Self-adaptive dynamic balance control method, system and device for air load cleaning device

Abstract

The invention provides a self-adaptive dynamic balance control method, system and device for an aerial load cleaning device, and the method comprises the following steps: 1, enabling an unmanned plane to drive the cleaning device to fly upwards to a position near a glass curtain wall, enabling a ground control terminal to transmit a cleaning signal to a wireless communication module, and enabling a drive motor to drive a threaded rod to rotate, the cleaning seat drives the cleaning head to approach the glass curtain wall. The inclination angle of the unmanned aerial vehicle is monitored in real time through the gyroscope, then a signal is sent to the controller, the servo motor drives the lead screw, the lead screw drives the supporting seat to move along the track, the supporting seat drives the balancing weight when moving, and the inclination angle of the unmanned aerial vehicle is monitored in real time through the gyroscope; and the gyroscope sends a signal to the controller, the controller controls the servo motor to stop working, at the moment, the unmanned aerial vehicle and the cleaning device achieve self-adaptive adjustment of the body position, and the cleaning effect on the curtain wall is improved.

Description

Technical Field

[0001] The present invention relates to a control method, system and device, in particular to an adaptive dynamic balance control method, system and device for an aerial load cleaning device, belonging to the technical field of cleaning drones. Background Art

[0002] Drone cleaning of glass curtain walls is a new type of cleaning method, which uses drones equipped with special cleaning equipment to clean glass curtain walls efficiently and safely. Compared with traditional manual cleaning methods, drone cleaning of glass curtain walls has the advantages of high cleaning efficiency, safety, reliability and low cost. The glass curtain wall cleaning drone is a high-altitude cleaning platform composed of a multi-rotor drone device that obtains energy through a cable connection to the ground power supply system and an intelligent glass curtain wall cleaning device. Compared with drones that obtain energy by carrying batteries or fuel, this platform can achieve long-term uninterrupted hovering in the air, complete high-altitude operation tasks, and quickly model the cleaning cleanliness and related cleaning objects.

[0003] When an existing curtain wall cleaning drone is cleaning a curtain wall, due to the cables connected to the bottom and the need for its cleaning head to spray high-pressure cleaning fluid close to the curtain wall, the drone and the cleaning device at the bottom will experience a gravity axis offset under the dual forces, causing the drone and the cleaning device to tilt in the air, thereby affecting the cleaning effect of the curtain wall. To this end, an adaptive dynamic balancing control method, system and device for an aerial load cleaning device are proposed. Summary of the invention

[0004] In view of this, the present invention provides an adaptive dynamic balancing control method, system and device for an aerial load cleaning device to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0005] The technical solution of the embodiment of the present invention is achieved as follows:

[0006] In a first aspect, an embodiment of the present invention provides an adaptive dynamic balancing control method for an aerial load cleaning device, comprising the following steps:

[0007] Step 1: The UAV drives the cleaning device to fly upward to the vicinity of the glass curtain wall. The ground control terminal sends a cleaning signal to the wireless communication module, and the threaded rod is driven to rotate by the driving motor. The cleaning seat drives the cleaning head close to the glass curtain wall, and the cleaning head sprays high-pressure cleaning fluid to clean the glass curtain wall.

[0008] Step 2: At this time, the drone tilts under the gravity of the bottom cable and the reverse effect of the high-pressure cleaning fluid;

[0009] Step 3: The tilt angle of the drone is monitored in real time through the gyroscope, and then the signal is sent to the controller. The servo motor drives the screw rod, and the screw rod drives the support seat to move along the track;

[0010] Step 4: The support base moves, driving the counterweight. When the counterweight moves, the offset angle of the drone gradually changes. With the cooperation of the counterweight, the drone begins to correct its position.

[0011] Step 5: The gyroscope monitors the tilt angle of the drone in real time. When the drone's position is adjusted, the gyroscope sends a signal to the controller;

[0012] Step 6: The controller controls the servo motor to stop working, and the drone and the cleaning device complete the adaptive adjustment of their positions.

[0013] Further preferably, in step one, a signal sending end of the wireless communication module is connected to a signal receiving end of the controller.

[0014] In a second aspect, an embodiment of the present invention provides an adaptive dynamic balance control system for an aerial load cleaning device, including a drone, a gyroscope, a controller, a servo motor, a wireless communication module, and a drive motor;

[0015] The gyroscope is installed at the top center of the drone, the signal sending end of the gyroscope is connected to the signal receiving end of the controller, the electrical output end of the controller is connected to the electrical input ends of the servo motor and the drive motor respectively through a relay, and the signal sending end of the wireless communication module is connected to the signal receiving end of the controller.

