A method of cleaning a drone structure and use

Abstract

The application provides a cleaning unmanned aerial vehicle structure and a use method. The cleaning unmanned aerial vehicle structure comprises a propeller unit, an extension unit and a cleaning unit. The propeller unit, the extension unit and the cleaning unit are sequentially connected. When the propeller unit flies and moves, the cleaning unit relies on its own gravity to stretch the extension unit and simultaneously adhere to the surface of a cleaning object. On this basis, the propeller unit drives the cleaning unit to relatively move with respect to the cleaning object, and cleaning work is completed.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and specifically relates to a cleaning UAV structure and usage method. Background Technology

[0002] With societal development, people are increasingly emphasizing environmental protection. Solar energy, as a clean energy source, produces no waste residue, wastewater, or exhaust gas during its development and utilization, generates no noise, and does not disrupt the ecological balance. Currently, solar energy utilization primarily involves using solar photovoltaic panels to convert solar energy into electricity. Cleaning photovoltaic panels is typically done manually. However, large photovoltaic panels require tilting to align with the sun, making manual cleaning a serious safety hazard. With advancements in technology, drones are increasingly replacing manual labor for cleaning large photovoltaic panels. Therefore, there is a need for easy-to-operate, high-error-tolerance cleaning drones to perform cleaning operations.

[0003] Therefore, how to overcome the shortcomings of existing technologies and solve the above-mentioned technical problems is a problem to be solved in this technical field. Summary of the Invention

[0004] The technical problem this invention aims to solve is the lack of cleaning drones that can perform stable cleaning operations on objects while in flight.

[0005] To solve the above problems, the present invention adopts the following technical solution:

[0006] A cleaning drone structure includes: a cleaning unit 1, a propeller unit 2, and a telescopic unit 3;

[0007] The lower end of the propeller unit 2 is connected to the upper end of the telescopic unit 3, and the lower end of the telescopic unit 3 is axially connected to the upper end of the cleaning unit 1. When the cleaning drone operates above the object to be cleaned, the cleaning unit 1 stretches the telescopic unit 3 by its own weight and makes it fit against the surface of the object to be cleaned. Through the flight movement of the propeller unit 2, under the premise that the cleaning unit 1 is in contact with the surface of the object to be cleaned, the relative displacement between the cleaning unit 1 and the object to be cleaned is driven, thereby performing the cleaning operation on the object to be cleaned.

[0008] Preferably, the telescopic unit 3 specifically includes: a first preset number of hollow tubes 32, a winding drum 33, and a rope 34;

[0009] The hollow tubes 32 of the first preset number are sequentially connected from top to bottom, and adjacent hollow tubes 32 can slide relative to each other. The top of the uppermost hollow tube 32 is connected to the propeller unit 2. The reel 33 is located at the bottom of the lowermost hollow tube 32 and is axially connected to the cleaning unit 1. The rope 34 is located inside all the first preset number of hollow tubes 32. One end of the rope 34 is located on the reel 33, and the other end is connected to the inside of the uppermost hollow tube 32. The winding and unwinding of the rope 34 by the reel 33 realizes the relative displacement between adjacent hollow tubes 32, thereby realizing the stretching and contraction of the telescopic unit 3.

[0010] Preferably, the cleaning unit 1 specifically includes: a cleaning roller 11, a transmission assembly 12, and a protective shell 13;

[0011] The protective shell 13 is axially connected to the lower end of the winding drum 33, the cleaning roller 11 is disposed inside the protective shell 13, and both ends of the cleaning roller 11 are connected to the inner wall of the protective shell 13.

[0012] The cleaning roller 11 is axially connected to the transmission component 12. The transmission component 12 drives the cleaning roller 11 to rotate, and at the same time, the cleaning roller 11 is in contact with the surface of the object to be cleaned, thereby washing the surface of the object.

[0013] Preferably, the cleaning unit 1 further includes: an inertial measurement unit 14;

[0014] The inertial measurement unit 14 is mounted on the protective shell 13 and is used to monitor the tilt angle and position of the cleaning unit 1 in real time.

[0015] Preferably, the propeller unit 2 specifically includes: a connector 21, a telescopic rod 22, and a propeller 23;

[0016] The lower end of the connector 21 is connected to the top of the uppermost hollow tube 32, and a second preset number of telescopic rods 22 are arranged around the connector 21 with the hollow tube 32 as the center. The propeller 23 is arranged at the end of the telescopic rods 22.

[0017] Preferably, the connector 21 specifically includes: a mounting hole 211 and a connecting hole 212;

[0018] The mounting hole 211 is located at the lower end of the center of the connector 21 and is used to connect to the top of the uppermost hollow tube 32. A second preset number of connecting holes 212 are arranged around the mounting hole 211 with the center of the connector 21 as the center, and are used to connect to a second preset number of telescopic rods 22.

[0019] Preferably, the telescopic rod 22 can extend and retract a preset number of times to change its length. When the cleaning drone is flying above the object being cleaned, the inertial measurement unit 14 monitors the tilt angle and position of the cleaning unit 1 when it is in contact with the surface of the object being cleaned. This allows the positional relationship between the propeller 23 and the object being cleaned to be determined during the cleaning operation. By changing the length of the telescopic rod 22, the position of the propeller 23 can be changed, thus preventing the propeller 23 from colliding with the object being cleaned.

