Intelligent cleaning device for photovoltaic panel

Abstract

The invention provides a photovoltaic panel intelligent cleaning device which comprises an unmanned aerial vehicle body, a folding lifting frame is rotatably arranged at the bottom of the unmanned aerial vehicle body, a supporting rod is arranged at the bottom of the folding lifting frame, and a cleaning assembly is movably arranged on the supporting rod; the cleaning assembly comprises an inclined mechanism, a moving auxiliary mechanism and a blowing mechanism, the moving auxiliary mechanism is movably connected with the photovoltaic panel and used for restraining and guiding the unmanned aerial vehicle body to move along the photovoltaic panel, and the blowing mechanism is driven by the unmanned aerial vehicle body to blow and clean the top face of the photovoltaic panel. And the inclination mechanism is used for adjusting the inclination angle of the blowing mechanism according to the inclination angle of the photovoltaic panel. The cleaning assembly is driven by the unmanned aerial vehicle to automatically clean the photovoltaic panel, so that the cleaning efficiency is improved, the terrain influence is overcome, the labor intensity is reduced, and the power generation efficiency of the photovoltaic panel is improved.

Description

Technical Field

[0001] The present application relates to the field of power grid cleaning technology, and in particular to an intelligent cleaning device for photovoltaic panels. Background Art

[0002] The statements in this section merely provide background technical information related to the present application and do not necessarily constitute prior art.

[0003] Photovoltaic panels, also known as solar panels, are a plate-shaped array composed of hybrid photovoltaic cells that are used to convert solar energy into electrical energy. Traditional photovoltaic power plants are mostly built in the wild without building shelters, and are supported by tilted brackets to better receive light. During daily use, dust easily accumulates on the surface of photovoltaic panels, affecting the photoelectric conversion efficiency. Operation and maintenance personnel need to clean them regularly to ensure power generation efficiency.

[0004] Traditional cleaning work is done manually by operation and maintenance personnel. Due to the large number of photovoltaic panels in power plants and the large area they occupy, the efficiency of manual cleaning is very low and the labor intensity is high. Especially for photovoltaic power plants built on complex terrains such as hillsides, cleaning work is even more difficult. Summary of the invention

[0005] In order to solve the above problems, this application proposes an intelligent cleaning device for photovoltaic panels, which uses a drone to drive the cleaning components to automatically clean the photovoltaic panels, thereby improving the cleaning efficiency, overcoming the influence of terrain, reducing labor intensity, and improving the power generation efficiency of the photovoltaic panels.

[0006] The present application provides an intelligent cleaning device for photovoltaic panels, comprising: an unmanned aerial vehicle body, a folding lifting frame is rotatably provided at the bottom of the unmanned aerial vehicle body, a support rod is provided at the bottom of the folding lifting frame, and a cleaning component is movably provided on the support rod; the cleaning component comprises a tilting mechanism, a movement auxiliary mechanism and a purge mechanism, the movement auxiliary mechanism is movably connected to the photovoltaic panel, and is used to constrain and guide the movement of the unmanned aerial vehicle body along the photovoltaic panel, the purge mechanism purges and cleans the top surface of the photovoltaic panel under the drive of the unmanned aerial vehicle body, and the tilting mechanism is used to adjust the inclination angle of the purge mechanism according to the inclination angle of the photovoltaic panel; the unmanned aerial vehicle body is also provided with an image recognition camera, and the bottom of the unmanned aerial vehicle body is provided with a control pod electrically connected to the unmanned aerial vehicle body, the folding lifting frame, the tilting mechanism, the movement auxiliary mechanism, the purge mechanism, and the image recognition camera.

[0007] Preferably, the image recognition camera is arranged on the front side of the control pod, and the folding lifting frame is rotatably arranged on the bottom of the control pod; and the UAV body is provided with landing gears at the four corners relative to the control pod.

[0008] Preferably, the folding lifting frame is rotatably connected to the bottom of the control pod via a hollow connecting frame; the hollow connecting frame includes a connecting seat embedded in the bottom of the control pod, a rectangular frame is arranged below the connecting seat, and a connecting frame is arranged between the rectangular frame and the rotating seat; a driving horizontal axis and a fixed horizontal rod are arranged from front to back in the rectangular frame.