[0016] In a third aspect, an embodiment of the present invention provides an adaptive dynamic balance control device for an aerial load cleaning device, including a balance adjustment component, wherein the balance adjustment component includes a mounting seat, a fixing seat, a wireless communication module, a controller, a sliding seat, a cleaning seat, a cleaning head, two tracks, a counterweight, a screw rod, a servo motor, a support seat, a drive motor, a slider, two guide rods, a threaded rod, and a gyroscope;

[0017] The wireless communication module and the controller are symmetrically installed on both sides of the upper surface of the mounting seat, the two tracks are symmetrically fixedly connected to the upper surface of the mounting seat, the two ends of the screw rod are symmetrically rotatably connected to the inner front wall and the inner rear wall of the track, the servo motor is installed on the front surface of the track, the counterweight block is fixedly connected to the upper surface of the support seat, the slider is slidably connected to the outer side walls of the two guide rods, the slider is threadedly connected to the outer side wall of the threaded rod, the drive motor is installed on the rear surface of the fixed seat, the gyroscope is located above the sliding seat, the cleaning seat is installed on the front surface of the sliding seat, and the cleaning head is installed on the front surface of the cleaning seat.

[0018] Further preferably, the support seat is slidably connected to the outer side wall of the track, the support seat is threadedly connected to the outer side wall of the screw rod, and the front end of the screw rod is fixedly connected to the output shaft of the servo motor.

[0019] Further preferably, the sliding seat is slidably connected to the upper surface of the fixed seat, the sliding block is fixedly connected to the lower surface of the sliding seat, and the sliding block is slidably connected to the inner side wall of the fixed seat.

[0020] Further preferably, two ends of the two guide rods are symmetrically fixedly connected to the inner front wall and the inner rear wall of the fixing seat.

[0021] Further preferably, the front end of the threaded rod is rotatably connected to the inner front wall of the fixing seat, and the rear end of the threaded rod is fixedly connected to the output shaft of the driving motor.

[0022] Further preferably, a main body component is installed on the outer side wall of the mounting seat, and the main body component includes a drone, a connecting frame and a water tank;

[0023] The connecting frame is fixedly connected to the lower surface of the frame of the UAV, the mounting seat is fixedly connected to the inner side wall of the connecting frame, the water tank is installed on the lower surface of the mounting seat, and the cleaning head is connected to the water tank through a high-pressure water pump.

[0024] Further preferably, the gyroscope is mounted at the center of the upper surface of the drone, and the mounting seat is located inside the connecting frame.

[0025] Since the embodiment of the present invention adopts the above technical scheme, it has the following advantages: the present invention monitors the tilt angle of the UAV in real time through a gyroscope, and then sends a signal to the controller, the controller controls the servo motor to work, the servo motor drives the screw rod, the screw rod drives the support seat to move along the track, and the support seat drives the counterweight block when it moves. When the counterweight block moves, the UAV starts to correct its own position, and the tilt angle of the UAV is monitored in real time by the gyroscope. When the position of the UAV is adjusted, the gyroscope sends a signal to the controller, and the controller controls the servo motor to stop working. At this time, the UAV and the cleaning device realize self-adaptive adjustment of the position, thereby improving the cleaning effect of the curtain wall.

[0026] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a flow chart of the steps of the present invention;

[0029] Figure 2 is a system diagram of the present invention;

[0030] Figure 3 It is a schematic diagram of the connection between the balance adjustment component and the main component of the present invention;

[0031] Figure 4 It is a structural diagram of the balance adjustment component of the present invention;

[0032] Figure 5 It is a schematic diagram of the connection between the support base and the track of the present invention;

[0033] Figure 6 It is a schematic diagram of the connection between the track and the mounting seat of the present invention;

[0034] Figure 7 It is a structural diagram of the fixing seat of the present invention.

