Accurate laser cleaning system and method based on unmanned aerial vehicle and manipulator

Abstract

The invention relates to a precise laser cleaning system and method based on an unmanned aerial vehicle and a manipulator, and belongs to the technical field of laser cleaning. The unmanned aerial vehicle module is internally provided with a rust recognition sub-module used for acquiring a rust area of target equipment, a path planning sub-module used for performing path planning according to the rust area and environment data, and an integrated interface module used for mechanical and power supply connection and data transmission between the unmanned aerial vehicle module and the laser cleaning manipulator module; the preset path module is used for presetting a moving path of the laser cleaning module and sending a path control instruction, and the laser cleaning module is used for receiving an abnormal signal and the path control instruction to clean a rust area; the monitoring module is used for analyzing the quality of the surface of the cleaned rust area and recording the moving and cleaning effect of the laser cleaning module, and when abnormity is found, an abnormal signal is sent out. The cleaning efficiency and the intelligent level are improved, and the system can adapt to complex and changeable new energy facility operation and maintenance environments.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cleaning, and in particular to a precise laser cleaning system and method based on an unmanned aerial vehicle and a manipulator. Background Art

[0002] In the field of new energy, with the transformation of the global energy structure and the promotion of the "dual carbon" goal, drones, robots and laser cleaning technologies play a key role in clean production, efficient operation and maintenance, and intelligent upgrading. The application of these technologies in the new energy industry has huge potential and market demand.

[0003] At present, the research on new energy technologies is entering a period of accelerated development, among which solar energy, energy storage and hydrogen energy are areas of widespread global attention. In this context, drones are mainly used for high-altitude inspections and environmental monitoring, robots are used for production line automation and equipment maintenance, and laser cleaning technology is used for surface cleaning of precision components. For example, the application of drone cleaning technology in photovoltaic engineering has verified its significant effect in improving the cleanliness and work efficiency of photovoltaic panels through field tests and data analysis. However, robotic photovoltaic cleaning technology relies on the combination of multiple technologies, including machine vision and artificial intelligence, positioning and navigation technology, automatic control, and remote monitoring and control. The application of these technologies is often isolated, lacking an integrated system to achieve their efficient collaborative operation, resulting in low operating efficiency, limited intelligence level, and difficulty in adapting to the complex and changing operation and maintenance environment of new energy facilities. Summary of the invention

[0004] To this end, the technical problem to be solved by the present invention is to overcome the low cleaning efficiency, limited intelligence level and difficulty in adapting to the complex and changeable operation and maintenance environment of new energy facilities in the prior art.

[0005] In the first aspect, in order to solve the above technical problems, the present invention provides a precision laser cleaning system based on a drone and a manipulator, comprising: a drone module, a laser cleaning manipulator module and a monitoring module;

[0006] The UAV module includes a rust recognition submodule, a path planning submodule, a data acquisition submodule and an integrated interface module; the rust recognition submodule is used to obtain the rust area of ​​the target device; the path planning submodule is used to perform path planning according to the rust area and environmental data; wherein the environmental data is obtained by the data acquisition submodule; the integrated interface module is used for mechanical connection, power supply connection and data transmission between the UAV module and the laser cleaning manipulator module;

[0007] The laser cleaning robot module includes a preset path module and a laser cleaning module; wherein the preset path module is used to preset the moving path of the laser cleaning module and issue a path control instruction;

[0008] The monitoring module is used to analyze the surface quality of the rusted area after cleaning and record the movement and cleaning effect of the laser cleaning module. When an abnormality is found, an abnormal signal will be output;

[0009] The laser cleaning module is used to receive the abnormal signal and the path control instruction to clean the rusted area;

[0010] Wherein, the integrated interface module includes a suspension and shock absorption submodule, and the suspension and shock absorption submodule is used to provide a buffer between the UAV module and the laser cleaning robot module.

[0011] In one embodiment of the present invention, the drone module further includes a control submodule, and the control submodule is used to achieve stable control of the drone, and the control submodule includes:

[0012] Establishing a state space model of the UAV;

[0013] According to the state space model, a suitable weight matrix is ​​selected, and the control strategy is optimized by minimizing the cost function, the expression of which is:

[0014]

[0015] Where J is the cost function, Q is the state weight matrix, x is the system state, u is the control input, R is the control input weight matrix, t is the time, and T is the transposed sign of the matrix;

[0016] Solve the Riccati equation to obtain the optimal feedback gain matrix, the Riccati equation is:

[0017] A T P+PA-BPR -1 BP T +Q=0;

[0018] Among them, A and B are system matrices, and P is the weight matrix to be determined;

[0019] The calculation formula of the optimal feedback gain matrix is: K = R -1 B T P;

[0020] The control input is calculated according to the real-time state x and the optimal feedback gain matrix, and the calculation formula is:

[0021] u=-Kx.

[0022] In one embodiment of the present invention, the preset path module includes:

[0023] A preset path for the movement of the laser cleaning head according to the shape and size of the rusted area;

[0024] Using a computer to simulate the cleaning process of the laser cleaning head to obtain an optimal simulation result; adjusting the preset path according to the optimal simulation result to obtain an optimal path;

[0025] The optimal path is computer-programmed to generate the path control instruction.

