Joint module, underhang device and photovoltaic panel cleaning device

Abstract

A joint module, a hanging device and a photovoltaic panel cleaning device, the photovoltaic panel is used for the hanging device of the photovoltaic panel cleaning device, the hanging device further comprises a hanging module, the photovoltaic panel cleaning device further comprises a unmanned aerial vehicle, the hanging module is installed on the unmanned aerial vehicle, the unmanned aerial vehicle is placed on a support surface when stopping, the unmanned aerial vehicle flies above the photovoltaic panel when working, the joint module comprises a support assembly and a spraying assembly, the support assembly is rotatably connected with the hanging module, and the spraying assembly is rotatably connected with the support assembly; when the unmanned aerial vehicle switches between the stopping state and the working state, the support assembly rotates relative to the hanging module, and the support assembly and the spraying assembly are both spaced from the support surface when the unmanned aerial vehicle stops. The joint module in the application has high cleaning efficiency and good use safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of photovoltaic panel cleaning, in particular to a joint module, a hanging device and a photovoltaic panel cleaning device. BACKGROUND

[0002] Dust has been a major challenge affecting the power generation efficiency and operation and maintenance of photovoltaic power stations. First, dust on the surface of the photovoltaic panel will form a shielding effect on the photovoltaic module, reduce the solar radiation intensity received by the photovoltaic module panel, and cause power generation loss. Moreover, surface dust coverage will increase the heat transfer thermal resistance of the photovoltaic module panel, affecting the heat dissipation of the photovoltaic module. The coverage of stubborn stains can even form a hot spot effect on the surface of the photovoltaic panel, affecting power generation and increasing safety risks. In addition, when acidic or alkaline dust is attached to the surface of the photovoltaic module for a long time, it will slowly corrode the glass material on the surface of the photovoltaic module, forming pits. When light enters the surface of the module, it forms a light diffuse reflection phenomenon, reducing the actual solar energy reaching the surface of the photovoltaic module, thereby reducing power generation and reducing the service life of the module. Therefore, cleaning the photovoltaic panel is an important task.

[0003] The existing photovoltaic panel cleaning is difficult and has low cleaning efficiency. SUMMARY

[0004] The purpose of the present application is to provide a joint module, a hanging device and a photovoltaic panel cleaning device. The joint module can be folded and turned according to the take-off and landing of the unmanned aerial vehicle and the angle of the photovoltaic panel, is safe to use, and has high cleaning efficiency.

[0005] To achieve the purpose of the present application, the present application provides the following technical solutions:

[0006] In a first aspect, the present application provides a joint module for a hanging device of a photovoltaic panel cleaning device. The hanging device further comprises a hanging module. The photovoltaic panel cleaning device further comprises an unmanned aerial vehicle. The hanging module is installed on the unmanned aerial vehicle. The unmanned aerial vehicle is placed on a support surface when it is parked. The unmanned aerial vehicle flies above the photovoltaic panel when it is working. The joint module comprises a support assembly and a spraying assembly. The support assembly is rotationally connected to the hanging module. The spraying assembly is rotationally connected to the support assembly. When the unmanned aerial vehicle switches between the parked state and the working state, the support assembly rotates relative to the hanging module, and the support assembly and the spraying assembly are both spaced apart from the support surface when the unmanned aerial vehicle is parked.

[0007] In one embodiment, the support assembly comprises a first rotating structure and a first support rod, the first rotating structure is mounted on the underhang module, one end of the first support rod is connected with the first rotating structure, and the other end of the first support rod away from the first rotating structure is connected with the spraying assembly, and the first rotating structure is used to drive the first support rod to rotate; when the unmanned aerial vehicle is stopped, the distance from the other end of the first support rod away from the first rotating structure to the underhang module in the first direction is a first distance D1, when the unmanned aerial vehicle is working, the distance from the other end of the first support rod away from the first rotating structure to the underhang module in the first direction is a second distance D2, and D2>D1 is satisfied, and the first direction is the height direction of the unmanned aerial vehicle.

[0008] In one embodiment, when the unmanned aerial vehicle is stopped, the first support rod and the first direction have a first included angle A1, and 60°≤A1≤120° is satisfied; and / or, when the spraying assembly is working, the first support rod and the first direction have a second included angle A2, and 0°≤A1≤60° is satisfied.

[0009] In one embodiment, the spraying assembly further comprises a second rotating structure, a second support rod and a plurality of spray heads, the second rotating structure is connected with the other end of the first support rod away from the underhang module and the second support rod, and the plurality of spray heads are arranged on the second support rod at intervals, and the spray heads are used to spray cleaning substances to clean the photovoltaic panel when the spraying assembly is working; the second rotating structure is used to drive the second support rod to rotate relative to the first support rod, and when the unmanned aerial vehicle flies above the photovoltaic panel, the second rotating structure drives the second support rod to rotate relative to the first support rod according to the inclination angle of the photovoltaic panel, and the size of the included angle between the second support rod and the photovoltaic panel when the spraying assembly is working satisfies a first range.

