A photovoltaic cleaning device for unmanned aerial vehicle and a control method thereof

Abstract

The invention discloses a photovoltaic cleaning device for unmanned aerial vehicles and a control method thereof, which relate to the technical field of solar power generation, and comprise a water supply running component, wherein the upper surface of the water supply running component is provided with a water storage tank, an unmanned aerial vehicle endurance battery, a bundle tube delivery anti-damage component and four groups of unmanned aerial vehicle limit grooves arranged in a circumferential manner from left to right, wherein the water delivery pipe of the water storage tank and the output cable of the unmanned aerial vehicle endurance battery are both sheathed in the bundle tube, the bundle tube coil is mounted on a bundle tube coil loader, and the other end of the bundle tube passes through the bundle tube delivery anti-damage component and is fixedly arranged on the unmanned aerial vehicle cleaning component, the unmanned aerial vehicle cleaning component is clamped in the four groups of unmanned aerial vehicle limit grooves, and the bundle tube coil loader is fixedly arranged on the upper surface of the water supply running component; the operation difficulty of the unmanned aerial vehicle cleaning component can be simplified, and the photovoltaic panel can be ensured to be comprehensively and effectively cleaned, thereby improving its power generation efficiency and service life, while ensuring the safety and reliability of the cleaning process.

Description

Technical Field

[0001] The present invention relates to the technical field of solar power generation, and in particular to a photovoltaic cleaning device for an unmanned aerial vehicle and a control method thereof. Background Art

[0002] Photovoltaic panels, as a device that converts solar energy into electrical energy, have broad application prospects in the fields of energy, construction, agriculture, environmental protection, and transportation. Northwestern regions such as Xinjiang, Inner Mongolia, and Qinghai have abundant solar energy resources. However, these areas are dry areas such as deserts and Gobi. Wind, sand, and dust are common environmental problems. These wind, sand, and dust will adhere to the surface of photovoltaic panels, affecting the efficiency of solar energy conversion and causing damage to the panels. Therefore, they usually need to be cleaned by drones.

[0003] However, during the cleaning process, the wind may carry fine sand onto the photovoltaic panels, resulting in unsatisfactory cleaning results. In addition, the fine sand and gravel on the ground of the photovoltaic panels may also be washed by water and attached to the panels. At the same time, the drone needs to have high-precision positioning and path planning capabilities to ensure that it can accurately cover every area of ​​the photovoltaic panels while avoiding collisions with photovoltaic panels or other obstacles, which will greatly increase the difficulty of cleaning. At the same time, traditional drone cleaning devices cannot meet the cleaning requirements of large-scale photovoltaic power stations due to endurance issues.

[0004] Therefore, it is necessary to provide a UAV photovoltaic cleaning device and a control method thereof to solve the above problems. Summary of the invention

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a photovoltaic cleaning device for a drone, comprising a water supply running component, the upper surface of which is provided with a water storage tank, a drone endurance battery, a bundle tube delivery anti-damage component, and four groups of drone limit grooves arranged circumferentially from left to right, the water supply pipe of the water storage tank and the output cable of the drone endurance battery are both sheathed in the bundle tube, the bundle tube is coiled on a bundle tube coiler, and the other end of the bundle tube passes through the bundle tube delivery anti-damage component and is fixedly set on the drone cleaning component, the drone cleaning component is clamped in the four groups of drone limit grooves, and the bundle tube coiler is fixedly set on the upper surface of the water supply running component.

[0006] Further, as a preference, the drone cleaning component comprises:

[0007] The upper surface of the UAV frame is fixedly equipped with four sets of rotors arranged in a circle, and the lower surface of the UAV frame at the position of each set of rotors is fixedly equipped with a hydraulic cylinder, and the other end of the hydraulic cylinder is fixedly equipped with a fixing frame, and the inner side of the fixing frame is fixedly equipped with a traveling crawler;

[0008] A cleaning assembly, fixedly mounted in the middle of the lower surface of the drone frame;

[0009] The controller is fixedly arranged in the middle of the upper surface of the UAV frame.

[0010] Further, preferably, the cleaning component comprises:

[0011] An inverted concave fixing plate, a cleaner is rotatably mounted inside the concave position of the fixing plate, the cleaner is fixedly mounted on the output shaft of the driving motor, and the driving motor is fixedly mounted on the inverted concave fixing plate;

[0012] The cleaning adjustment rails are mirror-imaged and have two groups, which are respectively fixedly assembled on the inner sides of the concave positions of the inverted concave fixing plates and are clamped on the cleaner.