[0035] Figure numerals: 101, balance adjustment component; 11, mounting seat; 12, fixing seat; 13, wireless communication module; 14, controller; 15, sliding seat; 16, cleaning seat; 17, cleaning head; 18, track; 19, counterweight; 20, screw rod; 21, servo motor; 22, support seat; 23, drive motor; 24, slider; 25, guide rod; 26, threaded rod; 27, gyroscope; 301, main body component; 31, drone; 32, connecting frame; 33, water tank. DETAILED DESCRIPTION

[0036] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0037] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0038] like Figure 1-7 As shown, an embodiment of the present invention provides an adaptive dynamic balancing control method for an aerial load cleaning device, comprising the following steps:

[0039] Step 1: The UAV drives the cleaning device to fly upward to the vicinity of the glass curtain wall. The ground control terminal sends a cleaning signal to the wireless communication module, and the threaded rod is driven to rotate by the driving motor. The cleaning seat drives the cleaning head close to the glass curtain wall, and the cleaning head sprays high-pressure cleaning fluid to clean the glass curtain wall.

[0040] Step 2: At this time, the drone tilts under the gravity of the bottom cable and the reverse effect of the high-pressure cleaning fluid;

[0041] Step 3: The tilt angle of the drone is monitored in real time through the gyroscope, and then the signal is sent to the controller. The servo motor drives the screw rod, and the screw rod drives the support seat to move along the track;

[0042] Step 4: The support base moves, driving the counterweight. When the counterweight moves, the offset angle of the drone gradually changes. With the cooperation of the counterweight, the drone begins to correct its position.

[0043] Step 5: The gyroscope monitors the tilt angle of the drone in real time. When the drone's position is adjusted, the gyroscope sends a signal to the controller;

[0044] Step 6: The controller controls the servo motor to stop working, and the drone and the cleaning device complete the adaptive adjustment of their positions.

[0045] In one embodiment, in step one, the signal transmitting end of the wireless communication module is connected to the signal receiving end of the controller, thereby realizing wireless transmission of the communication signal.

[0046] The embodiment of the present invention also provides an adaptive dynamic balance control system for an aerial load cleaning device, including a drone, a gyroscope, a controller, a servo motor, a wireless communication module, and a drive motor;

[0047] The gyroscope is installed at the top center of the drone. The signal sending end of the gyroscope is connected to the signal receiving end of the controller. The electrical output end of the controller is connected to the electrical input ends of the servo motor and the drive motor through relays respectively. The signal sending end of the wireless communication module is connected to the signal receiving end of the controller.

[0048] The embodiment of the present invention further provides an adaptive dynamic balance control device for an aerial load cleaning device, including a balance adjustment component 101, wherein the balance adjustment component 101 includes a mounting seat 11, a fixing seat 12, a wireless communication module 13, a controller 14, a sliding seat 15, a cleaning seat 16, a cleaning head 17, two rails 18, a counterweight 19, a screw rod 20, a servo motor 21, a support seat 22, a drive motor 23, a slider 24, two guide rods 25, a threaded rod 26 and a gyroscope 27;

[0049] The wireless communication module 13 and the controller 14 are symmetrically installed on both sides of the upper surface of the mounting base 11, the two tracks 18 are symmetrically fixedly connected to the upper surface of the mounting base 11, the two ends of the screw rod 20 are symmetrically rotatably connected to the inner front wall and the inner rear wall of the track 18, the servo motor 21 is installed on the front surface of the track 18, the counterweight block 19 is fixedly connected to the upper surface of the support base 22, the slider 24 is slidably connected to the outer side walls of the two guide rods 25, the slider 24 is threadedly connected to the outer side walls of the threaded rod 26, the drive motor 23 is installed on the rear surface of the fixed base 12, the gyroscope 27 is located above the sliding base 15, the cleaning base 16 is installed on the front surface of the sliding base 15, and the cleaning head 17 is installed on the front surface of the cleaning base 16.

[0050] In one embodiment, the support seat 22 is slidably connected to the outer wall of the track 18, the support seat 22 is threadedly connected to the outer wall of the screw rod 20, the front end of the screw rod 20 is fixedly connected to the output shaft of the servo motor 21, the screw rod 20 is driven by the servo motor 21, the screw rod 20 drives the support seat 22 through the thread, and the support seat 22 drives the counterweight 19, so that the position of the counterweight 19 can be adjusted.