[0009] Preferably, the folding lifting frame includes a double diamond folding frame and a driving mechanism arranged on a rectangular frame; the double diamond folding frame includes a main lifting link hinged on a driving transverse axis and a trapezoidal frame arranged below the main lifting link, the trapezoidal frame includes a rear cross bar and a horizontal link arranged front and rear, side bars are arranged on both sides of the rear cross bar and the horizontal link, the side bars extend to the front side of the horizontal link and a support bar is connected between the front ends thereof, the end of the main lifting link is hinged to the horizontal link, the rear side of the rectangular frame is hinged with a first connecting rod, the end of the first connecting rod is hinged with a second connecting rod, the end of the second connecting rod is connected to the rear cross bar, the lower periphery of the main lifting link is hinged with a balancing rod, the end of the balancing rod is hinged with an extension rod, and the end of the extension rod is connected to the support rod; the driving mechanism is used to drive the main lifting link to rotate around the driving transverse axis.

[0010] Preferably, a driving ring sleeve is provided at the top end of the main lifting link, and the driving ring sleeve is rotatably sleeved on the driving horizontal axis. The driving mechanism includes a main telescopic electric cylinder, the rear side of the main telescopic electric cylinder is hinged to the inner side of the front end of the rectangular frame, and its telescopic shaft is hinged to the top of the outer periphery of the driving ring sleeve. A buffer spring is also provided between the driving horizontal axis and the fixed cross bar, one end of the buffer spring is hinged to the driving ring sleeve, and the other end is hinged to the fixed cross bar.

[0011] Preferably, the tilting mechanism includes two first connecting seats mounted on the support rod, and the relative end surfaces of the two first connecting seats are rotatably provided with adjustment shafts, one of the first connecting seats is provided with a tilting motor, the output shaft of the tilting motor is connected to the adjusting shaft, a second connecting seat is mounted on the adjusting shaft, and the second connecting seat is connected to the purge mechanism.

[0012] Preferably, the purge mechanism includes a fixed plate connected to the tilting mechanism, a mounting seat is provided at the bottom of the fixed plate, a second lifting cylinder is provided at the bottom of the mounting seat, a cleaning roller is provided at the bottom of the second lifting cylinder, and a blower is provided on the front and rear sides of the bottom of the mounting seat relative to the cleaning roller.

[0013] Preferably, guide telescopic rods are arranged on both sides of the top of the mounting seat relative to the second lifting cylinder; the cleaning roller includes a roller seat, and the roller seat includes a top plate and vertical plates arranged on the left and right sides of the bottom of the top plate, a roller shaft is rotatably arranged between the two vertical plates, a brush roller is sleeved on the roller shaft, a cleaning motor is arranged on one of the vertical plates, and the output shaft of the cleaning motor is connected to the roller shaft.

[0014] Preferably, the movement assisting mechanism comprises an extending telescopic rod arranged on both sides of the mounting seat, the extending telescopic rod extends horizontally and a first lifting cylinder is vertically arranged at the end thereof, a guide sleeve is arranged at the bottom of the lifting shaft of the first lifting cylinder, an axial telescopic rod is arranged on the front end face of the guide sleeve, and a clamping seat is arranged at the front end of the axial telescopic rod; the end of the extending telescopic rod is movably connected to the mounting seat through a first clutch assembly, and the end of the axial telescopic rod is movably connected to the guide sleeve through a second clutch assembly.

[0015] Preferably, the first clutch assembly includes a first pin connected to the end of the extended telescopic rod and a first clamping sleeve arranged on the mounting seat, and the first pin is movably inserted in the first clamping sleeve; the second clutch assembly includes a second pin connected to the end of the axial telescopic rod and a second clamping sleeve arranged on the guide sleeve, and the second pin is movably inserted in the second clamping sleeve; a sliding groove is provided on the side of the guide sleeve close to the mounting seat, and a liftable sliding wheel group is provided between the upper and lower side walls of the sliding groove; a clamping groove is provided on the side of the clamping seat close to the mounting seat, and a clamping mechanism is provided between the upper and lower side walls of the clamping groove; the clamping mechanism and the liftable sliding wheel group are movably connected to the photovoltaic panel.

[0016] Compared with the prior art, the beneficial effects of this application are:

[0017] (1) The present application uses a mobile auxiliary mechanism to clamp the side wall of the photovoltaic panel to constrain and guide the movement of the drone body, and uses the movement of the drone body as a cleaning power to drive the movement of the cleaning component to clean various positions on the top surface of the photovoltaic panel, thereby improving cleaning efficiency and reducing manual labor.