[0013] Further, preferably, the cleaner comprises:

[0014] There are two groups of rotating gears mirrored together, each group of rotating gears is meshed with a meshing chain group on the outside, eight groups of supporting plates are fixedly arranged between the two groups of meshing chain groups, six groups of supporting plates are respectively fixedly equipped with a dust removal brush group, a dust suction group, a first spraying group, a fiber cloth wiping group, a second spraying group and a water-absorbing cloth wiping group, and the other two groups of supporting plates adjacent to the dust suction group are empty.

[0015] Furthermore, preferably, the dust removal brush group, the dust suction group, the first spraying group, the fiber cloth wiping group, the second spraying group and the absorbent cloth wiping group are all connected to the output cable of the drone endurance battery, and the first spraying group and the second spraying group are also connected to the water pipe of the water tank, and a detergent adding tank is provided at the connection between the water spraying pipe of the first spraying group and the water pipe of the water tank.

[0016] Further, as a preference, the two groups of meshing chain groups are not connected head to tail, and a clampable fixture is fixedly provided on the head and tail chain groups.

[0017] Further, as a preference, the cleaning adjustment rail includes a fixed block, a first sliding block is fixedly mounted on the lower end of the fixed block, a first sliding track is slidably arranged on the first sliding block, a second sliding track is mirror-arranged on the other side of the first sliding track, a second sliding block and a third sliding block are slidably arranged on the second sliding track, and automatic clamps are fixedly arranged on the other sides of the second sliding block and the third sliding block.

[0018] Further, as a preference, the bundle tube feeding anti-damage assembly comprises a telescopic column, a rotating clamp is rotatably provided at the other end of the telescopic column, a fixed hydraulic cylinder is fixedly installed on the side of the rotating clamp, a bundle tube anti-wear set is rotatably provided at the other end of the fixed hydraulic cylinder, and a bundle tube clamp is provided on the inner side of the bundle tube anti-wear set.

[0019] A method for controlling photovoltaic cleaning of a drone comprises the following steps:

[0020] S1. According to the actual situation of the photovoltaic panels, plan the moving route and stay period of the water supply traveling component, the cleaning trajectory and cleaning strength of the drone cleaning component, the retraction time and degree of the bundle tube reel loader, and the height and pitch angle of the bundle tube into the anti-damage component;

[0021] S2. After the UAV cleaning assembly flies to the designated position, the two sets of hydraulic cylinders parallel to the cleaning assembly are retracted, so that the two sets of traveling tracks perpendicular to the cleaning assembly contact the photovoltaic panel, the cleaner rotates, and the two sets of traveling tracks drive the UAV cleaning assembly to move;

[0022] S3. The starter clamps on the two sets of second sliding blocks clamp the dust brush set, and the clamping fixture at this position releases the relative fixation with the rotating gear, and the two sets of second sliding blocks drive the dust brush set to slide along the second sliding track;

[0023] S4. The meshing chain group will gradually disengage from the rotating gear, and the dust brush group, the dust suction group, the first spraying group, the fiber cloth wiping group, the second spraying group and the absorbent cloth wiping group will start cleaning when they are parallel to the photovoltaic panel, until all of them reach a parallel state, and the start clamps on the two sets of third sliding blocks clamp the absorbent cloth wiping group, and the clampable fixture at this position releases the relative fixation with the rotating gear;

[0024] S5. The dust removal brush group, the dust suction group, the first spraying group, the fiber cloth wiping group, the second spraying group and the absorbent cloth wiping group will clean the surface of the photovoltaic panel step by step. At the same time, during this process, the two groups of first sliding blocks will gradually move along the first sliding track until the rotating gear is engaged with the dust removal brush group. At this time, the dust removal brush group has reached the end of the route;

[0025] S6. The clampable fixture at the dust removal brush group is relatively fixed to the rotating gear, and the start clamps on the two sets of second sliding blocks release the dust removal brush group. With the sliding of the two sets of third sliding blocks and the rotation of the cleaner, the meshing chain group will gradually mesh with the rotating gear. The dust removal brush group, the dust suction group, the first spraying group, the fiber cloth wiping group, the second spraying group and the absorbent cloth wiping group stop cleaning when they are out of parallel state with the photovoltaic panel, until the meshing chain group is fully meshed with the rotating gear;

[0026] S7. The starter clamps on the two sets of third sliding blocks release the absorbent cloth wiping group, the clampable fixture at this position is relatively fixed to the rotating gear, and the cleaner continues to rotate until the dust removal brush group returns to a position parallel to the photovoltaic panel and stops working);

[0027] S8. After the cleaning of the path is completed, the two sets of hydraulic cylinders parallel to the cleaning assembly are extended, so that the two sets of traveling tracks parallel to the cleaning assembly contact the photovoltaic panel, and at the same time, the two sets of traveling tracks drive the UAV cleaning assembly to the next track path, and the steps of S2-S7 are repeated, and the components on the cleaning adjustment track move in the opposite direction, and the second sliding block and the third sliding block exchange the clamping group;

[0028] S9. Repeat steps S2-S8 until all photovoltaic panels are cleaned.

