roller motors (23), and the two steering gears (31) is normal. If not, an alarm is triggered.

[0047] Step 2: Initialize the sensors and pull sensor data from the IMU, GPS, barometer, and goniometer sensors to determine whether communication and reception are normal. If not, an alarm will be issued.

[0048] Step 3: The aircraft performs a self-check to test various modes of the drone and determine whether each mode switch is normal. If not, an alarm will be sounded.

[0049] Step 4: Detect the voltage and perform ADC sampling on the battery voltage to determine whether the battery voltage is too low. If it is abnormal, an alarm will be issued.

[0050] If an alarm is triggered during the above steps, the system will be re-initialized. If no alarm is triggered, the system will enter the idle state and can be controlled by the remote control.

[0051] Step 5: Determine whether the remote control is unlocked based on the data sent back by the remote control. If it is unlocked, switch tasks based on this, namely: manual mode, moving mode, cleaning mode, planning mode, and automatic landing.

[0052] The following is a detailed description of each mode:

[0053] Manual mode: Control the take-off and landing and flight path of the drone through the remote control, which is flexible and convenient to operate; Mobile mode: Responsible for crossing between two solar panels, realizing efficient and convenient inter-panel movement; Cleaning mode: When the drone is stably docked on the solar panel, it switches to cleaning mode, rotates the cleaning structure to start working, and uses the brush and its own wind field to remove stains, realizing waterless cleaning and saving local resources; Planning mode: Through the upper computer, the drone moves autonomously along the established path to complete the cleaning task, realizing efficient and fully automatic unmanned cleaning; Automatic landing: Input the continuously decreasing altitude expectation into the control system to realize automatic landing: This process ensures that multiple initialization and detection are carried out before the aircraft takes off, ensuring the safety of drone operations, and sets a variety of mission modes, rich functions and strong operability.

[0054] Figure 8 This is a flow chart of the multi-stage feedback control system for a new solar panel cleaning aircraft. This invention utilizes a cascaded system consisting of a position controller, a speed controller, an angle controller, an angular velocity controller, and an angular acceleration controller. This multi-stage feedback control system improves the accuracy of the UAV's flight state estimation in real time, ensuring stable flight control.