[0026] In one embodiment of the present invention, the monitoring module is also used to record the path parameters and actual cleaning effect of each cleaning, so as to form a cleaning path database for different materials and pollutant types.

[0027] In one embodiment of the present invention, the structure of the integrated interface module is a three-layer modular structure, and the three-layer modular structure includes a first-layer mechanical connection module, a second-layer power connection module and a third-layer signal data transmission module, wherein the structure of the first-layer mechanical connection module is a double locking structure.

[0028] In one embodiment of the present invention, the laser cleaning module includes a mechanical arm and a laser cleaning head; the mechanical arm is connected to the laser cleaning head and controls the posture and position of the laser cleaning head.

[0029] In one embodiment of the present invention, the laser cleaning system further comprises a remote monitoring and data transmission module, and the remote monitoring and data transmission module is used to transmit the images and data of the cleaning operation of the laser cleaning robot module to a ground control center in real time.

[0030] In the second aspect, in order to solve the above technical problems, the present invention provides a precise laser cleaning method based on a drone and a manipulator, comprising:

[0031] Get the planned path of the rust area on the target device;

[0032] According to the planned path, the drone module is equipped with a laser cleaning manipulator module and moves to the rusted area;

[0033] The laser cleaning robot module controls the laser cleaning module to perform cleaning according to the abnormal signal and the path control instruction; wherein, the method for obtaining the abnormal signal is: using the monitoring module to analyze the quality of the surface of the rust area after cleaning and record the movement and cleaning effect of the laser cleaning module, and when an abnormality is found, the abnormal signal will be output; the path control instruction is obtained through the preset path module of the laser cleaning robot module.

[0034] On the third aspect, in order to solve the above-mentioned technical problems, the present invention provides a solar photovoltaic panel cleaning device, including the above-mentioned precision laser cleaning system based on a drone and a manipulator.

[0035] In a fourth aspect, in order to solve the above-mentioned technical problem, the present invention provides a photovoltaic power station, including the above-mentioned solar photovoltaic panel cleaning equipment.

[0036] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0037] The invention discloses a precision laser cleaning system and method based on a drone and a manipulator, which cleverly integrates the drone module, the laser cleaning manipulator module and the monitoring module to achieve efficient cleaning operations on the target equipment. This integrated design fully utilizes the aerial operation flexibility of the drone, the precise operation capability of the manipulator and the high cleaning efficiency of the laser cleaning technology. The three work together to effectively improve the operation and maintenance efficiency, safety and intelligence level of new energy equipment. In addition, the integrated interface module equipped in the system is specifically used to achieve mechanical connection, power supply and data transmission between the drone and the laser cleaning manipulator. Its innovative design supports the rapid deployment and replacement of the system, perfectly adapting to the complex and changeable conditions in the operation and maintenance environment of new energy facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein

[0039] Figure 1 This is a structural diagram of a precision laser cleaning system based on a drone and a manipulator in a preferred embodiment of the present invention;

[0040] Figure 2 This is an example diagram of a precision laser cleaning system based on a drone and a manipulator in a preferred embodiment of the present invention;

[0041] Figure 3 This is a flow chart of a precise laser cleaning method based on a drone and a manipulator in a preferred embodiment of the present invention.

[0042] Explanation of the reference numerals in the specification: 1. UAV; 2. Laser cleaning head; 3. Robotic arm; 4. UAV control system. DETAILED DESCRIPTION

[0043] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0044] Embodiment 1

[0045] Reference Figure 1 and Figure 2 , an embodiment of the present invention provides a precision laser cleaning system based on a drone 1 and a manipulator, comprising: a drone module, a laser cleaning manipulator module and a monitoring module;

[0046] The UAV module includes a rust recognition submodule, a path planning submodule, a data acquisition submodule and an integrated interface module; the rust recognition submodule is used to obtain the rust area of ​​the target equipment; the path planning submodule is used to plan the path according to the rust area and environmental data; the environmental data is obtained through the data acquisition submodule; the integrated interface module is used for mechanical connection, power connection and data transmission between the UAV module and the laser cleaning manipulator module;

[0047] The laser cleaning manipulator module includes a preset path module and a laser cleaning module; wherein the preset path module is used to preset the moving path of the laser cleaning module and issue a path control instruction;

[0048] The monitoring module is used to analyze the surface quality of the rusted area after cleaning and record the movement and cleaning effect of the laser cleaning module. When an abnormality is found, an abnormal signal will be output;

[0049] The laser cleaning module is used to receive abnormal signals and path control instructions to clean the rusted area;

[0050] Among them, the integrated interface module includes a suspension shock absorption sub-module, and the suspension shock absorption sub-module is used to provide buffering between the UAV module and the laser cleaning robot module.

[0051] An embodiment of the present invention provides a precision laser cleaning system based on a drone 1 and a manipulator, which integrates a drone module, a laser cleaning manipulator module and a monitoring module into one system to complete efficient cleaning operations on target equipment. This integrated system can give full play to the aerial operation capability of the drone 1, the precise operation capability of the manipulator and the cleaning efficiency of the laser cleaning technology, and jointly improve the operation and maintenance efficiency, safety and intelligence level of new energy equipment. In addition, the integrated interface module of the system is used for mechanical connection, power connection and data transmission between the drone module and the laser cleaning manipulator module. This design can support the rapid deployment and replacement of the system, and perfectly adapt to the complex and changeable operation and maintenance environment of new energy facilities. Through this highly integrated and modular design, the system provides an efficient, flexible and intelligent solution for equipment cleaning in the new energy industry.