[0029] Compared with the prior art, the present invention provides a UAV photovoltaic cleaning device and a control method thereof, which has the following beneficial effects:

[0030] The setting of the water supply travel mechanism described in the present invention can bring a large amount of resource support to the drone cleaning component and provide support for the cleaning of photovoltaic panels to the greatest extent. The water storage tank can enable the device to carry a large amount of clean water to prevent the water quality in some areas from being hard, leaving white water marks on the surface of the photovoltaic panels during the drying process after cleaning, affecting the appearance and power generation efficiency. The setting of the drone endurance battery can greatly improve the endurance of the drone cleaning component, so that it can cope with the cleaning work of large-scale photovoltaic power stations.

[0031] The bundle tube reel loader described in the present invention is used for collecting and reeling bundle tubes, which contain a collection of cables and water pipes, so that it can better protect the cables and water pipes while providing resources for the drone cleaning component. The bundle tubes are sent into the anti-damage component to adjust the position of the bundle tubes to prevent them from rubbing against photovoltaic panels or other components during work, causing the drone cleaning component to be stressed and deflected, thereby further improving the cleaning efficiency while protecting the bundle tubes.

[0032] The drone cleaning component described in the present invention can perform cleaning work along the planned path through precise positioning, and effectively remove wind sand, dust, fine sand and gravel, water marks, etc. on the surface of the photovoltaic panel in a variety of ways, thereby enhancing the cleaning effect, improving the cleaning efficiency, and enabling it to generate electricity better. In addition, the drone cleaning component is provided with a traveling track, which can simplify the operation difficulty of the drone cleaning component and ensure that the photovoltaic panel is comprehensively and effectively cleaned, thereby improving its power generation efficiency and service life, while ensuring the safety and reliability of the cleaning process.

[0033] The provision of the eight groups of drone limit grooves can ensure that the drone cleaning component remains relatively still with the water supply travel component to the greatest extent when the drone is not in operation, thereby preventing the drone cleaning component from being damaged during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the structure of a photovoltaic cleaning device for drones;

[0035] Figure 2 This is a schematic diagram of the structure of the cleaning component of the drone in the present invention;

[0036] Figure 3 It is a schematic diagram of the structure of the cleaning component in the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the cleaner in the present invention;

[0038] Figure 5 It is a front view of the cleaning device of the present invention;

[0039] Figure 6 It is a structural schematic diagram of the cleaning adjustment track in the present invention;

[0040] Figure 7 It is a structural schematic diagram of the anti-damage assembly for feeding the bundled tubes in the present invention;

[0041] In the figure: 1, water supply travel component; 2, water storage tank; 3, UAV endurance battery; 4, bundle tube reel loader; 5, bundle tube; 6, UAV cleaning component; 7, bundle tube delivery anti-damage component; 8, UAV limit slot; 61, UAV frame; 62, rotor; 63, hydraulic cylinder; 64, fixed frame; 65, travel track; 66, cleaning component; 67, controller; 661, inverted concave fixing plate; 662, driving motor; 663, cleaner; 664, cleaning adjustment track; 6631, rotating gear; 6632, meshing chain group; 6633, bearing plate; 6634, dust removal brush group; 6635, dust suction group; 6636, first spraying group; 6637, fiber cloth wiping group; 6638, second spraying group; 6639, absorbent cloth wiping group; 66310, detergent adding tank; 66311, clampable fixture; 6641, fixed block; 6642, first sliding block; 6643, first sliding track; 6644, second sliding track; 6645, second sliding block; 6646, third sliding block; 6647, automatic clamp; 71, telescopic column; 72, rotating clamp; 73, fixed hydraulic cylinder; 74, bundle tube anti-wear set; 75, bundle tube clamp. DETAILED DESCRIPTION

[0042] See also Figure 1 to Figure 7The present invention provides a UAV photovoltaic cleaning device, comprising a water supply running component 1, the upper surface of the water supply running component 1 is provided with a water storage tank 2, a UAV endurance battery 3, a bundle tube delivery anti-damage component 7, and four groups of UAV limit grooves 8 arranged circumferentially in sequence from left to right, the water delivery pipe of the water storage tank 2 and the output cable of the UAV endurance battery 3 are both sleeved in a bundle tube 5, the bundle tube 5 is coiled on a bundle tube coiler 4, and the other end of the bundle tube 5 passes through the bundle tube delivery anti-damage component 7 and is fixedly arranged on the UAV cleaning component 6, the UAV cleaning component 6 is clamped in the four groups of UAV limit grooves 8, and the bundle tube coiler 4 is fixedly arranged on the upper surface of the water supply running component 1;