[0020] Preferably, the telescopic unit 3 is further provided with a water storage tank 4 in the middle. The water storage tank is connected to the protective shell 13 of the cleaning unit 1 through a water guide hose 5 and leads to the cleaning roller 11 inside the cleaning unit 1. The water storage tank 4 is used to provide the cleaning liquid in the water storage tank 4 to the cleaning roller 11 through the water guide hose 5, thereby assisting the cleaning operation.

[0021] Secondly, a method of using a cleaning drone, utilizing the aforementioned cleaning drone structure, wherein:

[0022] When the cleaning drone operates above the object being cleaned, the reel 33 releases the rope 34, and the cleaning unit 1 stretches the telescopic unit 3 under its own weight, bringing it into contact with the surface of the object being cleaned. The water tank 4 transmits cleaning fluid to the cleaning roller 11 through the water guide hose 5, and the motor drives the cleaning roller 11 to rotate. The cleaning roller 11 washes the surface of the object being cleaned. Through the flight movement of the propeller unit 2, while the cleaning unit 1 is in contact with the surface of the object being cleaned, the relative displacement between the cleaning unit 1 and the object being cleaned is driven, thereby performing the cleaning operation on the object being cleaned.

[0023] Preferably, the step of moving the propeller unit 2 to drive relative displacement between the cleaning unit 1 and the surface of the object being cleaned, while ensuring that the cleaning unit 1 is in contact with the surface of the object being cleaned, further includes:

[0024] When the cleaning unit 1 is in contact with the surface of the object being cleaned, the control terminal of the cleaning drone acquires one or more of the following: the width of the surface of the object being cleaned, the vertical height of the cleaning drone during flight, the current length of the telescopic rod 22, and the tilt angle of the cleaning unit 1 detected by the inertial measurement unit 14. This allows the drone to determine whether the propeller 23 will collide with the surface of the object being cleaned during the cleaning process. By changing the length of the telescopic rod 22, the position of the propeller 23 can be changed to prevent the propeller 23 from colliding with the surface of the object being cleaned.

[0025] This invention provides a cleaning drone structure and usage method. By connecting a propeller unit, a telescopic unit, and a cleaning unit in sequence, the cleaning unit stretches the telescopic unit by its own gravity while the propeller unit is in flight displacement, and at the same time, it comes into contact with the surface of the object to be cleaned. On this basis, the propeller unit drives the cleaning unit to make relative displacement with respect to the object to be cleaned, thereby completing the cleaning operation. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments of the present invention will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0027] Figure 1 This is a structural schematic diagram of a cleaning drone structure provided in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of a telescopic unit for cleaning drones provided in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of a telescopic unit for cleaning drones provided in an embodiment of the present invention;

[0030] Figure 4 This invention provides a cleaning unit for cleaning the structure of a drone by removing part of its protective shell.

[0031] Figure 5 This is a schematic diagram of a cleaning unit for cleaning drones provided in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of a propeller unit of a cleaning drone provided in an embodiment of the present invention when connected to a telescopic unit;

[0033] Figure 7 This is a schematic diagram of the connecting component of a propeller unit for cleaning a drone, provided in an embodiment of the present invention.

[0034] Figure 8 This is a structural schematic diagram of a cleaning drone structure provided in an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the telescopic rod of a propeller unit for cleaning a drone structure when it is retracted, according to an embodiment of the present invention.

[0036] Figure 10This is a flowchart of the cleaning logic of a method for using a cleaning drone provided in an embodiment of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0038] In the description of this invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and do not require that this invention must be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0039] Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0040] Example 1:

[0041] This invention provides a cleaning drone structure, comprising: a cleaning unit 1, a propeller unit 2, and a telescopic unit 3;

[0042] like Figure 1 As shown, the lower end of the propeller unit 2 is connected to the upper end of the telescopic unit 3, and the lower end of the telescopic unit 3 is axially connected to the upper end of the cleaning unit 1. When the cleaning drone operates above the object to be cleaned, the cleaning unit 1 stretches the telescopic unit 3 by its own weight and adheres to the surface of the object to be cleaned. Through the flight movement of the propeller unit 2, under the premise that the cleaning unit 1 is in contact with the surface of the object to be cleaned, the relative displacement between the cleaning unit 1 and the object to be cleaned is driven, thereby performing the cleaning operation on the object to be cleaned.

[0043] The cleaning drone is used to clean the surface of photovoltaic panels or other flat devices. Therefore, the bottom surface of the cleaning unit 1 is flat to fit against the surface of the object being cleaned. Considering that the cleaning drone will tilt at a certain angle when it turns or accelerates, but the bottom surface of the cleaning unit 1 needs to remain in contact with the surface of the object being cleaned for most of the time during the cleaning process, the cleaning unit 1 needs to be axially connected to the telescopic unit 3 above to ensure that the cleaning unit 1 can rotate at a certain angle relative to the telescopic unit 3 when the cleaning drone turns or accelerates.