[0018] (2) The present application clamps the side wall of the photovoltaic panel through the clamping mechanism of the mobile auxiliary mechanism, and realizes the constrained movement of the UAV body along the length and width directions of the photovoltaic panel by extending the telescopic rod and the axial telescopic rod. On the basis that the constrained movement of the UAV body can cover the entire photovoltaic panel, the complexity of the flight control logic of the UAV flying along the inclined photovoltaic panel and performing cleaning work is reduced, the safety of the UAV body flying is guaranteed, and it is prevented from colliding with the photovoltaic panel, thereby improving the practicality and promotion prospects of the present application.

[0019] (3) The present application adopts a double diamond folding frame design of a folding telescopic frame, which ensures the vertical lifting of the cleaning component on the basis of achieving both the lifting and storage of the cleaning component, and prevents the uncontrollable tilting deflection caused by the rotation of the connecting rod during the folding and lifting process. After the image recognition camera recognizes the image of the photovoltaic panel and visually locates it, it is convenient to ensure the control of the relative position of the drone body and the photovoltaic panel. After the cleaning component approaches the photovoltaic panel, the cleaning component is controllably tilted through the tilting mechanism, which reduces the complexity of calculating the relative position of the drone body and the photovoltaic panel and ensures the safety of the cleaning component during the combination and separation process with the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0021] Figure 1 This is a side view of the overall structure of this application.

[0022] Figure 2 This is the overall structure front view of this application.

[0023] Figure 3 This is the front view of the folding telescopic frame of this application.

[0024] Figure 4 This is a side view of the folding telescopic frame of this application.

[0025] Figure 5 A is a partial enlarged schematic diagram of this application.

[0026] Figure 6 A top view of the cleaning component of this application.

[0027] Figure 7 This is a bottom view of the cleaning component of this application.

[0028] Figure 8 This is a partial enlarged schematic diagram B of this application,

[0029] Fig. 9 This is a schematic diagram of the implementation of this application.

[0030] Fig.10 Schematic diagram of the method flow of this application.

[0031] In the figure:

[0032] 1. UAV body, 2. Hollow connecting frame, 3. Folding lifting frame, 4. Image recognition camera, 5. Tilt mechanism, 6. Purge mechanism, 7. Mobile auxiliary mechanism, 11. Control pod, 12. Landing gear;

[0033] 21. connecting seat, 22. rectangular frame, 23. connecting frame, 221. fixing cross bar, 222. driving cross shaft, 2221. driving ring sleeve;

[0034] 31. main telescopic cylinder, 32. buffer spring, 33. main lifting link, 34. first connecting rod, 35. second connecting rod, 36. side rod, 37. horizontal connecting rod, 38. balancing rod, 39. extension rod, 310. rear cross rod, 311. support rod;

[0035] 51. first connecting seat, 52. adjusting shaft, 53. second connecting seat, 54. tilting motor;

[0036] 61. fixing plate, 62. mounting seat, 63. cleaning roller, 64. cleaning motor, 65. second lifting cylinder, 66. guide telescopic rod, 67. blower;

[0037] 71. Extended telescopic rod, 72. First clutch assembly, 73. First lifting cylinder, 74. Micro-motion telescopic cylinder, 75. Guide sleeve, 76. Axial telescopic rod, 77. Clamping seat, 78. Second clutch assembly;

[0038] 100. Target photovoltaic panels. DETAILED DESCRIPTION

[0039] The present application is further described below in conjunction with the accompanying drawings and embodiments.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present disclosure, and do not specifically refer to any part or element in the present disclosure and should not be understood as limitations on the present disclosure.

[0042] Example 1

[0043] like Figures 1 to 10As shown, the present application provides an intelligent cleaning device for photovoltaic panels, comprising: a drone body 1, a folding lifting frame 3 is rotatably provided at the bottom of the drone body 1, a support rod 311 is provided at the bottom of the folding lifting frame 3, a cleaning component is movably provided on the support rod 311, and the cleaning component comprises a tilting mechanism 5, a moving auxiliary mechanism 7 and a purge mechanism 6, the moving auxiliary mechanism 7 is movably connected to the photovoltaic panel, and is used to constrain and guide the movement of the drone body 1 along the photovoltaic panel, the purge mechanism 6 is driven by the drone body 1 to purge and clean the top surface of the photovoltaic panel, the tilting mechanism 5 is used to adjust the inclination angle of the purge mechanism 6 according to the inclination angle of the photovoltaic panel, the drone body 1 is also provided with an image recognition camera 4, and a control pod 11 electrically connected to the drone body 1, the folding lifting frame 3, the tilting mechanism 5, the moving auxiliary mechanism 7, the purge mechanism 6, and the image recognition camera 4 is provided at the bottom of the drone body 1.