[0043] As a preferred embodiment, the setting of the water supply travel mechanism 1 can bring a large amount of resource support to the UAV cleaning component 6, and provide support for the cleaning of photovoltaic panels to the greatest extent. The water storage tank 2 can enable the device to carry a large amount of clean water to prevent the water quality in some areas from being hard, leaving white water marks on the surface of the photovoltaic panels during the drying process after cleaning, affecting the appearance and power generation efficiency. The setting of the UAV endurance battery 3 can greatly improve the endurance of the UAV cleaning component 6, so that it can cope with the cleaning work of large photovoltaic power stations. The bundle tube reel 4 is used to collect and reel the bundle tube 5. The bundle tube 5 contains a collection of cables and water pipes, so that it can better protect the UAV cleaning component 6 while providing resources. Protective cables and water pipes, the bundle tube anti-damage component 7 can adjust the position of the bundle tube 5 to prevent it from rubbing against the photovoltaic panel or other components during work, thereby further improving the cleaning efficiency, the drone cleaning component 6 can perform cleaning work along the planned path through precise positioning, and effectively remove the wind sand, dust, fine gravel and water marks on the surface of the photovoltaic panel in a variety of ways, thereby enhancing the cleaning effect, improving the cleaning efficiency, and enabling it to generate electricity better, the setting of the eight groups of drone limit grooves 8 can ensure that the drone cleaning component 6 remains relatively stationary with the water supply traveling component 1 to the greatest extent when it is not in working state, and prevent the drone cleaning component 6 from being damaged during transportation.

[0044] Further, the drone cleaning component 6 includes:

[0045] The upper surface of the drone frame 61 is fixedly equipped with four groups of rotors 62 arranged in a circle, and the lower surface of the drone frame 61 at the position of each group of rotors 62 is fixedly equipped with a hydraulic cylinder 63, and the other end of the hydraulic cylinder 63 is fixedly equipped with a fixing frame 64, and the inner side of the fixing frame 64 is fixedly equipped with a traveling crawler 65;

[0046] A cleaning assembly 66, fixedly mounted on the middle portion of the lower surface of the drone frame 61;

[0047] A controller 67, fixedly disposed in the middle of the upper surface of the drone frame 61;

[0048] As a preferred embodiment, the setting of the drone frame 61 and the four sets of rotors 62 can enable the drone cleaning component 6 to accurately reach the designated position on the photovoltaic panel. The setting of the four sets of traveling tracks 65 can ensure that the drone cleaning component 6 walks on the photovoltaic panel according to the planned path, thereby driving the cleaning component 66 to perform all-round cleaning of the photovoltaic panel, and effectively reduce the operating difficulty of the drone cleaning component 6, so that it can better clean the photovoltaic panel. The setting of the hydraulic cylinder 63 can adjust the specific state of the four sets of traveling tracks 65, thereby controlling the travel direction of the drone cleaning component 6.

[0049] Further, the cleaning component 66 includes:

[0050] The inverted concave fixing plate 661 has a cleaner 663 rotatably mounted inside the concave position. The cleaner 663 is fixedly mounted on the output shaft of the driving motor 662. The driving motor 662 is fixedly mounted on the inverted concave fixing plate 661.

[0051] The cleaning adjustment rails 664 are provided in two sets in mirror image, and are respectively fixedly assembled on the inner side of the concave position of the inverted concave fixing plate 661, and are clamped on the cleaner 663;

[0052] As a preferred embodiment, the setting of the cleaning adjustment track 664 can change the status of each component on the cleaner 663, which can further improve the cleaning efficiency.

[0053] Further, the cleaner 663 includes:

[0054] There are two groups of rotating gears 6631, mirror-imaged, and each group of rotating gears 6631 is meshed with a meshing chain group 6632 on the outside, and eight groups of carrying plates 6633 are fixedly arranged between the two groups of meshing chain groups 6632, among which six groups of carrying plates 6633 are respectively fixedly equipped with a dust removal brush group 6634, a dust suction group 6635, a first spraying group 6636, a fiber cloth wiping group 6637, a second spraying group 6638 and a water-absorbing cloth wiping group 6639, and the other two groups of carrying plates 6633 adjacent to the dust suction group 6635 are vacant;

[0055] As a preferred embodiment, the dust collection group 6635 is relatively large in size, and the other two adjacent groups of supporting plates 6633 are left vacant, which can effectively ensure the working state of the dust collection group 6635.