[0044] To ensure that the cleaning unit 1 remains in constant contact with the surface of the object being cleaned during operation, the propeller unit 2 is connected to the cleaning unit 1 by a telescopic unit 3 that can change length. The extension of the telescopic unit 3 relies on the weight of the cleaning unit 1 during flight. Referring to the maximum difference between the extended and retracted lengths of the telescopic unit 3, the propeller unit 2 can move vertically within this maximum length difference without affecting the contact between the cleaning unit 1 and the surface of the object being cleaned. This provides a buffer for the vertical movement of the cleaning drone during operation and reduces the precision required for its control. When not in operation, the telescopic unit 3 is retracted, and the upper surface of the cleaning unit 1 is pressed against it, preventing the cleaning unit 1 from shaking during flight.

[0045] In order to realize the telescopic function of the telescopic unit 3, the telescopic unit 3 has at least two connecting parts. At the same time, the extension of the telescopic unit 3 is stretched by the gravity of the cleaning unit 1 itself, and the retraction of the telescopic unit 3 needs to be controlled by the control end.

[0046] like Figure 2 and Figure 3 As shown, the telescopic unit 3 specifically includes: a first preset number of hollow tubes 32, a winding drum 33, and a rope 34;

[0047] The hollow tubes 32 of the first preset number are sequentially connected from top to bottom, and adjacent hollow tubes 32 can slide relative to each other. The top of the uppermost hollow tube 32 is connected to the propeller unit 2. The reel 33 is located at the bottom of the lowermost hollow tube 32 and is axially connected to the cleaning unit 1. The rope 34 is located inside all the first preset number of hollow tubes 32. One end of the rope 34 is located on the reel 33, and the other end is connected to the inside of the uppermost hollow tube 32. The winding and unwinding of the rope 34 by the reel 33 realizes the relative displacement between adjacent hollow tubes 32, thereby realizing the stretching and contraction of the telescopic unit 3.

[0048] The first preset number of hollow tubes 32 have different diameters, and their diameters increase or decrease sequentially from top to bottom. Except for the lowest hollow tube 32, each hollow tube 32 is equipped with a limiting device. When two adjacent hollow tubes 32 slide up and down, the lower hollow tube 32 is stopped by the limiting device, preventing it from continuing to rise or fall. Therefore, the first preset number of hollow tubes 32 have a maximum and minimum length, thereby further setting the highest and lowest heights of the cleaning unit 1 relative to the propeller unit 2. One end of the rope 34 is wound and bundled in the reel 33, and the other end is fixedly connected to the inside of the uppermost hollow tube 32. The reel 33 is controlled by its own second motor. When the second motor is turned on, the reel 33... The rope 34 is wound up. Since the upper end of the rope 34 is fixed to the uppermost hollow tube 32 and the drum 33 is fixedly connected to the lower end of the lowermost hollow tube 32, it provides an upward force to the lowermost hollow tube 32, the drum 33, and the cleaning unit 1. The lowermost hollow tube 32, the drum 33, and the cleaning unit 1 are all lifted upward relative to the uppermost hollow tube 32. When the required height is reached, the drum 33 stops winding the rope 34 and maintains the length of the wound rope 34, so that the cleaning unit 1 maintains its current height. When the cleaning unit 1 needs to be lowered, the second motor is turned off, the drum 33 releases the rope 34, and the lowermost hollow tube 32, the drum 33, and the cleaning unit 1 descend due to their own gravity. At the same time, the drum 33 releases a certain length of the rope 34.

[0049] The first preset number of hollow tubes 32 are further provided with a sleeve to protect the first preset number of hollow tubes 32 and prevent other factors from interfering with the operation between the first preset number of hollow tubes 32.

[0050] like Figure 4 As shown, the cleaning unit 1 specifically includes: a cleaning roller 11, a transmission assembly 12, and a protective shell 13;

[0051] The protective shell 13 is axially connected to the lower end of the winding drum 33. The cleaning roller 11 is disposed inside the protective shell 13, and both ends of the cleaning roller 11 are connected to the inner wall of the protective shell 13.

[0052] The upper part of the cleaning drone is a propeller unit 2 for controlling flight, and the cleaning unit 1 is located at the bottom of the cleaning drone, used to contact the object to be cleaned to complete the cleaning function; the protective shell 13 is a waterproof shell, which not only has good sealing performance, but also serves as the overall frame of the cleaning unit 1, allowing the various components to be connected and fixed within it; the protective shell 13 is provided with at least two cleaning rollers 11, and the cleaning rollers 11 have a shaft at their center. The two ends of the shaft are connected to the inner walls of opposite sides of the protective shell 13, and the cleaning rollers 11 can rotate around the shaft; since the bottom of the cleaning unit 1 needs to be in contact with the surface of the object to be cleaned when the cleaning drone is working on the object, the bottom of the protective shell 13 is a flat surface, and the cleaning rollers 11 can be in contact with the surface of the object to be cleaned.