[0052] Drone 1, also known as unmanned aerial vehicle (UAVs), is a high-tech device that integrates multiple sensors, cameras and actuators, and can autonomously perform tasks such as flight, target recognition and data transmission. In the new energy industry, drone 1 is widely used, including but not limited to high-altitude inspection, environmental monitoring, and equipment installation and maintenance. The flexibility, wide operating range, cost-effectiveness and ability to reduce the risk of manual operations of drone 1 make it particularly effective in the inspection of equipment that is difficult to reach manually, such as solar photovoltaic panel arrays and wind turbine blades. Therefore, in the embodiment of the present invention, the drone module preferably uses drone 1 as the carrying platform.

[0053] Specifically, the required drone 1 should be able to carry a payload of about 30 kg to ensure the stable carrying of the laser cleaning manipulator module and the monitoring module. At the same time, the drone 1 should also have a kilometer-level flight altitude capability to cover new energy facilities at different altitudes, and have different wind resistance capabilities according to different application scenarios to ensure stability and reliability under complex weather conditions. In addition, in order to achieve precise operations, the drone 1 needs to be equipped with a high-precision positioning system on the one hand, which not only helps the navigation of the drone 1 when performing tasks, but also is the key to ensuring that the laser cleaning operation is accurately aimed at the target area; on the other hand, the drone 1 needs to have efficient data transmission capabilities, which are essential for real-time monitoring of the drone 1 status, transmission of data collected during the cleaning process, and rapid response to remote operation instructions. The integration of these functions will make the drone module a powerful tool to provide strong support for equipment cleaning and maintenance in the new energy field.

[0054] Specifically, the rust recognition submodule of the drone module is a key part of the drone inspection system. The submodule is equipped with a high-resolution camera and an infrared camera that can capture detailed images of the target equipment. Using advanced machine vision technology, these images will be processed and analyzed to identify the presence of rust. During the image processing process, a convolutional neural network (CNN) can be used for feature extraction to identify rust features in the image. In order to improve the accuracy and efficiency of recognition, more advanced deep learning models such as ResNet or EfficientNet can also be used, which have shown superior performance in image recognition tasks. In addition, through image segmentation algorithms, such as deep learning-based segmentation networks, rust can be accurately separated from the background, further improving the accuracy of rust recognition. This step is crucial to distinguish rust from other similar surface features, ensuring high accuracy in rust recognition.

[0055] Based on the analysis results provided by the rust recognition submodule, the drone 1 will determine the rusted area that needs to be cleaned and plan the path accordingly. This intelligent path planning capability enables the drone 1 to efficiently navigate to the rusted area and perform precise laser cleaning operations. Through this rust recognition submodule that integrates high-level image processing and analysis capabilities, the drone inspection system can achieve automated and efficient equipment maintenance and cleaning operations.

[0056] Specifically, the path planning submodule of the drone module includes a sensor suite, and the sensor suite of this embodiment includes a laser radar, a camera, a GPS and a meteorological sensor, which can collect data of the surrounding environment in real time. This embodiment first uses SLAM (Simultaneous Localization and Mapping) technology to build an environmental map in real time and determine its own position. Subsequently, the A* algorithm is used for global path planning, and the RRT (Rapidly-exploring Random Tree) algorithm is used for dynamic planning of local paths to cope with obstacles in complex environments and dynamic obstacles that appear in real time. In addition, an obstacle avoidance algorithm based on machine learning can be developed to enable the drone 1 to identify and avoid unknown obstacles, and a convolutional neural network (CNN) can be used to detect and classify obstacles, and combined with reinforcement learning to optimize the obstacle avoidance strategy. A reasonable flight path can enable the drone 1 to reach a suitable height and angle for cleaning, thereby maximizing the cleaning effect.

[0057] Furthermore, the drone module also includes a control submodule, which uses a linear quadratic regulator (LQR) to achieve stable control of the drone 1. The cost function is a core concept in LQR. It is usually defined as the integral of the quadratic function of the state variable and the control variable, and is used to measure the performance of the system. By optimizing this cost function, LQR can find the optimal control input to make the system state as close to the desired equilibrium point as possible, while ensuring that the energy depletion of the control input is as small as possible.

[0058] Specifically, the control submodule includes: firstly, establishing a state space model of the drone 1, and determining matrices A and B of the state space model. In this embodiment, it is assumed that the state of the drone 1 can be described by the following linear state equation:

[0059]

[0060] Among them, x is the system state, such as position, speed, attitude, etc.; u is the control input, such as motor thrust, etc.; A and B are system matrices.

[0061] Secondly, select a suitable weight matrix according to the state space model and optimize the control strategy by minimizing the cost function. The expression of the cost function is:

[0062]

[0063] Where J is the cost function, Q is the state weight matrix, u is the control input, R is the control input weight matrix, t is the time, and T is the transposed sign of the matrix;

[0064] Next, solve the Riccat i equation to obtain the optimal feedback gain matrix. The Riccat i equation is:

[0065] A T P+PA-BPR -1 BP T +Q=0;

[0066] Where P is the weight matrix to be determined; the calculation formula of the optimal feedback gain matrix is: K = R -1 B T P;

[0067] The control input u is calculated based on the real-time state x and the optimal feedback gain matrix, and its calculation formula is:

[0068] u=-Kx.