[0051] In one embodiment, the sliding seat 15 is slidably connected to the upper surface of the fixed seat 12, the slider 24 is fixedly connected to the lower surface of the sliding seat 15, the slider 24 is slidably connected to the inner side wall of the fixed seat 12, the two ends of the two guide rods 25 are symmetrically fixedly connected to the inner front wall and the inner rear wall of the fixed seat 12, the front end of the threaded rod 26 is rotatably connected to the inner front wall of the fixed seat 12, the rear end of the threaded rod 26 is fixedly connected to the output shaft of the driving motor 23, the threaded rod 26 is driven by the driving motor 23, the threaded rod 26 drives the sliding seat 15 through the slider 24, the sliding seat 15 drives the cleaning head 17 through the cleaning seat 16, and the cleaning head 17 can be brought close to the glass curtain wall.

[0052] In one embodiment, a main body component 301 is installed on the outer side wall of the mounting seat 11, and the main body component 301 includes a drone 31, a connecting frame 32 and a water tank 33;

[0053] The connecting frame 32 is fixedly connected to the lower surface of the frame of the UAV 31, the mounting seat 11 is fixedly connected to the inner side wall of the connecting frame 32, the water tank 33 is installed on the lower surface of the mounting seat 11, the cleaning head 17 is connected to the water tank 33 through a high-pressure water pump, the gyroscope 27 is installed at the center of the upper surface of the UAV 31, the mounting seat 11 is located inside the connecting frame 32, and the cleaning liquid in the water tank 33 can be sprayed out through the cleaning head 17 to clean the glass curtain wall.

[0054] In one embodiment, the electrical output end of the controller 14 is electrically connected to the electrical input ends of the wireless communication module 13, the servo motor 21, the drive motor 23 and the gyroscope 27 through relays, and the electrical input end of the controller 14 is connected to an external power supply to power the wireless communication module 13, the servo motor 21, the drive motor 23 and the gyroscope 27. The signal sending end of the gyroscope 27 and the signal sending end of the wireless communication module 13 are both connected to the signal receiving end of the controller 14.

[0055] In the present invention, the model of the controller 14 is: OHR-PR10, the model of the gyroscope 27 is: BMA250, and the model of the wireless communication module 13 is: PTR6201PA.

[0056] When the present invention is working: the UAV 31 drives the cleaning head 17 to fly upward and move to the vicinity of the glass curtain wall, the ground control terminal sends a cleaning signal to the wireless communication module 13, the wireless communication module 13 sends the signal to the controller 14, the controller 14 controls the driving motor 23 to work, the driving motor 23 drives the threaded rod 26 to rotate, the slider 24 drives the cleaning seat 16 through the sliding seat 15, the cleaning seat 16 drives the cleaning head 17 to approach the glass curtain wall, and the cleaning head 17 sprays high-pressure cleaning liquid to clean the glass curtain wall. At this time, the UAV 31 is tilted under the gravity of the bottom cable and the reverse action of the high-pressure cleaning liquid, and the tilt angle of the UAV 31 is measured by the gyroscope 27. Real-time monitoring is carried out, and then the signal is sent to the controller 14. The controller 14 controls the servo motor 21 to work. The servo motor 21 drives the screw rod 20. The screw rod 20 drives the support seat 22 to move along the track 18. When the support seat 22 moves, it drives the counterweight block 19. When the counterweight block 19 moves, the offset angle of the UAV 31 gradually changes. With the cooperation of the counterweight block 19, the UAV 31 begins to correct its position. The gyroscope 27 monitors the inclination angle of the UAV 31 in real time. When the position of the UAV 31 is adjusted, the gyroscope 27 sends a signal to the controller 14. The controller 14 controls the servo motor 21 to stop working. At this time, the UAV 31 and the cleaning device complete the self-adaptive adjustment of the position.

[0057] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An adaptive dynamic balancing control method for an aerial load cleaning device, characterized in that: The following steps are involved: Step 1: The UAV drives the cleaning device to fly upward to the vicinity of the glass curtain wall. The ground control terminal sends a cleaning signal to the wireless communication module, and the threaded rod is driven to rotate by the driving motor. The cleaning seat drives the cleaning head close to the glass curtain wall, and the cleaning head sprays high-pressure cleaning fluid to clean the glass curtain wall. Step 2: At this time, the drone tilts under the gravity of the bottom cable and the reverse effect of the high-pressure cleaning fluid; Step 3: The tilt angle of the drone is monitored in real time through the gyroscope, and then the signal is sent to the controller. The servo motor drives the screw rod, and the screw rod drives the support seat to move along the track; Step 4: The support base moves, driving the counterweight. When the counterweight moves, the offset angle of the drone gradually changes. With the cooperation of the counterweight, the drone begins to correct its position. Step 5: The gyroscope monitors the tilt angle of the drone in real time. When the drone's position is adjusted, the gyroscope sends a signal to the controller; Step 6: The controller controls the servo motor to stop working, and the drone and the cleaning device complete the adaptive adjustment of their positions.