[0056] Furthermore, the dust removal brush group 6634, the dust suction group 6635, the first spraying group 6636, the fiber cloth wiping group 6637, the second spraying group 6638 and the absorbent cloth wiping group 6639 are all connected to the output cable of the drone endurance battery 3, and the first spraying group 6636 and the second spraying group 6638 are also connected to the water pipe of the water tank 2, and a detergent adding tank 66310 is provided at the connection between the water spraying pipe of the first spraying group 6636 and the water pipe of the water tank 2;

[0057] As a preferred embodiment, the dust removal brush group 6634 can effectively remove large pieces of dirt (such as sand, soil, fallen leaves, etc.) to prevent them from adhering to the surface of the photovoltaic panel. The dust suction group 6635 can effectively absorb the dust and soil on the photovoltaic panel and the large pieces of dirt removed by the dust removal brush group 6634 to prevent them from still adhering to the photovoltaic panel after cleaning. During the water delivery and spraying process of the first spraying group 6636, the detergent adding tank 66310 on it will add an appropriate amount of detergent and spray it evenly on the surface of the photovoltaic panel, and then the fiber cloth wiping group 6637 will gently wipe the surface of the photovoltaic panel to ensure that the detergent is evenly distributed on the photovoltaic panel and effectively remove the dirt. The second spraying group 6638 can spray clean water and use clean water to rinse the surface of the photovoltaic panel to remove residual detergent and dirt. After rinsing, the absorbent cloth wiping group 6639 will wipe the moisture on the surface of the photovoltaic panel to ensure that the photovoltaic panel is completely dry to avoid corrosion caused by residual moisture or affect the power generation efficiency.

[0058] Furthermore, the two groups of meshing chain sets 6632 are not connected head to tail, and the head and tail chain sets are both fixedly provided with a clampable fixture 66311;

[0059] As a preferred embodiment, the clampable fixture 66311 can clamp the components on the cleaning adjustment track 664. At the same time, the clampable fixture 66311 allows the dust removal brush group 6634 at the head and tail positions and the chain blocks at the corresponding positions of the absorbent cloth wiping group 6639 to adjust the relative state (relatively fixed state or non-fixed state) with the rotating gear 6631 as needed, thereby facilitating the position adjustment of the dust removal brush group 6634, the dust collection group 6635, the first spraying group 6636, the fiber cloth wiping group 6637, the second spraying group 6638 and the absorbent cloth wiping group 6639, so that they can complete the cleaning work of the photovoltaic panels more efficiently.

[0060] Further, the cleaning adjustment track 664 includes a fixed block 6641, a first sliding block 6642 is fixedly mounted on the lower end of the fixed block 6641, a first sliding track 6643 is slidably arranged on the first sliding block 6642, a second sliding track 6644 is mirror-set on the other side of the first sliding track 6643, a second sliding block 6645 and a third sliding block 6646 are slidably arranged on the second sliding track 6644, and an automatic clamp 6647 is fixedly arranged on the other side of the second sliding block 6645 and the third sliding block 6646;

[0061] As a preferred embodiment, the first sliding block 6642 can adjust the relative position of the cleaning adjustment track 664 and the cleaner 663, so that the cleaning state of the cleaner 663 can be better adjusted according to the actual situation, so that it can efficiently and comprehensively complete the cleaning work of the corresponding path. The setting of the second sliding block 6645 and the third sliding block 6646 can make the components on the cleaner 663 adjust the state according to the requirements, so as to better clean the photovoltaic panel;

[0062] During implementation, when the drone cleaning component 6 reaches the initial position of the path and the adjustment of the travel state is completed, the starting clamps 6647 on the two sets of second sliding blocks 6645 clamp the dust removal brush group 6634, and the clampable fixture 66311 at this position releases the relative fixation with the rotating gear 6631, and the two sets of second sliding blocks 6645 drive the dust removal brush group 6634 to slide along the second sliding track 6644, and the meshing chain group 6632 will gradually disengage from the rotating gear 6631, and the dust removal brush group 6634, the dust suction group 6635, the first spraying group 6636, the fiber cloth wiping group 6637, the second spraying group 6638 and the absorbent cloth wiping group 6639 start cleaning when they are parallel to the photovoltaic panel until all reach a parallel state. In this state, the start clamps 6647 on the two groups of third sliding blocks 6646 clamp the absorbent cloth wiping group 6639, and the clampable fixture 66311 at this position releases the relative fixation with the rotating gear 6631, and the dust removal brush group 6634, the dust suction group 6635, the first spraying group 6636, the fiber cloth wiping group 6637, the second spraying group 6638 and the absorbent cloth wiping group 6639 will clean the surface of the photovoltaic panel step by step. At the same time, in this process, the two groups of first sliding blocks 6642 will gradually move along the first sliding track 6643 until the rotating gear 6631 is engaged with the dust removal brush group 6634. At this time, the dust removal brush group 6634 has reached the end of the travel route, and the clampable fixture 66311 at the dust removal brush group 6634 is released. The stator 66311 is relatively fixed to the rotating gear 6631, and the starting clamps 6647 on the two sets of second sliding blocks 6645 release the dust brush set 6634. With the sliding of the two sets of third sliding blocks 6646 and the rotation of the cleaner 663, the meshing chain set 6632 will gradually mesh with the rotating gear 6631. The dust brush set 6634, the dust suction set 6635, the first spraying set 6636, the fiber cloth wiping set 6637, the second spraying set 6638 and the absorbent cloth wiping set 6639 stop cleaning when they are out of parallel state with the photovoltaic panel, until the meshing chain set 6632 is completely meshed with the rotating gear 6631, and the starting clamps 6647 on the two sets of third sliding blocks 6646 release the absorbent cloth wiping set 6639. , the clampable fixture 66311 at this position is relatively fixed to the rotating gear 6631, and the cleaner 663 continues to rotate until the dust brush group 6634 returns to a position parallel to the photovoltaic panel. At this time, the dust brush group 6634 does not work, and the cleaning work of the path is completed. At this time, the two groups of hydraulic cylinders 63 parallel to the cleaning component 66 are extended, so that the two groups of traveling tracks 65 parallel to the cleaning component 66 contact the photovoltaic panel. At the same time, the two groups of traveling tracks 65 drive the drone cleaning component 6 to the next track path, repeat the above steps, and the components on the cleaning adjustment track 664 move in the opposite direction, and the second sliding block 6645 exchanges the clamping group with the third sliding block 6646, and repeat the above steps until the cleaning work of all photovoltaic panels is completed.