[0069] Specifically, the drone module provides a suspension damping submodule for buffering between the mounted laser cleaning robot module, and the suspension damping submodule is installed in the integrated interface module. In this embodiment, a suspension damping subsystem that integrates elastic and damping materials is preferably used to effectively deal with the transient vibration and impact that may be generated during the laser cleaning process, thereby reducing the interference of these factors on the stability and flight control of the drone 1. This system acts as a buffering medium between the drone 1 and the laser cleaning robot module, which can reduce the transmission of vibration.

[0070] Robotics technology gives robots the ability to make autonomous decisions, operate accurately and work efficiently. In the field of new energy, robots are widely used in production line automation, equipment overhaul and maintenance, warehousing and logistics, etc., and achieve high-precision and high-efficiency tasks by integrating advanced technologies such as visual recognition, path planning and force control feedback. Laser cleaning technology is an advanced method for non-contact surface cleaning using high-energy laser beams. It triggers thermal effects, photochemical effects or mechanical effects through the interaction between the laser beam and the surface of the material, and achieves rapid decomposition, evaporation or peeling of surface pollutants. Laser cleaning technology is particularly suitable for cleaning components with high cleanliness requirements in the field of new energy due to its advantages such as high efficiency, environmental protection, non-destructiveness and easy control. This technology can accurately remove impurities on the surface of the material without damaging the substrate, reduce the health risks of the operator, and avoid secondary pollution that may be introduced by traditional cleaning methods. Based on the advantages of robotics and laser cleaning technology, the embodiment of the present invention integrates robotics and laser cleaning technology into a laser cleaning manipulator module, wherein the manipulator in this embodiment belongs to a type of robot.

[0071] Specifically, the laser cleaning manipulator module adopts a modular design, including a preset path module, a laser cleaning module, a drone platform and a control system, etc. Among them, the drone platform is used to provide stable three-dimensional mobility; in this embodiment, the control system supports ROS (Robot Operating System), which is convenient for integration with the drone module, and uses the rich tools of ROS for path planning and motion control.

[0072] Specifically, the laser cleaning module includes a robot arm 3 and a laser cleaning head 2, wherein the robot arm 3 is connected to the laser cleaning head 2 and controls the posture and position of the laser cleaning head 2, which is the key to achieving efficient and precise cleaning. In this embodiment, a robot arm 3 with 360° all-round bending and telescopic functions is preferably used, which can move flexibly in three-dimensional space to cover complex cleaning tasks. The robot arm 3 is designed with a load capacity of 3kg, which is sufficient to stably support the laser cleaning head 2 and its additional equipment, such as sensors and cooling systems, to ensure operational stability. In addition, the robot arm 3 integrates force / torque sensors, visual sensors and temperature sensors to achieve comprehensive real-time monitoring of the cleaning process, effectively avoid damage to the object being cleaned, and ensure the safety of operation. In terms of structure, the main body of the robot arm 3 is made of high-strength aluminum alloy material, and the joint part is made of carbon fiber composite material, which not only achieves the lightweight of the overall structure, but also ensures high rigidity.

[0073] Furthermore, the laser cleaning module also includes a laser generator. In this embodiment, a high-power fiber laser is preferably used, with a power range of about 2000W and high energy conversion efficiency. A lens system is equipped as an optical system to focus the laser on the rust area (the rust area can be called the cleaning area) to ensure high energy density. The laser generator is connected to the robot arm 3, and the laser cleaning head 2 is controlled by the robot arm 3 to clean the designated area. Among them, the laser output by the laser generator is transmitted to the laser cleaning head 2 through an optical fiber. Specifically, one end of the optical fiber is connected to the laser generator, and the other end is connected to the optical fiber interface on the laser cleaning head 2. For the laser cleaning head 2, it can be installed at the end of the robot arm 3, and the cleaning head can be moved to the area to be cleaned through the precise control of the robot arm 3.

[0074] In this embodiment, the scanning range of the laser cleaning module is preferably 10-300m, and the rust removal efficiency is preferably 50m-70m / hour, which is suitable for removing rust with a thickness of 0.2-4.5mm. The laser cleaning module is also equipped with a cooling system, preferably water cooling as a cooling method. The cooling system is equipped with a temperature monitoring device to ensure that the laser generator operates at the optimal operating temperature to avoid performance degradation or equipment damage due to overheating. Among them, the laser generator and the cooling system can be installed in the main cabinet of the laser cleaning module.

[0075] During the laser cleaning process, there are several key parameters that need to be precisely controlled. The first is the laser power, which directly affects the cleaning effect. Setting the power too high or too low may lead to unsatisfactory cleaning results. The second is the pulse frequency, which determines the striking frequency of the laser. The appropriate frequency can significantly improve the cleaning efficiency. In addition, the scanning speed, that is, the speed at which the laser beam moves on the cleaning surface, will also affect the uniformity and effect of the cleaning. The spot size determines the concentration of the laser energy and the cleaning area, while the adjustment of the focal length affects the focusing degree of the light beam, which in turn affects the cleaning effect. Therefore, in order to optimize the effect of laser cleaning, the laser cleaning robot module of this embodiment has the function of automatic adjustment of laser cleaning parameters.