[0053] The cleaning roller 11 is axially connected to the transmission component 12. The transmission component 12 drives the cleaning roller 11 to rotate, and at the same time, the cleaning roller 11 is in contact with the surface of the object to be cleaned, thereby washing the surface of the object.

[0054] The transmission component 12 is driven by a motor, which is located inside the protective shell 13 and does not affect the rotation of the cleaning roller 11. The protective shell 13 may contain one or more motors, each motor is connected to one or more transmission components 12, and each transmission component 12 is connected to a cleaning roller 11, ensuring that one motor can drive one or more cleaning rollers 11.

[0055] The transmission assembly 12 specifically includes: a driving pulley, a driven pulley, a transmission belt, and a motor, wherein:

[0056] The driving wheel and the driven wheel are connected by the transmission belt and are disposed on the inner side wall surface of the protective shell 13. The motor is shaft-connected to the driving wheel and the cleaning roller 11 is shaft-connected to the driven wheel. The motor drives the driving wheel to rotate, thereby linking with the driven wheel and driving the cleaning roller 11 to rotate.

[0057] In one of the transmission components 12, there is a driving wheel and at least one driven wheel. The driving wheel is directly connected to the drive shaft on the motor and is directly driven to rotate by the motor. It is linked with the driven wheel through the conveyor belt. The rotation of the driven wheel drives the rotation of the cleaning roller 11. The driving wheel radius of each transmission component 12 is the same, and the driven wheel radius of each transmission component 12 is the same. None of them exceed the vertical height of the protective shell 13, ensuring that the rotation speed of each cleaning roller 11 is consistent.

[0058] When one motor is required to control the rotation of more than one number of cleaning rollers 11, the drive shaft of the motor can be simultaneously connected to the drive wheels in more than one number of transmission components 12. The drive wheels are connected to the drive shaft of the motor in a superimposed manner. At the same time, there is a certain distance between different drive wheels to ensure that the drive wheels do not come into contact or collide with each other. The remaining parts of the transmission components 12 extend in different directions to avoid mutual interference between different transmission components 12.

[0059] A battery is also provided at the top of the inner wall of the protective shell 13 for powering the motor; a sealed waterproof shell is provided between the battery, the motor and the transmission assembly 12 and the cleaning roller 11 to prevent liquid from seeping in from the connection between the protective shell 13 and the sealed waterproof shell and causing damage to the battery, motor and transmission assembly 12.

[0060] During the normal flight of the cleaning drone, the inertial measurement unit 14 is required to monitor the real-time status of the cleaning drone, including tilt angle, altitude and flight speed. Therefore, the inertial measurement unit 14 is required to perform the above functions.

[0061] like Figure 5 As shown, the cleaning unit 1 further includes: an inertial measurement unit 14;

[0062] The inertial measurement unit 14 is mounted on the protective shell 13 and is used to monitor the tilt angle and position of the cleaning unit 1 in real time.

[0063] Considering that the tilt angle of the surface of the object to be cleaned is one of the important reference standards when the cleaning drone performs cleaning operations, and the cleaning unit 1 needs to be in close contact with the surface of the object to be cleaned when cleaning the object, the tilt angle of the cleaning unit 1 is the cleaning angle of the surface of the object to be cleaned. Therefore, the inertial measurement unit 14 is set on the surface of the protective shell 13 of the cleaning unit 1, and it is necessary to ensure that the upper surface of the protective shell 13 is flat.

[0064] like Figure 6 As shown, the propeller unit 2 specifically includes: a connector 21, a telescopic rod 22, and a propeller 23;

[0065] The lower end of the connector 21 is connected to the top of the uppermost hollow tube 32, and a second preset number of telescopic rods 22 are arranged around the connector 21 with the hollow tube 32 as the center. The propeller 23 is arranged at the end of the telescopic rods 22.

[0066] like Figure 7 As shown, the connector 21 specifically includes: a mounting hole 211 and a connecting hole 212;

[0067] The mounting hole 211 is located at the lower end of the center of the connector 21 and is used to connect to the top of the uppermost hollow tube 32. A second preset number of connecting holes 212 are arranged around the mounting hole 211 with the center of the connector 21 as the center, and are used to connect to a second preset number of telescopic rods 22.

[0068] The uppermost hollow tube 32 is inserted into the mounting hole 211 and fixed. A second preset number of connecting holes 212 are arranged around the periphery of the mounting hole 211 at equal intervals. The telescopic rods 22 provided on each mounting hole 211 are identical. Each propeller 23 located at the end of the telescopic rod 22 is driven to rotate by a third motor 24. The third motor 24 can be located below the telescopic rod 22 and the propeller 23, or it can be located above the telescopic rod 22 and the propeller 23. The second preset number needs to ensure the normal flight and operation of the cleaning drone. When a few propellers 23 in any direction are turned off, the cleaning drone can still maintain normal flight operation. Under the premise of meeting the above conditions, the second preset number can be set by those skilled in the art according to the actual situation. All second preset number settings that meet the conditions should be within the protection scope of this invention.

[0069] The propeller unit 2 is also equipped with an inertial measurement unit for monitoring the real-time altitude and tilt angle of the propeller unit 2.