[0044] The present application uses a mobile auxiliary mechanism 7 to clamp the side wall of the photovoltaic panel and then constrain and guide the movement of the drone body 1, and uses the movement of the drone body 1 as a cleaning power to drive the cleaning component to move, thereby cleaning various positions on the top surface of the photovoltaic panel, thereby improving cleaning efficiency and reducing manual labor.

[0045] The image recognition camera 4 is internally provided with an image recognition module for collecting images to perform image recognition and visual positioning of the target photovoltaic panel, so as to determine the relative coordinates of the photovoltaic panel and the drone body 1, and support the connection between the mobile auxiliary mechanism 7 and the photovoltaic panel.

[0046] Preferably, the image recognition camera 4 is arranged at the front side of the control pod 11 , the folding lifting frame 3 is rotatably arranged at the bottom of the control pod 11 , and the UAV body 1 is provided with landing gears 12 at the four corners relative to the control pod 11 .

[0047] A control computer and a battery pack are arranged in the control pod, and the battery pack is used to supply power to various electrical components of the present application.

[0048] Specifically, the folding lifting frame 3 is rotatably connected to the bottom of the control pod 11 through a hollow connecting frame 2. The hollow connecting frame 2 includes a connecting seat 21 embedded in the bottom of the control pod 11. A rectangular frame 22 is arranged below the connecting seat 21. A connecting frame 23 is arranged between the rectangular frame 22 and the rotating seat 21. A driving horizontal axis 222 and a fixed horizontal rod 221 are arranged from front to back in the rectangular frame 22.

[0049] The driving transverse shaft 222 and the fixing transverse rod 221 are used to install the driving mechanism of the folding lifting frame 3 .

[0050] Specifically, the folding lifting frame 3 includes a double diamond folding frame and a driving mechanism arranged on the rectangular frame 22, the double diamond folding frame includes a main lifting link 33 hinged on the driving horizontal axis 222 and a trapezoidal frame arranged below the main lifting link 33, the trapezoidal frame includes a rear cross bar 310 and a horizontal link 37 arranged in front and back, and the rear cross bar 310 and the horizontal link 37 are provided with side bars 36 on the left and right sides, the side bars 36 extend to the front side of the horizontal link 37 and the front ends thereof are connected with a support rod 311, the main lifting The end of the connecting rod 33 is hinged to the horizontal connecting rod 37, and the rear side of the rectangular frame 22 is hinged with a first connecting rod 34, and the end of the first connecting rod 34 is hinged with a second connecting rod 35, and the end of the second connecting rod 35 is connected to the rear cross bar 310. The lower periphery of the main lifting connecting rod 33 is hinged with a balancing rod 38, and the end of the balancing rod 38 is hinged with an extension rod 39, and the end of the extension rod 39 is connected to the support rod 311. The driving mechanism is used to drive the main lifting connecting rod 33 to rotate around the driving horizontal axis 222.

[0051] Specifically, a driving ring sleeve 2221 is provided at the top end of the main lifting link 33, and the driving ring sleeve 2221 is rotatably sleeved on the driving horizontal shaft 222. The driving mechanism includes a main telescopic electric cylinder 31, and the rear side of the main telescopic electric cylinder 31 is hinged to the inner side of the front end of the rectangular frame 22, and its telescopic shaft is hinged to the top of the outer periphery of the driving ring sleeve 2221. A buffer spring 32 is also provided between the driving horizontal shaft 222 and the fixed cross bar 221, and one end of the buffer spring 32 is hinged to the driving ring sleeve 2221, and the other end is hinged to the fixed cross bar 221.

[0052] The telescopic shaft of the main telescopic electric cylinder 31 is extended and retracted, driving the driving ring sleeve 2221 to rotate, thereby driving the main lifting connecting rod 33 to rotate along the driving horizontal axis 22, thereby driving the first connecting rod 34 and the second connecting rod 35 to follow the action, driving the trapezoidal frame below to rise or fall. Under the action of the balance rod 38, the support rod 311 always maintains vertical lifting, and the buffer spring 32 is used to maintain the stability of the folding lifting frame 3 during the lifting process.

[0053] Specifically, the tilting mechanism 5 includes two first connecting seats 51 sleeved on the support rod 311, and the relative end surfaces of the two first connecting seats 51 are rotatably provided with adjusting shafts 52. One of the first connecting seats 51 is provided with a tilting motor 54, and the output shaft of the tilting motor 54 is connected to the adjusting shaft 52. The adjusting shaft 52 is sleeved with a second connecting seat 53, and the second connecting seat 53 is connected to the purge mechanism 6.