[0076] Specifically, in order to achieve automatic adjustment of laser parameters, a feedback control system can be used to monitor the cleaning effect, that is, the degree of residue removal, in real time using optical sensors, thermal sensors or imaging systems. Then, the laser parameters are adjusted in a closed loop according to the feedback information of the sensor, and then combined with the automation equipment, that is, the robot system, the position and parameters of the laser cleaning head 2 are automatically adjusted to achieve a flexible cleaning path and method. In addition, through the integrated control system, the laser equipment is integrated with the control system, sensors, etc., and the automatic program is used to achieve dynamic adjustment of parameters.

[0077] It should be noted that in the process of automatically adjusting the laser cleaning parameters, several core elements need to be paid attention to. First, because different materials react differently to lasers, the parameters must be customized according to the material characteristics. Secondly, environmental conditions such as temperature, humidity, and surface conditions will affect the cleaning effect, and these factors must also be taken into consideration when adjusting the parameters. In addition, safety is the most important consideration. During the automatic adjustment process, the safety of operation must be ensured to prevent the laser from causing damage to personnel or equipment. These precautions should be followed when using the laser cleaning system provided in this example to ensure that laser cleaning is both efficient and safe, improve cleaning quality, and meet the high standards of industrial applications.

[0078] The UAV module and the laser cleaning robot module cooperated to successfully achieve the precise cleaning task of complex structures and hard-to-reach areas. In the collaborative cooperation, the strategy of the UAV module and the laser cleaning robot module is completed by the collaborative operation system, which includes a real-time communication system, a task scheduling module, a synchronous control mechanism for collaborative operations, and a feedback and adjustment mechanism.

[0079] Specifically, for real-time communication systems, the communication link of the system is the key to achieving efficient collaborative operations. This embodiment uses Wi-Fi for wireless communication, which not only ensures low-latency data transmission, but also supports device connections over a larger range. Between devices, the ROS (Robot Operating System) protocol is preferred to implement real-time message publishing and subscription, which provides a reliable platform for information exchange between the drone module and the laser cleaning manipulator module.

[0080] Specifically, for the task scheduling module, it is responsible for the allocation, dynamic adjustment and load balancing of tasks. The task scheduling module includes a task scheduling algorithm. This embodiment adopts a priority-based scheduling algorithm to process all tasks according to the priority queue. Different priorities are activated for different work scenarios. For example, a high-priority task is set for UAV 1 to arrive at the designated wind turbine blades for inspection, a medium-priority task is for the robot 3 to reach the cleaning area of ​​the solar photovoltaic panel, and a low-priority task is to start the laser cleaner to clean the components on the battery production line. In addition, the system can use environmental feedback and sensor data for dynamic scheduling, and update the priority and allocation of tasks in real time. The load balancing function ensures that once the task starts, the scheduling system will monitor the status of the laser cleaning robot and UAV 1, such as battery power and load, and intelligently adjust and reallocate tasks.

[0081] Specifically, for the synchronous control mechanism of collaborative operation, the state synchronization mechanism of the laser cleaning system is the basis for realizing the collaborative operation of the drone module and the laser cleaning robot module. This embodiment preferably uses a timestamp to allow the drone module and the laser cleaning robot module to periodically send current state information, i.e., position, speed, and state, etc., and use a multicast or broadcast mechanism to reduce communication delays. The collaborative control algorithm uses model-based control theory PID control to perform precise behavior control to ensure smooth collaboration. The drone module is responsible for obtaining high-level information from the air, i.e., large-scale monitoring, while the laser cleaning robot module performs specific cleaning tasks.

[0082] Specifically, the feedback and adjustment mechanism is the key to real-time feedback adjustment and optimization of the laser cleaning system. Each module in the laser cleaning system will send status data to the dispatch center in real time, and the dispatch center will process the data and generate timely feedback. In terms of fault handling, this embodiment adopts a retry mechanism and a fallback strategy. For example, when the robot arm 3 encounters an obstacle while cleaning the solar photovoltaic panel and causes the task to fail, the robot arm 3 can send a signal for help, and the drone 1 will intervene according to the situation, adjust the cleaning path or provide necessary support to ensure the smooth completion of the task.

[0083] Furthermore, in terms of the design of the integrated interface module between the drone module and the laser cleaning robot module, the structure of the integrated interface module in this embodiment adopts a three-layer modular structure. The first layer is the mechanical connection module, which realizes the rapid disassembly and assembly of the equipment through standardized snap or bolt interfaces to adapt to changing task requirements. The second layer is the power connection module, which provides a stable power supply to the device through a contact or non-contact (such as magnetic) interface, while preventing the power cord from getting entangled or loose. The third layer is the signal data transmission module, which realizes low-latency transmission of control instructions and sensor data through wireless or wired methods, such as a high-speed data interface (USB-C or customized data port).