[0070] like Figure 9 As shown, the telescopic rod 22 can extend and retract a preset number of times, thereby changing the length of the telescopic rod 22. When the cleaning drone is flying above the cleaning object, it can determine the positional relationship between the propeller 23 and the cleaning object based on the tilt angle and position state of the cleaning unit 1 when it is in contact with the surface of the cleaning object, as monitored by the inertial measurement unit 14. By changing the length of the telescopic rod 22, the position of the propeller 23 can be changed to prevent the propeller 23 from colliding with the cleaning object.

[0071] The telescopic rod 22 has a preset number of sections, each with a gradually decreasing diameter from the inside out, and they are sequentially connected. The telescopic rod 22 with a smaller outer diameter can be retracted into or extend from the telescopic rod 22 with a larger inner diameter, thus changing the overall length of the telescopic rod 22. The longest length of the telescopic rod 22 is its fully extended length, and the shortest length is its fully retracted length. The retraction of the telescopic rod 22 is controlled by the control terminal of the cleaning drone. The inertial measurement unit 14 monitors the altitude and tilt angle of the cleaning unit 1 and reports them to the control terminal of the cleaning drone. The human-machine interface collects the current vertical height of the top of the cleaning drone, the width of the surface of the object being cleaned, and the current length of the telescopic boom 22. It then calculates whether the propeller 23 at the end of the telescopic boom 22 will touch the surface of the object when the cleaning drone is positioned on it. If a touch occurs, a certain number of telescopic booms 22 will be shortened towards the surface of the object to prevent the propeller 23 from colliding with it. Simultaneously, before the telescopic boom 22 retracts, the propeller 23 at the end of the retracting boom 22 needs to be stopped to prevent interference between propellers on adjacent booms when the length of the boom 22 is shortened.

[0072] In addition, there is a preferred embodiment in which the propeller 23 is axially connected to the end of the telescopic rod 22, thereby ensuring that the propeller 23 can rotate at least 180 degrees around the telescopic rod as the axis. The rotation of the propeller 23 is controlled by the control terminal of the cleaning drone. By adjusting the rotation angle of the propeller 23, the direction and speed of the cleaning drone can be adjusted.

[0073] The telescopic unit 3 is also equipped with a water storage tank 4 in the middle. The water storage tank 4 is connected to the protective shell 13 of the cleaning unit 1 through a water guide hose 5 and leads to the cleaning roller 11 inside the cleaning unit 1. The water storage tank 4 is used to supply the cleaning liquid in the water storage tank 4 to the cleaning roller 11 through the water guide hose 5, thereby assisting the cleaning operation.

[0074] The first preset number of hollow tubes 32 of the telescopic unit 3 penetrate the water storage tank 4 from top to bottom, ensuring that the water storage tank 4 is arranged around the first preset number of hollow tubes 32. At the same time, the center of the water storage tank 4 is empty to accommodate the first preset number of hollow tubes 32, and the water storage tanks 4 around the telescopic unit 3 are symmetrical and consistent, ensuring the balance of the cleaning drone during flight.

[0075] The water guide hose 5 is easily deformable. When the position and angle of the cleaning unit 1 relative to the telescopic unit 3 change, the water guide hose 5 can deform synchronously from being stretched or bent and contracted.

[0076] The water guide hose 5 leads to the interior of the cleaning unit 1 and also includes:

[0077] The water-guiding hose 5 passes through the protective shell 13 and the sealed waterproof shell in sequence, and a water outlet nozzle is provided at the end of the water-guiding hose 5. The water outlet nozzle is located on the inner wall of the sealed waterproof shell at the periphery of the cleaning roller 11, so that the cleaning roller 11 can receive the cleaning liquid discharged from the water outlet nozzle.

[0078] The periphery of the cleaning roller 11 is provided with a water spray nozzle. The water spray nozzle can be located on the sealing and waterproof shell above the cleaning roller 11 or on the sealing and waterproof shell on the side of the cleaning roller 11. One water spray nozzle corresponds to one or more cleaning rollers 11, and the cleaning liquid output from the water spray nozzle is sprayed onto the cleaning roller 11.

[0079] The water-guiding hose 5, connected to the water nozzle, passes through the sealed waterproof shell and the protective shell 13, and is connected to the water storage tank on the telescopic unit 3 of the cleaning drone. The upper end of the telescopic unit 3 is connected to the propeller unit 2, and the lower end of the telescopic unit 3 is connected to the cleaning unit 1. The connection between the water-guiding hose 5 and the sealed waterproof shell is a sealed connection to prevent the cleaning liquid sprayed from the cleaning roller 11 from entering the area between the protective shell 13 and the sealed waterproof shell through the connection between the water-guiding hose 5 and the sealed waterproof shell, thereby preventing damage to the battery, motor, and transmission assembly 12.

[0080] Therefore, in addition to receiving the cleaning fluid on the cleaning roller 11, the cleaning roller 11 is also provided with absorbent cotton, which is used to absorb the received cleaning fluid and wash the cleaning object of the cleaning drone.