[0054] The tilting motor 54 rotates to drive the adjusting shaft 52 to rotate, and then drives the second connecting seat 53 to rotate, which is used to drive the purge mechanism 6 to rotate according to the tilt angle of the photovoltaic panel, and keep the bottom surface of the purge mechanism 6 parallel to the top surface of the photovoltaic panel.

[0055] Specifically, the purge mechanism 6 includes a fixed plate 61 connected to the tilting mechanism 5, a mounting seat 62 is provided at the bottom of the fixed plate 61, a second lifting cylinder 65 is provided at the bottom of the mounting seat 62, a cleaning roller 63 is provided at the bottom of the second lifting cylinder 65, and a blower 67 is provided on the front and rear sides of the bottom of the mounting seat 62 relative to the cleaning roller 63.

[0056] When the mobile auxiliary mechanism 7 is connected to the photovoltaic panel, the second lifting cylinder 65 drives the cleaning roller 63 to descend and contact the top surface of the photovoltaic panel to clean the top surface of the photovoltaic panel. The design of the two blowers 67 is convenient for selecting the blower 67 located behind the cleaning roller 63 for blowing according to the travel direction of the blowing mechanism 6, so as to blow the dust clumps broken up by the cleaning roller 63 away from the photovoltaic panel.

[0057] Preferably, guide telescopic rods 66 are provided on both sides of the top of the mounting seat 62 relative to the second lifting cylinder 65 to maintain the stability of the cleaning roller 63 during the lifting process.

[0058] Specifically, the cleaning roller 63 includes a roller seat, which includes a top plate and vertical plates arranged on the left and right sides of the bottom of the top plate, a roller shaft is rotatably arranged between the two vertical plates, a brush roller is sleeved on the roller shaft, a cleaning motor 64 is arranged on one of the vertical plates, the output shaft of the cleaning motor 64 is connected to the roller shaft, and the cleaning motor 64 rotates to drive the brush roller to rotate to clean the top surface of the photovoltaic panel.

[0059] Specifically, the movement assisting mechanism 7 includes an extending telescopic rod 71 arranged on both sides of the mounting seat 62, the extending telescopic rod 71 extends horizontally and a first lifting cylinder 73 is vertically arranged at the end thereof, a guide sleeve 75 is arranged at the bottom of the lifting shaft of the first lifting cylinder 73, an axial telescopic rod 76 is arranged on the front end face of the guide sleeve 75, a clamping seat 77 is arranged at the front end of the axial telescopic rod 76, the end of the extending telescopic rod 71 is movably connected to the mounting seat 62 through a first clutch assembly 72, and the end of the axial telescopic rod 76 is movably connected to the guide sleeve 75 through a second clutch assembly 78.

[0060] like Fig. 9As shown, after the image recognition camera 4 identifies the target photovoltaic panel 100, it visually locates it, and the drone body 1 flies to a preset position P1 above the target photovoltaic panel 100 (generally one of the left and right sides of the frame of the higher side of the target photovoltaic panel 100), the telescopic shaft of the main telescopic electric cylinder 31 of the folding lifting frame 3 is extended and retracted, driving the driving ring sleeve 2221 to rotate, thereby driving the main lifting connecting rod 33 to rotate along the driving horizontal axis 22, thereby driving the first connecting rod 34 and the second connecting rod 35 to follow the action, driving the trapezoidal frame below to rise or fall, and under the action of the balance rod 38, driving the support rod 311 to descend vertically, driving the purge machine The tilt mechanism 6 is lowered to the preset position P2 above the photovoltaic panel. If the drone body 1 is located on the left side of the frame of the rear side (the rear side is the higher side) of the target photovoltaic panel 100 at this time, the drone body 1 adjusts its posture so that the guide sleeve 75 on the left side is located in front of the clamping seat 77 on the corresponding side. The tilting motor of the tilt mechanism 5 rotates to drive the purge mechanism 6 to rotate so that its bottom surface is parallel to the top surface of the target photovoltaic panel 100. The first lifting cylinder 73 on the left side of the purge mechanism 6 drives the guide sleeve 75 and the clamping seat 77 on the corresponding side to descend to the left side of the target photovoltaic panel 100, and cooperates with the left and right movement of the drone body 1 to make the guide sleeve 75 and the clamping seat 77 The left side frame of the target photovoltaic panel 100 is clamped, and the first clutch assembly 72 on the left side releases the corresponding extended telescopic rod 71, and the drone body 1 moves to the right side of the target photovoltaic panel 100 in the left and right directions. The first lifting cylinder 73 on the right side of the purge mechanism 6 drives the guide sleeve 75 and the clamping seat 77 on the corresponding side to descend, and the right side frame of the target photovoltaic panel 100 is clamped. The second clutch assemblies 78 on both sides of the purge mechanism 6 release the axial telescopic rods 76 on both sides. At this time, the purge mechanism 6 can move along the top of the target photovoltaic panel under the drive of the drone body 1 and the constraints of the extended telescopic rod 71 and the axial telescopic rod 76. The second lifting cylinder 6 5 drives the cleaning roller 63 to descend and contact the top surface of the target photovoltaic panel 100, the cleaning roller 63 is started, and the drone body 1 drives the cleaning roller 63 to move back and forth in the front-back direction (the tilt direction of the target photovoltaic panel 100) to clean the target photovoltaic panel 100. Whenever it moves to the front or rear end of the target photovoltaic panel 100 and turns back, the second lifting cylinder 65 drives the cleaning roller 63 to rise and leave the target photovoltaic panel 100, the drone body 1 drives the cleaning roller 63 to move left and right by a distance equivalent to the length of the cleaning roller 63, and the second lifting cylinder 65 drives the cleaning roller 63 to descend again and contact the top surface of the target photovoltaic panel 100 to continue cleaning.