[0084] Furthermore, in order to improve the flexibility and stability of the robot arm 3, a 360-degree rotating joint interface is designed at the connection between the drone 1 and the robot arm 3, and the interface is installed in the integrated interface module. This interface not only allows the robot arm 3 to move flexibly in multiple directions, but also has a locking function to maintain stability when needed. At the same time, the joint part is designed with an anti-vibration and anti-loosening locking mechanism to prevent deviation during flight. In addition, in order to achieve a shock-absorbing and balancing structure, this embodiment integrates a shock-absorbing pad or spring (which is part of the above-mentioned suspension shock-absorbing submodule) in the interface to absorb the vibration generated by the drone 1 during flight, ensure the stability of the laser cleaning equipment, and thus improve the cleaning accuracy.

[0085] Furthermore, in terms of the power supply and data connection design in the second and third layers, this embodiment adopts a centralized power supply interface, which can provide high-voltage power for the laser equipment and low-voltage power for the motor and control system of the robot arm 3. Intelligent power management integration can be used to dynamically adjust the power output according to the real-time power consumption demand to avoid overload or power waste. In terms of data transmission, optical fiber or high-speed USB interface is used to ensure stable data transmission between the device and the main control system of the drone 1, and wireless transmission backup is designed to cope with the situation of data line connection interruption.

[0086] Furthermore, in the design of the intelligent control and feedback system, standardized sensor interfaces are reserved, such as laser power sensors, temperature sensors, flight attitude sensors, etc. These sensors can monitor the equipment status in real time and transmit data to the UAV control system 4 to achieve intelligent control. In addition, the design of the laser automatic calibration module, combined with the positioning system of the robot arm 3, ensures that the cleaning equipment always keeps aligned with the rusty surface, captures the surface position in real time through vision or LiDAR sensors, and automatically adjusts the position and angle of the robot arm 3 through intelligent algorithms.

[0087] In terms of safety and protection function design, in this embodiment, the first-layer mechanical connection module adopts a double locking structure, including a mechanical lock and an electronic lock, to ensure that the connection will not accidentally loosen during flight. The electronic lock detects the connection status through a sensor. If it is loose or disconnected, it will immediately stop the operation and notify the operator. We also designed a power-off protection module to automatically cut off the power supply when an abnormality is detected to protect the safety of the equipment. In addition, the waterproof and dustproof design of the interface, such as the use of a waterproof rubber ring and a sealed shell, can prevent rain or dust from entering the interior of the device and affecting work.

[0088] In order to ensure the intelligence and future expansibility of the interface, this embodiment integrates an intelligent interface chip that can identify different types of devices and automatically match the appropriate operation mode. The interface design is compatible with different models of devices and has an open standard interface protocol to facilitate subsequent upgrades and expansions. Such a design not only improves the flexibility and adaptability of the system, but also facilitates future technological development and equipment updates.

[0089] The precision laser cleaning system based on the drone 1 and the manipulator proposed in this embodiment ensures the efficiency, stability and adaptability of the laser cleaning system. The specific cleaning process is as follows:

[0090] (1) System startup and calibration

[0091] Before starting cleaning, the drone 1 is precisely calibrated through its positioning system to ensure that the robotic arm 3 and the laser cleaning head 2 can accurately reach the predetermined cleaning position.

[0092] (2) Path planning and optimization

[0093] Before the cleaning process, a preset path is required. This process is mainly carried out in the preset path mode, including:

[0094] S301, preset a path for the laser cleaning head 2 to move according to the shape and size of the rust area;

[0095] S302, using a computer to simulate the cleaning process of the laser cleaning head 2 to obtain an optimal simulation result; adjusting the preset path according to the optimal simulation result to obtain an optimal path;

[0096] S302: Perform computer programming on the optimal path to generate path control instructions.

[0097] Specifically, in step S301, the moving path of the laser head can be preset using computer-aided design (CAD) software. In step S302, the path optimization is performed again. First, the laser cleaning process is simulated by a computer to evaluate the cleaning effect and efficiency of the preset path, and then the scanning speed, laser power and spot size of the path are adjusted according to the simulation results to improve the efficiency and quality of cleaning. In the path programming stage of step S303, the optimized path is converted into machine-recognizable instructions using a programming language suitable for the laser cleaning module, and finally a specific path control instruction is generated to guide the movement of the laser cleaning head 2, including the moving speed, direction and switch control of the laser output. Among them, the programming language of the path can preferably be the Python programming language.

[0098] Exemplarily, a simple two-dimensional grid is used to simulate the cleaning area, and the laser cleaning head 2 is set to move along a specific path. Assuming that the movement of the laser cleaning head 2 is controlled by two-dimensional coordinates (x, y), the clean area is a 10X10 grid, and the code in the Python programming language includes initialization cleaning area code, definition of the laser cleaning head 2 starting position code, definition of the laser cleaning head 2 moving step code, definition of the laser cleaning head 2 moving path code, path generation code, simulation of the laser cleaning head 2 moving along the path and cleaning code and printing the area state after cleaning, wherein the code for defining the moving path of the laser cleaning head 2 uses a spiral path code, and defines the path function spiral_path, which generates a path extending from the center outward; the code for simulating the laser cleaning head 2 moving along the path and cleaning includes a judgment code for whether the laser cleaning head 2 is in the cleaning area, and marking the cleaned area (set to 1) to ensure that the laser cleaning head 2 does not move outside the cleaning area.