[0081] The absorbent cotton is arranged around the cleaning roller 11 to ensure that the absorbent cotton can contact the surface of the object to be cleaned by the cleaning drone when the cleaning roller 11 rotates around its own axis, thereby washing the surface of the object; and the absorbent cotton can absorb most of the cleaning liquid output from the corresponding water outlet of the two cleaning rollers 11, preventing the cleaning liquid from being too dispersed inside the sealed waterproof shell and reducing the overall cleaning efficiency.

[0082] Example 2:

[0083] This invention provides a method for using a cleaning drone. The foregoing embodiments mainly describe the structure of the cleaning drone. The following describes the method for using the cleaning drone in detail with reference to the structure of the cleaning drone in Embodiment 1.

[0084] When the cleaning drone operates above the object being cleaned, the reel 33 releases the rope 34, and the cleaning unit 1 stretches the telescopic unit 3 under its own weight, bringing it into contact with the surface of the object being cleaned. The water tank 4 transmits cleaning fluid to the cleaning roller 11 through the water guide hose 5, and the motor drives the cleaning roller 11 to rotate. The cleaning roller 11 washes the surface of the object being cleaned. Through the flight movement of the propeller unit 2, while the cleaning unit 1 is in contact with the surface of the object being cleaned, the relative displacement between the cleaning unit 1 and the object being cleaned is driven, thereby performing the cleaning operation on the object being cleaned.

[0085] The propeller unit 2 drives the relative displacement between the cleaning unit 1 and the object being cleaned in the following ways: when the cleaning unit 1 is in contact with the surface of the object being cleaned, the propeller unit 2 moves back and forth to the left and right relative to the object being cleaned, thereby cleaning the horizontal area of ​​the object being cleaned; or when the cleaning unit 1 is in contact with the surface of the object being cleaned, the propeller unit 2 moves back and forth to the up and down relative to the object being cleaned, thereby cleaning the vertical area of ​​the object being cleaned.

[0086] The flight movement of the propeller unit 2, under the premise that the cleaning unit 1 is in contact with the surface of the object being cleaned, drives the relative displacement between the cleaning unit 1 and the object being cleaned, and further includes:

[0087] When the cleaning unit 1 is in contact with the surface of the object being cleaned, the control terminal of the cleaning drone acquires one or more of the following: the width of the surface of the object being cleaned, the vertical height of the cleaning drone during flight, the current length of the telescopic rod 22, and the tilt angle of the cleaning unit 1 detected by the inertial measurement unit 14. This allows the drone to determine whether the propeller 23 will collide with the surface of the object being cleaned during the cleaning process. By changing the length of the telescopic rod 22, the position of the propeller 23 can be changed to prevent the propeller 23 from colliding with the surface of the object being cleaned.

[0088] When the cleaning drone reaches the object being cleaned, the motor of the reel 33 shuts off, and the reel 33 stops winding the rope 34. The cleaning unit 1 descends under gravity and comes into contact with the surface of the object being cleaned. At this time, the control terminal of the cleaning drone obtains the vertical height of the propeller unit 2 and the tilt angle of the plane on which the propeller 23 is located through the inertial measurement unit 14 on the propeller unit 2. At the same time, it obtains the current vertical height and tilt angle of the cleaning unit 1 through the inertial measurement unit 14 on the cleaning unit 1. When the vertical height of the object being cleaned is greater than the vertical length of the cleaning drone, the propeller 23 may collide with the surface being cleaned during the cleaning drone's operation. Since the cleaning unit 1 is in contact with the object being cleaned, the tilt angle of the cleaning unit 1 is consistent with the tilt angle of the object being cleaned. Since the tilt angle of the plane where the propeller 23 is located is 0 degrees in most cases, the vertical length of the cleaning drone and the tilt angle of the object being cleaned can be obtained based on the vertical height of the cleaning drone during flight, including the height of the cleaning unit 1 and the vertical height of the propeller unit 2. The horizontal distance between the center of the connecting part 21 of the propeller unit 2 and the surface of the object being cleaned can then be calculated. If the horizontal distance is greater than the length of the telescopic rod 22 of the propeller unit 2 during normal flight, the control end of the cleaning drone does not need to shorten the telescopic rod 22. When the horizontal distance is less than the length of the telescopic rod 22 of the propeller unit 2 during normal flight, it means that the propeller 23 will collide with the surface being cleaned when the cleaning drone is performing cleaning operations. At this time, the control end of the cleaning drone shortens the telescopic rod 22.

[0089] like Figure 10 As shown, the cleaning drone performs the following cleaning logic relative to the specified cleaning object:

[0090] In step 101, after selecting the cleaning target, the route between the cleaning target and the cleaning drone airport is planned based on the location of the cleaning target and the location of the cleaning drone airport, under the premise of flight safety, and then step 102 or step 103 is performed.

[0091] In step 102, a routine cleaning operation is performed on all objects to be cleaned every first preset time interval.

[0092] In step 103, a routine inspection of all cleaning objects is carried out every second preset time interval.

[0093] In step 104, if contamination is found on the object to be cleaned, information about the contaminated object to be cleaned is obtained.

[0094] In step 105, a cleaning drone is arranged to perform a separate cleaning operation on the contaminated object.