[0063] Furthermore, the bundle tube feeding anti-damage assembly 7 includes a telescopic column 71, a rotating clamp 72 is rotatably provided at the other end of the telescopic column 71, a fixed hydraulic cylinder 73 is fixedly installed on the side of the rotating clamp 72, a bundle tube anti-wear set 74 is rotatably provided at the other end of the fixed hydraulic cylinder 73, and a bundle tube clamp 75 is provided inside the bundle tube anti-wear set 74.

[0064] A method for controlling photovoltaic cleaning of a drone comprises the following steps:

[0065] S1. According to the actual situation of the photovoltaic panel, plan the moving route and dwell period of the water supply traveling member 1, the cleaning trajectory and cleaning strength of the drone cleaning component 6, the retracting time and degree of the bundle tube reel loader 4, and the height and pitch angle of the bundle tube into the anti-damage component 7;

[0066] S2. After the UAV cleaning assembly 6 flies to the designated position, the two sets of hydraulic cylinders 63 parallel to the cleaning assembly 66 are retracted, so that the two sets of traveling tracks 65 perpendicular to the cleaning assembly 66 contact the photovoltaic panel, and the cleaner 663 rotates, while the two sets of traveling tracks 65 drive the UAV cleaning assembly 6 to move forward;

[0067] S3. The starter clamp 6647 on the two sets of second sliding blocks 6645 clamps the dust brush set 6634, and the clampable fixture 66311 at this position releases the relative fixation with the rotating gear 6631, and the two sets of second sliding blocks 6645 drive the dust brush set 6634 to slide along the second sliding track 6644;

[0068] S4. The meshing chain group 6632 will gradually disengage from the rotating gear 6631, and the dust brush group 6634, the dust suction group 6635, the first spraying group 6636, the fiber cloth wiping group 6637, the second spraying group 6638 and the absorbent cloth wiping group 6639 will start cleaning when they are parallel to the photovoltaic panel, until all of them reach a parallel state, and the start clamps 6647 on the two sets of third sliding blocks 6646 clamp the absorbent cloth wiping group 6639, and the clampable fixture 66311 at this position releases the relative fixation with the rotating gear 6631;

[0069] S5. The dust removal brush set 6634, the dust suction set 6635, the first spray set 6636, the fiber cloth wiping set 6637, the second spray set 6638 and the absorbent cloth wiping set 6639 will clean the surface of the photovoltaic panel step by step. At the same time, during this process, the two sets of first sliding blocks 6642 will gradually move along the first sliding track 6643 until the rotating gear 6631 is engaged with the dust removal brush set 6634. At this time, the dust removal brush set 6634 has reached the end of the travel route;

[0070] S6. The clampable fixture 66311 at the dust brush set 6634 is relatively fixed to the rotating gear 6631, and the start clamp 6647 on the two sets of second sliding blocks 6645 releases the dust brush set 6634. With the sliding of the two sets of third sliding blocks 6646 and the rotation of the cleaner 663, the meshing chain set 6632 will gradually mesh with the rotating gear 6631. The dust brush set 6634, the dust suction set 6635, the first spraying set 6636, the fiber cloth wiping set 6637, the second spraying set 6638 and the absorbent cloth wiping set 6639 stop cleaning when they are out of parallel state with the photovoltaic panel, until the meshing chain set 6632 is fully meshed with the rotating gear 6631.