[0099] (3) The system starts cleaning operation

[0100] The drone 1 is equipped with a mechanical arm 3 and moves along a preset path. The laser cleaning head 2 emits a high-energy laser beam to precisely clean the rusted area (the rusted area can also be called the target area). The system adjusts the laser parameters in real time to meet different cleaning requirements. The generated path control instructions are imported into the control system of the laser cleaning module. The laser generator is started, and the laser cleaning head 2 moves along the preset path, continuously emitting lasers to irradiate the cleaning area.

[0101] Exemplarily, the Python programming language is used as a feedback control algorithm program applied to the robot 3. The code includes first initializing the three main parameters of the proportional integral differential controller (PID controller for short) and the target value of the control, then calculating the error between the current value and the target value, then adding this error to the integral term, and calculating the differential term, and then updating the value of the previous error for use when the update method is called next time. Finally, the update method calculates the output value, that is, the control signal, according to the PID formula. This signal will be used to adjust the movement of the robot 3 to reduce the error and approach the target value. The calculated output value is returned through the return statement and can be applied to the drive system of the robot 3.

[0102] (4) Real-time monitoring and adjustment The surface temperature is monitored in real time by a temperature sensor installed near the cleaning area. If the temperature exceeds the preset safety threshold, the control system will automatically reduce the laser power or adjust the scanning speed to prevent overheating and damage to the substrate.

[0103] During the real-time monitoring and adjustment stage, the monitoring module uses a high-definition camera and a surface roughness meter or other equipment to analyze the surface quality after cleaning and observe the movement and cleaning effect of the laser cleaning head 2 in real time to detect problems in a timely manner. If the cleaning effect is not ideal or abnormal, the monitoring module will output an abnormal signal, and the operator can dynamically adjust the path parameters or laser parameters to ensure the cleaning quality. At the same time, the monitoring module can be used for path recording and archiving. Specifically, the path parameters and actual cleaning effects of each cleaning are recorded for subsequent analysis and optimization. Through long-term data accumulation, a cleaning path database for different materials and pollutant types will be formed, providing valuable reference for future cleaning tasks. In addition, the remote monitoring and data transmission module of the laser cleaning system can transmit the images and data of the cleaning operation of the laser cleaning manipulator module to the ground control center in real time.

[0104] The precision laser cleaning system described in this embodiment realizes efficient collaborative operation, intelligent control, and environmental protection and energy saving at high altitudes and in complex environments. The drone module undertakes the tasks of high-altitude inspection and precise positioning, and uses its flexibility and wide-area coverage capabilities to quickly identify the target area; the laser cleaning manipulator module provides a non-contact, non-destructive cleaning method, which is suitable for application scenarios with extremely high cleanliness requirements; at the same time, the monitoring module ensures real-time monitoring and data feedback of the entire operation process. The precision laser cleaning system described in this embodiment not only significantly improves the efficiency of the operation, but also ensures the high-standard quality of the cleaning operation, providing an innovative solution for cleaning at high altitudes and in complex environments.

[0105] Embodiment 2

[0106] Based on the same inventive concept, this embodiment provides a precision laser cleaning method based on a drone 1 and a manipulator. The principle of solving the problem is similar to that of a precision laser cleaning system based on a drone 1 and a manipulator provided in Example 1, and the repeated parts will not be repeated.

[0107] Reference Figure 3 , this embodiment provides a precise laser cleaning method based on a drone 1 and a manipulator, comprising:

[0108] Get the planned path of the rust area on the target device;

[0109] According to the planned path, the drone module equipped with the laser cleaning manipulator module moves to the rusted area;

[0110] The laser cleaning robot module controls the laser cleaning module to perform cleaning according to the abnormal signal and path control instruction; wherein, the method for obtaining the abnormal signal is: using the monitoring module to analyze the surface quality of the rusted area after cleaning and record the movement and cleaning effect of the laser cleaning module. When an abnormality is found, an abnormal signal will be output; the path control instruction is obtained through the preset path module of the laser cleaning robot module.

[0111] Embodiment 3

[0112] This embodiment provides a solar photovoltaic panel cleaning device, including a precise laser cleaning system based on a drone 1 and a manipulator as described in the first embodiment.

[0113] During long-term use, solar photovoltaic panels will be covered with pollutants such as dust and bird droppings, which will affect the power generation efficiency. Using the cleaning device provided in this embodiment to clean the photovoltaic panels can quickly remove surface pollutants and restore power generation efficiency. In addition, the robot in the cleaning device can cooperate to complete the installation, inspection and maintenance of photovoltaic panels, thereby improving the operating stability and reliability of the entire photovoltaic power station.

[0114] Embodiment 4

[0115] This embodiment provides a photovoltaic power station, including a solar photovoltaic panel cleaning device provided in the third embodiment.

[0116] Embodiment 5

[0117] This embodiment provides a new energy battery production line cleaning device, including a precision laser cleaning system based on a drone 1 and a manipulator as described in the first embodiment.

[0118] In the production process of new energy batteries, the cleanliness of key components such as electrode sheets and diaphragms has an important impact on battery performance. Using the cleaning equipment provided in this embodiment to clean the components on the production line can effectively remove surface oil, dust and other pollutants, and improve the cleanliness and consistency of the components. At the same time, the robot of the cleaning equipment can cooperate to complete operations such as handling and positioning of components, thereby improving the automation and efficiency of the production line.