[0061] During the cleaning process, the control pod 11 selects the blower 67 located behind the cleaning roller 63 for blowing according to the travel direction of the blowing mechanism 6, so as to blow the dust lumps broken up by the cleaning roller 63 away from the photovoltaic panel. When the cleaning of the entire target photovoltaic panel 100 is completed, the cleaning roller 63 stops, and the second lifting cylinder 65 drives the cleaning roller 63 to rise and reset. The drone body 1 first moves forward and backward to reset the axial telescopic rods 76 on both sides, and the second clutch assembly 78 fixes the axial telescopic rods 76 so that they cannot be extended. The drone body 1 then moves left and right respectively to reset the extended telescopic rods 71 ​​on both sides in turn, so that they are fixed by the first clutch assembly 72. When the extended telescopic rod 71 on one side is reset, the corresponding guide sleeve 75 and the clamping seat 77 release the target photovoltaic panel 100, and the drone body 1 moves slightly left and right to make the frame of the corresponding side of the target photovoltaic panel 100 separate from the guide sleeve 75 and the clamping seat 77, and the first lifting cylinder 73 drives the guide sleeve 75 and the clamping seat 77 on the corresponding side to rise and reset.

[0062] Preferably, a micro-motion telescopic cylinder 74 is provided at the end of the extended telescopic rod 71, and the first lifting cylinder 73 is provided at the end of the telescopic shaft of the micro-motion telescopic cylinder 74. The micro-motion telescopic cylinder 74 is used to replace the movement of the drone body 1 during the clamping and releasing operations of the guide sleeve 75 and the clamping seat 77 on the target photovoltaic panel 100, so as to prevent the difficulty of clamping and releasing the target photovoltaic panel 100 by the guide sleeve 75 and the clamping seat 77 due to the inertia and movement error of the drone body 1.

[0063] Specifically, the first clutch assembly 72 includes a first pin connected to the end of the extended telescopic rod 71 and a first clamping sleeve arranged on the mounting seat 62, and the first pin is movably inserted in the first clamping sleeve. The second clutch assembly 78 includes a second pin connected to the end of the axial telescopic rod 76 and a second clamping sleeve arranged on the guide sleeve 75, and the second pin is movably inserted in the second clamping sleeve. The first clamping sleeve and the second clamping sleeve are internally provided with clamping assemblies adapted to the first pin and the second pin. The clamping assemblies can be mechanical clamping assemblies or electromagnetic adsorption assemblies, and the specific structure of the clamping assemblies is not limited in this application.

[0064] Specifically, a sliding groove is provided on one side of the guide sleeve 75 close to the mounting seat 62, and a liftable sliding wheel group 751 is provided between the upper and lower side walls of the sliding groove. The liftable sliding wheel group 751 includes a guide lifting cylinder and a wheel group seat provided at the end of the lifting part of the guide lifting cylinder, and a wheel group groove is provided on the top or bottom of the wheel group seat, and a plurality of sliding rollers are rotatably provided in the wheel group groove.

[0065] Specifically, a clamping groove is provided on one side of the clamping seat 77 close to the mounting seat 62, and a clamping mechanism 771 is provided between the upper and lower side walls of the clamping groove. The clamping mechanism 771 includes a clamping lifting cylinder and a clamping block provided at the end of the lifting part of the clamping lifting cylinder.