2. The adaptive dynamic balancing control method of the aerial load cleaning device according to claim 1, characterized in that: In the step 1, the signal sending end of the wireless communication module is connected to the signal receiving end of the controller.

3. The adaptive dynamic balance control system of the aerial load cleaning device is characterized by: It includes a drone, a gyroscope, a controller, a servo motor, a wireless communication module and a drive motor; The gyroscope is installed at the top center of the drone, the signal sending end of the gyroscope is connected to the signal receiving end of the controller, the electrical output end of the controller is connected to the electrical input ends of the servo motor and the drive motor respectively through a relay, and the signal sending end of the wireless communication module is connected to the signal receiving end of the controller.

4. An adaptive dynamic balance control device for an aerial load cleaning device, comprising a balance adjustment component (101), characterized in that: The balance adjustment component (101) comprises a mounting seat (11), a fixing seat (12), a wireless communication module (13), a controller (14), a sliding seat (15), a cleaning seat (16), a cleaning head (17), two rails (18), a counterweight (19), a screw rod (20), a servo motor (21), a supporting seat (22), a driving motor (23), a sliding block (24), two guide rods (25), a threaded rod (26) and a gyroscope (27); The wireless communication module (13) and the controller (14) are symmetrically mounted on both sides of the upper surface of the mounting seat (11); the two rails (18) are symmetrically fixedly connected to the upper surface of the mounting seat (11); the two ends of the screw rod (20) are symmetrically rotatably connected to the inner front wall and the inner rear wall of the rail (18); the servo motor (21) is mounted on the front surface of the rail (18); the counterweight block (19) is fixedly connected to the upper surface of the support seat (22); the slider (24) is slidably connected to the outer side walls of the two guide rods (25); the slider (24) is threadedly connected to the outer side wall of the threaded rod (26); the drive motor (23) is mounted on the rear surface of the fixed seat (12); the gyroscope (27) is located above the sliding seat (15); the cleaning seat (16) is mounted on the front surface of the sliding seat (15); and the cleaning head (17) is mounted on the front surface of the cleaning seat (16).

5. The adaptive dynamic balancing control device for an aerial load cleaning device according to claim 4, characterized in that: The support seat (22) is slidably connected to the outer wall of the track (18), the support seat (22) is threadedly connected to the outer wall of the screw rod (20), and the front end of the screw rod (20) is fixedly connected to the output shaft of the servo motor (21).

6. The adaptive dynamic balancing control device for an aerial load cleaning device according to claim 4, characterized in that: The sliding seat (15) is slidably connected to the upper surface of the fixed seat (12), the sliding block (24) is fixedly connected to the lower surface of the sliding seat (15), and the sliding block (24) is slidably connected to the inner side wall of the fixed seat (12).

7. The adaptive dynamic balance control device for an aerial load cleaning device according to claim 4, characterized in that: The two ends of the two guide rods (25) are symmetrically fixedly connected to the inner front wall and the inner rear wall of the fixing seat (12).

8. The adaptive dynamic balancing control device for an aerial load cleaning device according to claim 4, characterized in that: The front end of the threaded rod (26) is rotatably connected to the inner front wall of the fixing seat (12), and the rear end of the threaded rod (26) is fixedly connected to the output shaft of the driving motor (23).

9. The adaptive dynamic balancing control device for an aerial load cleaning device according to claim 4, characterized in that: A main body component (301) is installed on the outer side wall of the mounting seat (11), and the main body component (301) includes a drone (31), a connecting frame (32) and a water tank (33); The connecting frame (32) is fixedly connected to the lower surface of the frame of the unmanned aerial vehicle (31), the mounting seat (11) is fixedly connected to the inner side wall of the connecting frame (32), the water tank (33) is installed on the lower surface of the mounting seat (11), and the cleaning head (17) is connected to the water tank (33) via a high-pressure water pump.

10. The adaptive dynamic balancing control device for an aerial load cleaning device according to claim 4, characterized in that: The gyroscope (27) is mounted at the center of the upper surface of the drone (31), and the mounting seat (11) is located inside the connecting frame (32).

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