[0010] In one embodiment, when the unmanned aerial vehicle is stopped, the second support rod and the first direction have a third included angle B1, and 70°≤B1≤110° is satisfied; and / or, when the spraying assembly is working, the second support rod and the first direction have a fourth included angle B2, and 45°≤B2≤135° is satisfied.

[0011] In one embodiment, the joint module further comprises a plurality of detection members, the plurality of detection members are arranged on the second support rod at intervals, the plurality of detection members are used to detect the distances from the detection members to the photovoltaic panel and obtain a plurality of distance data, and the plurality of distance data are further used to obtain the included angle between the second support rod and the photovoltaic panel; the second rotating structure drives the second support rod to rotate according to the plurality of distance data, and the size of the included angle between the second support rod and the photovoltaic panel satisfies the first range.

[0012] In an embodiment, the joint module further comprises a control element, which is electrically connected with the first rotating structure, the second rotating structure and the plurality of detection elements. When the unmanned aerial vehicle flies above the photovoltaic panel, the control element controls the first rotating structure to drive the first support rod to rotate relative to the hanging module according to the distance from the plurality of detection elements to the photovoltaic panel, and the control element further controls the second rotating structure to drive the second support rod to rotate relative to the first support rod, so that the angle between the second support rod and the photovoltaic panel satisfies the first range, and the distance between the plurality of detection elements and the photovoltaic panel satisfies the second range.

[0013] In an embodiment, when the unmanned aerial vehicle switches from the working state to the shutdown state, the plurality of detection elements are further used to detect the distance from the plurality of detection elements to the support surface, the control element controls the first rotating structure to drive the first support rod to rotate relative to the hanging module according to the distance detected by the detection element, the control element further controls the second rotating structure to drive the second support rod to rotate relative to the first support rod according to the angle between the second support rod and the support surface, and the support assembly and the spraying assembly are spaced from the support surface when the unmanned aerial vehicle is in the shutdown state.

[0014] In a second aspect, the application further provides a hanging device, comprising a hanging module and the joint module according to any one of the embodiments of the first aspect, wherein the hanging module is installed on the unmanned aerial vehicle, and the support assembly of the joint module is rotationally connected with the hanging module.

[0015] In a third aspect, the application further provides a photovoltaic panel cleaning device, comprising an unmanned aerial vehicle and the hanging device according to the second aspect, wherein the hanging device is installed on the unmanned aerial vehicle.

[0016] By arranging the support assembly and the spraying assembly, when the unmanned aerial vehicle flies above the photovoltaic panel, the support assembly and the spraying assembly are unfolded, and the spraying assembly can rotate relative to the support assembly according to the inclination angle of the photovoltaic panel, so that the cleaning efficiency is high; when the unmanned aerial vehicle is in the shutdown state, the support assembly and the spraying assembly are spaced from the support surface, so that collision or interference with the support surface is avoided, and the safety in use is high. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0018] Figure 1Fig. 1 is a schematic view of a photovoltaic panel cleaning device of an embodiment in one state;

[0019] Figure 2 Fig. 2 is a schematic view of a photovoltaic panel cleaning device of an embodiment in another state;

[0020] Figure 3 Fig. 3 is a front schematic view of a photovoltaic panel cleaning device of an embodiment in yet another state;

[0021] Figure 4 Fig. 4 is a side schematic view of a photovoltaic panel cleaning device of an embodiment in yet another state;

[0022] Figure 5 Fig. 5 is an exploded schematic view of a joint module of an embodiment.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 1000 - photovoltaic panel cleaning device;

[0025] 100 - unmanned aerial vehicle, 10 - landing gear;

[0026] 200 - underhang device, 20 - underhang module, 21 - support frame, 22 - cleaning container, 30 - joint module, 31 - support assembly, 311 - first rotating structure, 312 - first support rod, 313 - first connecting piece, 314 - second connecting piece, 315 - first driving piece, 32 - spraying assembly, 321 - second rotating structure, 322 - second support rod, 323 - spray head, 324 - third connecting piece, 325 - fourth connecting piece, 326 - second driving piece;

[0027] Z - first direction, A1 - first included angle, B1 - third included angle, B2 - fourth included angle, D1 - first distance, D2 - second distance, L1 - first length, L2 - second length. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0029] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be a middle component. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be a middle component.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. The use of the terms "and / or" includes a combination of one or more of the associated listed items.

[0031] Some embodiments of the present application will be described in detail with reference to the drawings, which are shown by way of illustration. The following examples and features in the examples can be combined with each other in the case of no conflict.

[0032] Please refer to Figure 1 The embodiment of the present application provides a photovoltaic panel cleaning device 1000, which comprises a UAV 100 and a lower hanging device 200 in the embodiment of the present application, and the lower hanging device 200 is installed on the UAV 100.