[0066] The clamping mechanism 771 and the liftable sliding wheel set 751 are movably connected to the photovoltaic panel.

[0067] Based on the above photovoltaic panel intelligent cleaning device, the present application also provides a photovoltaic panel intelligent cleaning method, the specific steps are as follows:

[0068] S100: The control pod controls the image recognition camera 4 to identify the target photovoltaic panel 100 and then visually locate it, and the drone body 1 flies to a preset position P1 above the target photovoltaic panel 100;

[0069] S200: the folding lifting frame 3 is extended and retracted, driving the purge mechanism 6 to descend to a preset position P2 above the photovoltaic panel;

[0070] S300: The tilting mechanism 5 drives the purge mechanism 6 to rotate, and keeps the bottom surface of the purge mechanism 6 parallel to the top surface of the photovoltaic panel. The guide sleeve 75 and the clamping seat 77 of the mobile auxiliary mechanism 7 clamp the frame of the target photovoltaic panel 100, and the first clutch assembly 72 and the second clutch assembly 78 release the extension telescopic rod 71 and the axial telescopic rod 76;

[0071] S400: the drone body 1 drives the vertical mechanism 6 to move back in the tilt direction of the target photovoltaic panel 100 to clean the target photovoltaic panel 100;

[0072] S500: After the cleaning is completed, the control pod controls the purge mechanism 6, the movement auxiliary mechanism 7, the tilting mechanism 5, and the folding lifting frame 3 to reset.

[0073] The specific execution details of each component in each step have been described above and will not be repeated here.

[0074] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0075] Although the above describes the specific implementation methods of the present application in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present application. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present application, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the present application.

Claims

1. Photovoltaic panel intelligent cleaning device, characterized in that: include: An unmanned aerial vehicle body (1), wherein a folding lifting frame (3) is rotatably provided at the bottom of the unmanned aerial vehicle body (1), a support rod (311) is provided at the bottom of the folding lifting frame (3), and a cleaning component is movably provided on the support rod (311); The cleaning assembly comprises a tilting mechanism (5), a movement assisting mechanism (7) and a purge mechanism (6); the movement assisting mechanism (7) is movably connected to the photovoltaic panel and is used to constrain and guide the movement of the drone body (1) along the photovoltaic panel; the purge mechanism (6) is driven by the drone body (1) to purge and clean the top surface of the photovoltaic panel; the tilting mechanism (5) is used to adjust the tilting angle of the purge mechanism (6) according to the tilting angle of the photovoltaic panel; The drone body (1) is also provided with an image recognition camera (4), and the bottom of the drone body (1) is provided with a control pod (11) electrically connected to the drone body (1), the folding lifting frame (3), the tilting mechanism (5), the movement auxiliary mechanism (7), the purge mechanism (6), and the image recognition camera (4).

2. The photovoltaic panel intelligent cleaning device according to claim 1, characterized in that: The image recognition camera (4) is arranged on the front side of the control pod (11), and the folding lifting frame (3) is rotatably arranged on the bottom of the control pod (11); The drone body (1) is provided with landing gears (12) at the four corners relative to the control pod (11).

3. The photovoltaic panel intelligent cleaning device according to claim 2, characterized in that: The folding lifting frame (3) is rotatably connected to the bottom of the control pod (11) via a hollow connecting frame (2); The hollow connecting frame (2) comprises a connecting seat (21) embedded in the bottom of the control pod (11), a rectangular frame (22) is arranged below the connecting seat (21), and a connecting frame (23) is arranged between the rectangular frame (22) and the connecting seat (21); A driving transverse shaft (222) and a fixed transverse rod (221) are arranged in the rectangular frame (22) from front to back.

4. The photovoltaic panel intelligent cleaning device according to claim 3, characterized in that: The folding lifting frame (3) comprises a double diamond-shaped folding frame and a driving mechanism arranged on a rectangular frame (22); The double diamond folding frame comprises a main lifting link (33) hinged to a driving transverse shaft (222) and a trapezoidal frame arranged below the main lifting link (33); the trapezoidal frame comprises a rear cross bar (310) and a horizontal link (37) arranged in front and rear; side bars (36) are arranged on both sides of the rear cross bar (310) and the horizontal link (37); the side bars (36) extend to the front side of the horizontal link (37) and a support bar (311) is connected between the front ends of the side bars (36); the end of the main lifting link (33) is The end of the main lifting link (33) is hinged to a horizontal connecting rod (37); the rear side of the rectangular frame (22) is hinged to a first connecting rod (34); the end of the first connecting rod (34) is hinged to a second connecting rod (35); the end of the second connecting rod (35) is connected to a rear cross bar (310); the lower periphery of the main lifting link (33) is hinged to a balancing rod (38); the end of the balancing rod (38) is hinged to an extension rod (39); the end of the extension rod (39) is connected to a support rod (311); The driving mechanism is used to drive the main lifting connecting rod (33) to rotate around the driving horizontal axis (222).