[0095] Wherein the first preset time is greater than the second preset time, under this premise, the first preset time and the second preset time shall be set by those skilled in the art according to actual needs.

[0096] During all the cleaning operations described above, the cleaning drone will automatically take off from the cleaning drone airport after receiving the cleaning command. After the cleaning operation is completed, the cleaning drone will automatically return to the cleaning drone airport and land. When the cleaning drone is parked at the cleaning drone airport, the cleaning drone control terminal will monitor its remaining battery power and remaining cleaning fluid level in real time. When the remaining battery power of the cleaning drone is lower than or equal to the preset battery power value, the cleaning drone will automatically recharge at the cleaning drone airport or remind the user to manually recharge it. The preset battery power value can be set by those skilled in the art according to actual needs. When the remaining cleaning fluid level of the cleaning drone is lower than or equal to the preset cleaning fluid level, the cleaning drone will automatically replenish the cleaning fluid at the cleaning drone airport or remind the user to manually replenish the cleaning fluid. The preset cleaning fluid level can be set by those skilled in the art according to actual needs.

[0097] Example 3:

[0098] This invention provides a method for using a cleaning drone. Compared with Embodiment 2, this embodiment demonstrates the method of using the invention in a more practical scenario.

[0099] In this embodiment, the cleaning drone cleans a photovoltaic panel with a tilt angle of 30 degrees and a vertical height of 2 meters. The telescopic boom 22 of the cleaning drone has a maximum length of 1.8 meters and a minimum length of 0.6 meters. The cleaning unit 1 of the cleaning drone has two cleaning rollers 11, each driven by a motor. Each cleaning roller 11 is connected to a transmission assembly 12, with the drive wheels of the two transmission assemblies stacked and axially connected to the drive rod of the motor. Each of the two cleaning rollers 11 has a corresponding water outlet, which is nozzle-shaped and located on a sealed waterproof shell above the cleaning roller 11. When the cleaning drone moves left or right, the vertical length between the propeller assembly 2 and the cleaning unit 1 is 1 meter, which is less than the vertical height of the photovoltaic panel. Therefore, when the cleaning drone cleans the photovoltaic panel, the propeller 23 may collide with the surface of the object being cleaned. Calculations show that the length of the telescopic boom 22 of the cleaning drone needs to be less than 1.73 meters.

[0100] When the cleaning drone flies to the photovoltaic panel and the cleaning unit 1 is in contact with the surface of the photovoltaic panel, the battery powers the motor, which drives the two transmission components 12 on its drive rod to operate. The transmission components 12 drive the two cleaning rollers 11 to rotate at the same speed. The cleaning fluid is discharged from the water tank 4 through the water guide hose 5 from the water outlet and sprayed onto the cleaning rollers 11, where it is absorbed by the absorbent cotton on the cleaning rollers 11, thereby cleaning the contact surface between the cleaning drone and the photovoltaic panel. The cleaning drone moves up and down, causing the cleaning unit 1 to move up and down on the surface of the photovoltaic panel to clean the entire surface of the photovoltaic panel. When the inertial measurement unit 14 on the propeller unit 2 of the cleaning drone detects that the vertical height is less than or equal to 2 meters, the telescopic rod 22 on the side relative to the photovoltaic panel needs to be shortened to less than 1.73 meters to prevent the propeller 23 from colliding with the photovoltaic panel.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A cleaning drone structure, characterized in that, include: Cleaning unit (1), propeller unit (2) and telescopic unit (3); Wherein, the lower end of the propeller unit (2) is connected to the upper end of the telescopic unit (3), and the lower end of the telescopic unit (3) is axially connected to the upper end of the cleaning unit (1); when the cleaning drone is operating above the object to be cleaned, the cleaning unit (1) stretches the telescopic unit (3) by its own weight and adheres to the surface of the object to be cleaned. Through the flight movement of the propeller unit (2), under the premise that the cleaning unit (1) is adhered to the surface of the object to be cleaned, the relative displacement between the cleaning unit (1) and the object to be cleaned is driven, thereby cleaning the object to be cleaned; The telescopic unit (3) specifically includes: a first preset number of hollow tubes (32); wherein, the first preset number of hollow tubes (32) are sequentially connected from top to bottom, and adjacent hollow tubes (32) can slide relative to each other; the top of the uppermost hollow tube (32) is connected to the propeller unit (2); The propeller unit (2) specifically includes: a connector (21), a telescopic rod (22), and a propeller (23); wherein, the lower end of the connector (21) is connected to the top of the uppermost hollow tube (32), a second preset number of telescopic rods (22) are arranged around the connector (21) with the hollow tube (32) as the center, and the propeller (23) is arranged at the end of the telescopic rod (22); The telescopic rod (22) can be extended and retracted a preset number of times to change the length of the telescopic rod (22). When the cleaning unit (1) is in contact with the surface of the object being cleaned, the control terminal of the cleaning drone obtains one or more of the width of the surface of the object being cleaned, the vertical height of the cleaning drone during flight, the current length of the telescopic rod (22), and the tilt angle of the current cleaning unit (1). Based on the vertical height of the cleaning drone during flight, including the height of the cleaning unit (1) of the cleaning drone and the vertical height of the propeller unit (2) of the cleaning drone, the vertical length of the cleaning drone itself and the tilt angle of the object being cleaned are obtained. The horizontal distance between the center of the connector (21) of the propeller unit (2) and the surface of the object being cleaned can be calculated at this time. Thus, by changing the length of the telescopic rod (22), the position of the propeller (23) is changed to prevent the propeller (23) from colliding with the object being cleaned.