[0071] S7. The starter clamps 6647 on the two sets of third sliding blocks 6646 release the absorbent cloth wiping group 6639, and the clampable fixture 66311 at this position is relatively fixed to the rotating gear 6631, and the cleaner 663 continues to rotate until the dust removal brush group 6634 returns to a position parallel to the photovoltaic panel. At this time, the dust removal brush group 6634 does not work;

[0072] S8. After the cleaning of the path is completed, the two sets of hydraulic cylinders 63 parallel to the cleaning assembly 66 are extended, so that the two sets of traveling tracks 65 parallel to the cleaning assembly 66 contact the photovoltaic panel. At the same time, the two sets of traveling tracks 65 drive the UAV cleaning assembly 6 to the next track path, and the steps of S2-S7 are repeated. The components on the cleaning adjustment track 664 move in the opposite direction, and the second sliding block 6645 exchanges the clamping group with the third sliding block 6646;

[0073] S9. Repeat steps S2-S8 until all photovoltaic panels are cleaned.

[0074] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A UAV photovoltaic cleaning device, characterized in that: The invention comprises a water supply running component (1), wherein the upper surface of the water supply running component (1) is provided with a water storage tank (2), a drone endurance battery (3), a bundle tube delivery anti-damage component (7), and four groups of drone limit grooves (8) arranged in a circumference in sequence from left to right, the water delivery pipe of the water storage tank (2) and the output cable of the drone endurance battery (3) are both sleeved in the bundle tube (5), the bundle tube (5) is coiled on a bundle tube coiling device (4), and the other end of the bundle tube (5) passes through the bundle tube delivery anti-damage component (7) and is fixedly arranged on the drone cleaning component (6), the drone cleaning component (6) is clamped in the four groups of drone limit grooves (8), and the bundle tube coiling device (4) is fixedly arranged on the upper surface of the water supply running component (1); The drone cleaning assembly (6) comprises a drone frame (61), the upper surface of the drone frame (61) being fixedly mounted with four groups of rotors (62) arranged in a circle, the lower surface of the drone frame (61) at the location of each group of rotors (62) being fixedly mounted with a hydraulic cylinder (63), the other end of the hydraulic cylinder (63) being fixedly mounted with a fixing frame (64), the inner side of the fixing frame (64) being fixedly mounted with a traveling crawler (65); A cleaning assembly (66) fixedly mounted on the middle portion of the lower surface of the drone frame (61); A controller (67) fixedly disposed in the middle of the upper surface of the drone frame (61); The bundle tube feeding anti-damage assembly (7) comprises a telescopic column (71), a rotating clamp (72) is rotatably provided at the other end of the telescopic column (71), a fixed hydraulic cylinder (73) is fixedly mounted on the side of the rotating clamp (72), a bundle tube anti-wear sleeve (74) is rotatably provided at the other end of the fixed hydraulic cylinder (73), and a bundle tube clamp (75) is provided inside the bundle tube anti-wear sleeve (74); The cleaning assembly (66) comprises an inverted concave fixing plate (661), a cleaner (663) being rotatably mounted inside a concave position of the inverted concave fixing plate (661), the cleaner (663) being fixedly mounted on an output shaft of a driving motor (662), and the driving motor (662) being fixedly mounted on the inverted concave fixing plate (661); The cleaning adjustment rails (664) are arranged in two groups in a mirror image, and are respectively fixedly mounted on the inner sides of the concave positions of the inverted concave fixing plate (661), and are clamped on the cleaner (663); The cleaner (663) comprises a rotating gear (6631), wherein two groups of the rotating gears (6631) are arranged in a mirror image, and a meshing chain group (6632) is meshed on the outer side of each group of rotating gears (6631), and eight groups of supporting plates (6633) are fixedly arranged between the two groups of meshing chain groups (6632), among which six groups of supporting plates (6633) are respectively fixedly equipped with a dust removal brush group (6634), a dust suction group (6635), a first spraying group (6636), a fiber cloth wiping group (6637), a second spraying group (6638) and a water-absorbing cloth wiping group (6639), and the other two groups of supporting plates (6633) adjacent to the dust suction group (6635) are left vacant.

2. The unmanned aerial vehicle photovoltaic cleaning device according to claim 1, characterized in that: The dust removal brush group (6634), the dust suction group (6635), the first spraying group (6636), the fiber cloth wiping group (6637), the second spraying group (6638) and the absorbent cloth wiping group (6639) are all connected to the output cable of the drone endurance battery (3), and the first spraying group (6636) and the second spraying group (6638) are also connected to the water pipe of the water tank (2), and a detergent adding tank (66310) is provided at the connection between the water spraying pipe of the first spraying group (6636) and the water pipe of the water tank (2).