5. The photovoltaic panel intelligent cleaning device according to claim 4, characterized in that: A driving ring sleeve (2221) is provided at the top end of the main lifting link (33), and the driving ring sleeve (2221) is rotatably sleeved on the driving transverse shaft (222). The driving mechanism comprises a main telescopic electric cylinder (31), the rear side of the main telescopic electric cylinder (31) is hinged to the inner side of the front end of the rectangular frame (22), and the telescopic shaft thereof is hinged to the top of the outer periphery of the driving ring sleeve (2221). A buffer spring (32) is also provided between the driving transverse shaft (222) and the fixed transverse rod (221), and one end of the buffer spring (32) is hinged to the driving ring sleeve (2221), and the other end is hinged to the fixed transverse rod (221).

6. The photovoltaic panel intelligent cleaning device according to any one of claims 1, 4 and 5, characterized in that: The tilting mechanism (5) comprises two first connecting seats (51) sleeved on the support rod (311), and the opposite end surfaces of the two first connecting seats (51) are rotatably provided with adjustment shafts (52), one of the first connecting seats (51) is provided with a tilting motor (54), the output shaft of the tilting motor (54) is connected to the adjustment shaft (52), the adjustment shaft (52) is sleeved with a second connecting seat (53), and the second connecting seat (53) is connected to the purge mechanism (6).

7. The photovoltaic panel intelligent cleaning device according to claim 6, characterized in that: The purging mechanism (6) comprises a fixing plate (61) connected to the tilting mechanism (5); a mounting seat (62) is arranged at the bottom of the fixing plate (61); a second lifting cylinder (65) is arranged at the bottom of the mounting seat (62); a cleaning roller (63) is arranged at the bottom of the second lifting cylinder (65); and blowers (67) are arranged at the front and rear sides of the bottom of the mounting seat (62) relative to the cleaning roller (63).

8. The photovoltaic panel intelligent cleaning device according to claim 7, characterized in that: The top of the mounting seat (62) is provided with guide telescopic rods (66) on both sides relative to the second lifting cylinder (65); The cleaning roller (63) comprises a roller seat, which comprises a top plate and vertical plates arranged on the left and right sides of the bottom of the top plate, a roller shaft is rotatably arranged between the two vertical plates, a brush roller is sleeved on the roller shaft, a cleaning motor (64) is arranged on one of the vertical plates, and the output shaft of the cleaning motor (64) is connected to the roller shaft.

9. The photovoltaic panel intelligent cleaning device according to claim 6, characterized in that: The movement auxiliary mechanism (7) comprises an extension telescopic rod (71) arranged on both sides of the mounting seat (62), the extension telescopic rod (71) extending horizontally and a first lifting cylinder (73) being vertically arranged at the end thereof, a guide sleeve (75) being arranged at the bottom of the lifting shaft of the first lifting cylinder (73), an axial telescopic rod (76) being arranged at the front end surface of the guide sleeve (75), and a clamping seat (77) being arranged at the front end of the axial telescopic rod (76); The end of the extending telescopic rod (71) is movably connected to the mounting seat (62) via a first clutch assembly (72), and the end of the axial telescopic rod (76) is movably connected to the guide sleeve (75) via a second clutch assembly (78).

10. The photovoltaic panel intelligent cleaning device according to claim 6, characterized in that: The first clutch assembly (72) comprises a first pin connected to the end of the extension telescopic rod (71) and a first clamping sleeve arranged on the mounting seat (62), and the first pin is movably inserted in the first clamping sleeve; The second clutch assembly (78) comprises a second pin connected to the end of the axial telescopic rod (76) and a second clamping sleeve arranged on the guide sleeve (75), and the second pin is movably inserted in the second clamping sleeve; The guide sleeve (75) is provided with a sliding groove on one side close to the mounting seat (62), and a lifting and lowering sliding wheel group (751) is provided between the upper and lower side walls of the sliding groove; A clamping groove is provided on one side of the clamping seat (77) close to the mounting seat (62), and a clamping mechanism (771) is provided between the upper and lower side walls of the clamping groove; The clamping mechanism (771) and the liftable sliding wheel set (751) are movably connected to the photovoltaic panel.

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