[0119] Embodiment 6

[0120] This embodiment provides a wind power generation device cleaning device, including a precise laser cleaning system based on a drone 1 and a manipulator as described in the first embodiment.

[0121] Wind turbines are usually installed at high altitudes or in remote areas, and traditional cleaning methods are difficult to implement and costly. Using the cleaning equipment provided in this embodiment to clean wind turbine blades can achieve safety and efficiency in high-altitude operations. The cleaning equipment drone 1 can automatically adjust the cleaning parameters and path planning according to the blade shape and degree of contamination to ensure the consistency and reliability of the cleaning effect. At the same time, the robot can cooperate with other equipment on the ground or in the tower to complete the inspection and maintenance work.

[0122] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0123] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0126] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A precision laser cleaning system based on drones and manipulators, characterized in that: include: UAV module, laser cleaning robot module and monitoring module; The UAV module includes a rust identification submodule, a path planning submodule, a data acquisition submodule and an integrated interface module; The rust identification submodule is used to obtain the rust area of ​​the target device; the path planning submodule is used to plan the path according to the rust area and environmental data; wherein the environmental data is obtained by the data acquisition submodule; the integrated interface module is used for mechanical connection, power supply connection and data transmission between the drone module and the laser cleaning manipulator module; The laser cleaning robot module includes a preset path module and a laser cleaning module; wherein the preset path module is used to preset the moving path of the laser cleaning module and issue a path control instruction; The monitoring module is used to analyze the surface quality of the rusted area after cleaning and record the movement and cleaning effect of the laser cleaning module. When an abnormality is found, an abnormal signal will be output; The laser cleaning module is used to receive the abnormal signal and the path control instruction to clean the rusted area; Wherein, the integrated interface module includes a suspension and shock absorption submodule, and the suspension and shock absorption submodule is used to provide a buffer between the UAV module and the laser cleaning robot module.

2. The precise laser cleaning system based on a drone and a manipulator according to claim 1, characterized in that: The drone module also includes a control submodule, which is used to achieve stable control of the drone. The control submodule includes: Establishing a state space model of the UAV; According to the state space model, a suitable weight matrix is ​​selected, and the control strategy is optimized by minimizing the cost function, the expression of which is: Where J is the cost function, Q is the state weight matrix, x is the system state, u is the control input, R is the control input weight matrix, t is the time, and T is the transposed sign of the matrix; Solve the Riccati equation to obtain the optimal feedback gain matrix, the Riccati equation is: A T P+PA-BPR -1 BP T +Q00 Among them, A and B are system matrices, and P is the system weight matrix; The calculation formula of the optimal feedback gain matrix is: K = R -1 B T P; The control input is calculated according to the real-time state x and the optimal feedback gain matrix, and the calculation formula is: u=-Kx.

3. The precise laser cleaning system based on a drone and a manipulator according to claim 1 is characterized in that: The preset path module includes: A preset path for the movement of the laser cleaning head according to the shape and size of the rusted area; Using a computer to simulate the cleaning process of the laser cleaning head to obtain an optimal simulation result; adjusting the preset path according to the optimal simulation result to obtain an optimal path; The optimal path is computer-programmed to generate the path control instruction.

4. The precise laser cleaning system based on a drone and a manipulator according to claim 1, characterized in that: The monitoring module is also used to record the path parameters and actual cleaning effect of each cleaning, forming a cleaning path database for different materials and pollutant types.

5. The precise laser cleaning system based on a drone and a manipulator according to claim 1, characterized in that: The structure of the integrated interface module is a three-layer modular structure, which includes a first-layer mechanical connection module, a second-layer power connection module and a third-layer signal data transmission module, wherein the structure of the first-layer mechanical connection module is a double locking structure.

6. The precise laser cleaning system based on a drone and a manipulator according to claim 1, characterized in that: The laser cleaning module comprises a mechanical arm and a laser cleaning head; the mechanical arm is connected to the laser cleaning head and controls the posture and position of the laser cleaning head.

7. The precise laser cleaning system based on a drone and a manipulator according to claim 1, characterized in that: The laser cleaning system also includes a remote monitoring and data transmission module, which is used to transmit the images and data of the cleaning operation of the laser cleaning robot module to the ground control center in real time.

8. A precise laser cleaning method based on drone and manipulator, characterized in that: include: Get the planned path of the rust area on the target device; According to the planned path, the drone module is equipped with a laser cleaning manipulator module and moves to the rusted area; The laser cleaning robot module controls the laser cleaning module to perform cleaning according to the abnormal signal and the path control instruction; wherein, the method for obtaining the abnormal signal is: using the monitoring module to analyze the quality of the surface of the rust area after cleaning and record the movement and cleaning effect of the laser cleaning module, and when an abnormality is found, the abnormal signal will be output; the path control instruction is obtained through the preset path module of the laser cleaning robot module.

9. A solar photovoltaic panel cleaning device, characterized in that: A precision laser cleaning system based on a drone and a manipulator as described in any one of claims 1 to 7.

10. A photovoltaic power station, characterized in that: Including a solar photovoltaic panel cleaning device as described in claim 9.

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