3. The unmanned aerial vehicle photovoltaic cleaning device according to claim 2, characterized in that: The two groups of meshing chain assemblies (6632) are not connected head to tail, and a clampable fixture (66311) is fixedly arranged on the chain assemblies at the head and tail.

4. The unmanned aerial vehicle photovoltaic cleaning device according to claim 3, characterized in that: The cleaning adjustment track (664) comprises a fixed block (6641), a first sliding block (6642) is fixedly mounted on the lower end of the fixed block (6641), a first sliding track (6643) is slidably arranged on the first sliding block (6642), a second sliding track (6644) is mirror-arranged on the other side of the first sliding track (6643), a second sliding block (6645) and a third sliding block (6646) are slidably arranged on the second sliding track (6644), and an automatic clamp (6647) is fixedly arranged on the other side of the second sliding block (6645) and the third sliding block (6646).

5. A method for controlling photovoltaic cleaning of a drone, which uses the photovoltaic cleaning device of the drone as claimed in claim 4, characterized in that: The following steps are involved: S1. According to the actual situation of the photovoltaic panel, the moving route and the dwell period of the water supply traveling component (1), the cleaning trajectory and the cleaning strength of the drone cleaning component (6), the retraction time and the retraction degree of the bundle tube reel loader (4), and the height and the pitch angle of the bundle tube into the anti-damage component (7) are planned; S2. After the UAV cleaning component (6) flies to the designated position, the two sets of hydraulic cylinders (63) parallel to the cleaning component (66) are retracted, so that the two sets of traveling tracks (65) perpendicular to the cleaning component (66) contact the photovoltaic panel, and the cleaner (663) rotates, while the two sets of traveling tracks (65) drive the UAV cleaning component (6) to move forward; S3. The starter clamps (6647) on the two sets of second sliding blocks (6645) clamp the dust removal brush set (6634), and the clampable fixture (66311) at this position releases the relative fixation with the rotating gear (6631), and the two sets of second sliding blocks (6645) drive the dust removal brush set (6634) to slide along the second sliding track (6644); S4. The meshing chain group (6632) will gradually disengage from the rotating gear (6631), and the dust brush group (6634), the dust suction group (6635), the first spraying group (6636), the fiber cloth wiping group (6637), the second spraying group (6638) and the absorbent cloth wiping group (6639) will start cleaning work when they are parallel to the photovoltaic panel, until all reach a parallel state, and the starting clamps (6647) on the two sets of third sliding blocks (6646) clamp the absorbent cloth wiping group (6639), and the clampable fixture (66311) at this position releases the relative fixation with the rotating gear (6631); S5. The dust removal brush group (6634), the dust suction group (6635), the first spraying group (6636), the fiber cloth wiping group (6637), the second spraying group (6638) and the absorbent cloth wiping group (6639) will clean the surface of the photovoltaic panel step by step. At the same time, during this process, the two groups of first sliding blocks (6642) will gradually move along the first sliding track (6643) until the rotating gear (6631) is engaged with the dust removal brush group (6634). At this time, the dust removal brush group (6634) has reached the end of the travel route; S6. The clampable fixture (66311) at the dust removal brush set (6634) is relatively fixed to the rotating gear (6631), and the starter fixture (6647) on the two sets of second sliding blocks (6645) releases the dust removal brush set (6634). With the sliding of the two sets of third sliding blocks (6646) and the rotation of the cleaner (663), the meshing chain set (6632) gradually meshes with the rotating gear (6631), and the dust removal brush set (6634), the dust suction set (6635), the first spraying set (6636), the fiber cloth wiping set (6637), the second spraying set (6638) and the absorbent cloth wiping set (6639) stop cleaning when they are out of parallel state with the photovoltaic panel, until the meshing chain set (6632) is fully meshed with the rotating gear (6631); S7. The starter clamps (6647) on the two sets of third sliding blocks (6646) release the absorbent cloth wiping group (6639), and the clampable fixture (66311) and the rotating gear (6631) at this position are relatively fixed, and the cleaner (663) continues to rotate until the dust removal brush group (6634) returns to a position parallel to the photovoltaic panel, and the dust removal brush group (6634) does not work at this time; S8. After the cleaning of the path is completed, the two sets of hydraulic cylinders (63) parallel to the cleaning assembly (66) are extended, so that the two sets of traveling tracks (65) parallel to the cleaning assembly (66) contact the photovoltaic panel. At the same time, the two sets of traveling tracks (65) drive the UAV cleaning assembly (6) to move to the next track path, and the steps S2-S7 are repeated. The components on the cleaning adjustment track (664) move in the opposite direction, and the second sliding block (6645) and the third sliding block (6646) exchange the clamping group; S9. Repeat steps S2-S8 until all photovoltaic panels are cleaned.

Images