2. The cleaning drone structure according to claim 1, characterized in that, The telescopic unit (3) specifically includes: a reel (33) and a rope (34); The spool (33) is located at the bottom of the lowest hollow tube (32) and is axially connected to the cleaning unit (1). The rope (34) is located inside all the first preset number of hollow tubes (32). One end of the rope (34) is located on the spool (33), and the other end is connected to the inside of the highest hollow tube (32). The spool (33) tightens and loosens the rope (34) to realize the relative displacement between adjacent hollow tubes (32), thereby realizing the stretching and contraction of the telescopic unit (3).

3. The cleaning drone structure according to claim 2, characterized in that, The cleaning unit (1) specifically includes: a cleaning roller (11), a transmission assembly (12), and a protective shell (13). The protective shell (13) is axially connected to the lower end of the winding drum (33), the cleaning roller (11) is disposed inside the protective shell (13), and both ends of the cleaning roller (11) are connected to the inner wall of the protective shell (13). The cleaning roller (11) is axially connected to the transmission assembly (12). The transmission assembly (12) drives the cleaning roller (11) to rotate. At the same time, the cleaning roller (11) is in contact with the surface of the object to be cleaned, thereby cleaning the surface of the object.

4. The cleaning drone structure according to claim 3, characterized in that, The cleaning unit (1) also includes: an inertial measurement unit (14). The inertial measurement unit (14) is mounted on the protective shell (13) and is used to monitor the tilt angle and position of the cleaning unit (1) in real time.

5. The cleaning drone structure according to claim 3, characterized in that, The connector (21) specifically includes: a mounting hole (211) and a connecting hole (212); The mounting hole (211) is located at the lower end of the center position of the connector (21) and is used to connect to the top of the uppermost hollow tube (32). The second preset number of connecting holes (212) are arranged around the mounting hole (211) with the center position of the connector (21) as the center, and are used to connect to the second preset number of telescopic rods (22).

6. The cleaning drone structure according to claim 4, characterized in that, The telescopic rod (22) can extend and retract a preset number of times to change the length of the telescopic rod (22). When the cleaning drone is flying above the cleaning object, the inertial measurement unit (14) monitors the tilt angle and position state of the cleaning unit (1) when it is in contact with the surface of the cleaning object to determine the positional relationship between the propeller (23) and the cleaning object during the cleaning operation. Thus, by changing the length of the telescopic rod (22), the position of the propeller (23) is changed to prevent the propeller (23) from colliding with the cleaning object.

7. The cleaning drone structure according to claim 1, characterized in that, The telescopic unit (3) is also provided with a water storage tank (4) in the middle. The water storage tank (4) is connected to the protective shell (13) of the cleaning unit (1) through a water guide hose (5) and leads to the cleaning roller (11) inside the cleaning unit (1). The water storage tank (4) is used to provide the cleaning liquid in the water storage tank (4) to the cleaning roller (11) through the water guide hose (5) to assist the cleaning operation.

8. A method for using a cleaning drone, characterized in that, Using the cleaning drone structure as described in any one of claims 1-7, wherein: When the cleaning drone is operating above the object being cleaned, the reel (33) releases the rope (34), and the cleaning unit (1) stretches the telescopic unit (3) by its own weight and comes into contact with the surface of the object being cleaned. The water tank (4) transmits cleaning fluid to the cleaning roller (11) through the water guide hose (5). The motor drives the cleaning roller (11) to rotate, and the cleaning roller (11) washes the surface of the object being cleaned. Through the flight movement of the propeller unit (2), under the premise that the cleaning unit (1) is in contact with the surface of the object being cleaned, the relative displacement between the cleaning unit (1) and the object being cleaned is driven, thereby cleaning the object being cleaned.

9. The method of using a cleaning drone according to claim 8, characterized in that, The flight movement of the propeller unit (2), under the premise that the cleaning unit (1) is in contact with the surface of the object being cleaned, drives the relative displacement between the cleaning unit (1) and the object being cleaned, and further includes: When the cleaning unit (1) is in contact with the surface of the object being cleaned, the control terminal of the cleaning drone obtains one or more of the following: the width of the surface of the object being cleaned, the vertical height of the cleaning drone during flight, the current length of the telescopic rod (22), and the tilt angle of the current cleaning unit (1) detected by the inertial measurement unit (14). This allows the drone to determine whether the propeller (23) will collide with the surface of the object being cleaned during the cleaning operation. By changing the length of the telescopic rod (22), the position of the propeller (23) is changed to prevent the propeller (23) from colliding with the surface of the object being cleaned.

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