Claims

1. A new type of solar panel cleaning aircraft based on vector rotors, characterized by: The invention comprises a main rod (14), on both sides of which are fixed a pair of propeller tilting structures, the upper part of the aircraft is equipped with a control device, the middle part is equipped with a modular quick-swap battery (13), and the lower part is equipped with a brush cleaning structure; the tilting structures on both sides are fixed to the main rod (14) by means of pipe clamps (9), screws and nuts; The base of the control device is a flight control fixing plate (34), four pipe clamps (9) are installed under the plate and fixed to the main rod (14) by screws and nuts; the battery (13) is fixed to the battery latch plate (15) by a cable tie; The battery latch plate (15) is provided with a quick plug-in plug, which matches the slot on the battery fixing plate (17) and can be quickly disassembled in a modular manner. A quick charging port is left on the battery (13) for convenient charging. The battery fixing plate (17) is fixed to the battery fixing rod (16) through six pipe clamps (9). In the brush cleaning structure, the roller motor (23) is fixed on the roller motor fixed carbon plate (25) through an aluminum part, the output shaft of the roller motor (23) is matched with the motor gear (20), and the transmission gear (19) is fixedly installed on the brush. The transmission belt (21) drives the transmission gear (19) to rotate, thereby driving the brush (28) to rotate, thereby achieving a cleaning effect; the roller motor fixed carbon plate (25) is fixed on the plane of the two brush tube clamps (27) through screws and nuts, and two brush tube clamps (27) and the brush (28) are fixed between them. The brush bearing (26) is convenient for the rotation of the brush; the flat part of the carbon tube direct connection (24) is fixed to the roller motor fixed carbon plate (25) through screws and nuts, and the vertical part of the carbon tube direct connection (24) connects the rotating structure as a whole to the fuselage through the tripod (22); the brush (28) adopts a large-area roller brush to increase the maximum area of ​​a single cleaning; when the aircraft is docked on the solar panel and the posture is adjusted, the flight control board (36) gives a signal to the electric controller (11), and the electric controller (11) drives the brushless motor to rotate, so that the brush starts to rotate to clean the solar panel; In the tilting structure, the upper blade (1) and the lower blade (2) are fixed to the upper motor (5) and the lower motor (18) respectively through nuts, and the upper motor (5) and the lower motor (18) are fixed to two tilting carbon plates (6) by four screws of specific lengths; the tilting carbon plate (6) is fixed to the fixed aluminum part (8) through screws, nuts and pipe clamps (9), and the main rod (14) and the tilting structure are connected by using the tilting fixed carbon plate (7) and the pipe clamp (9). The servo (31) is fixed between the two tilting fixed carbon plates (7) through the servo fixing member (32). 1) is a standard 25T output shaft, connected to a high-strength aluminum alloy rudder arm (29), and the rudder arm extension (30) is a clamp structure, which holds the tilting carbon tube (3) on one hand and can be fixed from the side by screws matching the threads on the rudder arm (29) on the other hand; a bearing is installed between the tilting carbon tube (3) and the pipe clamp (9) to facilitate rotation, share the shaft stress of the motor tilting, and prevent damage to the internal gear of the steering gear (31); a slot hole for 360-degree rotation of the rudder arm (29) and the rudder arm extension (30) is left on the tilting fixed carbon plate (7), making the tilting structure more flexible; The control device comprises a receiver (33), a wireless downloader (35), a flight control board (36), an inertial navigation damping board (37), an antenna (38), a level (39), and an inertial sensor (40); the receiver (33) is a receiving end of the remote controller on the drone, and the wireless downloader (35) is a program burning tool to facilitate subsequent software updates; the flight control board (36) adopts an STM32F407VET6 main control chip, integrates a TAJ1044 CAN communication chip, supports SPI, TTL serial port, CAN, IIC and other communication modes, and calculates GPS and IMU data received from the inertial sensor (40) and can issue instructions to multiple motors and steering gears; the power supply end of the flight control board (36) is integrated with a reverse polarity protection Protection, reset restart switch to deal with some emergencies, add inertial guidance shock absorption plate (37) under the inertial sensor (40) to effectively offset part of the vibration effect, the antenna (38) adopts the North Sky four-arm spiral antenna to receive GPS and RTK signals, and is fixed on the flight control fixing plate (34) through the antenna base, screws and nuts. The level (39) can perform basic calibration on the inertial sensor (40) during the initial installation. The inertial sensor (40) can fuse GPS and RTK differential data and output the angle, angular velocity, acceleration, position and speed information corresponding to the Northeast Sky coordinate system. The flight control board (36) receives the data of the inertial sensor (40) to form a multi-loop feedback control system to control the movement of the servo and motor and stabilize the posture of the drone; The invention also comprises six electric regulators (11), which respectively drive two upper motors (5), two lower motors (18) and two roller motors (23) according to the signals of the flight control board (36).

2. A novel solar panel cleaning aircraft based on vector rotors according to claim 1, characterized in that: The main rod (14) is a carbon tube with an outer diameter of 40 mm, and the battery fixing rod (16) is a carbon tube with an outer diameter of 25 mm.

3. The novel solar panel cleaning aircraft based on vector rotors according to claim 1 is characterized in that: The tripod (22) is a carbon tube with an outer diameter of 30 mm.

4. A novel solar panel cleaning aircraft based on vector rotors according to claim 1, characterized in that: The tilting carbon tube (3) is a carbon tube with an outer diameter of 25 mm.

5. The novel solar panel cleaning aircraft based on vector rotors according to claim 1 is characterized in that: The sensor device is composed of an IMU, a GPS, a barometer, and an angle meter sensor. External information is collected and transmitted to a flight control board (36). At the same time, communication is established between the flight control board (36), a remote controller, and a ground station. The flight control board (36) sends a CAN signal to an electric regulator (11) to drive the motors respectively; sends a signal to a steering gear (31) to drive the steering gear (31) to tilt the two upper motors (5) and the two lower motors (18). The attitude of the unmanned aerial vehicle (UAV) is adjusted in real time through a multi-stage feedback control system. During a cleaning operation, the flight control board (36) and the electric regulator (11) drive the roller motor (23) to perform the cleaning operation and push the UAV forward. A position controller, a speed controller, an angle controller, an angular velocity controller, and an angular acceleration controller are cascaded to form a multi-stage feedback control system. The multi-stage feedback control system can estimate the flight state of the UAV in real time and control the UAV to fly smoothly.

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