[0033] The UAV 100 can adopt any feasible UAV 100 in the art, such as a fixed-wing UAV, a rotor UAV, etc. The UAV 100 can be a four-axle UAV, a six-axle UAV or an eight-axle UAV, etc. The UAV 100 can adopt a self-produced UAV, or any available UAV, without limitation.

[0034] The UAV 100 comprises a fuselage, a power system, a flight control system, a landing device, etc. The parts can be connected and fixed by welding, bonding, clamping, screwing, riveting, magnetic attraction, etc. The fuselage can be a one-piece structure or a split structure, without limitation. The power system comprises a motor, a propeller and a battery, etc. The take-off, hovering and movement of the UAV 100 are realized by adjusting the speed and direction of different propellers. The propeller can be a foldable rotating propeller. The flight control system comprises a gyroscope, an accelerometer, a GPS module, an electronic compass and a barometer, etc. The gyroscope is used to detect the rotation change of the UAV 100, the accelerometer monitors its linear acceleration, the GPS module provides accurate position information of the UAV 100, the electronic compass is used to determine the heading information of the UAV 100, and the barometer is used to measure the height of the UAV 100. These sensors help the flight control system maintain the stability of flight, and realize functions such as automatic navigation, fixed-point hovering or flight path planning. The landing device comprises a landing gear 10 and a landing equipment, which is used for the UAV 100 to take off, land, taxi and park on the ground or water surface. The height of the landing gear 10 needs to be high enough to ensure that the lower hanging device 200 does not contact the ground or other support surface when landing. The landing gear 10 is generally made of lightweight materials such as composite materials or carbon fiber materials, to ensure the stability of take-off and landing of the UAV 100.

[0035] The connection mode between the lower hanging device 200 and the unmanned aerial vehicle 100 can be welding, bonding, clamping, screwing, riveting, magnetic attraction connection, etc., without limitation. The photovoltaic panel cleaning device 1000 in the embodiment of the application is used for cleaning the photovoltaic panel, and the unmanned aerial vehicle 100 is placed on the support surface when it is parked, and flies above the photovoltaic panel when it is working.

[0036] The photovoltaic panel cleaning device 1000 in the embodiment of the application is used for cleaning the photovoltaic panel, and the unmanned aerial vehicle 100 is placed on the support surface when it is parked, and flies above the photovoltaic panel when it is working.

[0037] Please refer to Figure 1 , Figure 2 and Figure 3 , the embodiment of the application also provides a lower hanging device 200, which comprises a lower hanging module 20 and a joint module 30 in the embodiment of the application, the lower hanging module 20 is installed on the unmanned aerial vehicle 100, and the support assembly 31 of the joint module 30 is rotationally connected with the lower hanging module 20.

[0038] First, define the direction. As shown in Figure 2 , Z is the height direction of the unmanned aerial vehicle 100. The height direction of the unmanned aerial vehicle 100 is the direction of gravity when the unmanned aerial vehicle 100 is parked horizontally on the ground.

[0039] The lower hanging module 20 is connected with the unmanned aerial vehicle 100 at the end away from the propeller in the Z direction. Optionally, the lower hanging module 20 comprises a support frame 21, which is connected and fixed with the unmanned aerial vehicle 100. The connection mode can be welding, bonding, clamping, screwing, riveting, magnetic attraction connection, etc., without limitation. The lower hanging device 200 further comprises a cleaning container 22, which is accommodated in the support frame 21 and is connected and fixed with the support frame 21. The cleaning container 22 is used for accommodating cleaning medium, and the cleaning medium in the cleaning container 22 can be determined according to actual conditions. For the photovoltaic panel cleaning device 1000 in the embodiment of the application, the cleaning medium in the cleaning container 22 can be water, air, cleaning agent, etc., without limitation.

[0040] The support frame 21 comprises a plurality of support beams. Optionally, there are twelve support beams, and the plurality of support beams are connected and fixed to form a cuboid shape. The support frame 21 further comprises a cross beam, which is connected between two side beams away from the unmanned aerial vehicle 100 and perpendicular to the height direction of the unmanned aerial vehicle 100, and the joint module 30 is rotationally connected with the midpoint position of the cross beam. In this way, the center of gravity of the lower hanging module 20 and the center of gravity of the unmanned aerial vehicle 100 are approximately coincident, and the overall weight of the photovoltaic panel cleaning device 1000 is balanced.

[0041] Optionally, the size of the support frame 21 in the Z direction is smaller than the size of the landing gear 10 in the Z direction, so as to avoid interference between the support frame 21 and the support surface when the unmanned aerial vehicle 100 is parked and the landing gear 10 contacts the support surface.

[0042] Optionally, the lower hanging module 20 can be connected and fixed with unmanned aerial vehicles 100 of various models, thereby improving the adaptability of the lower hanging device 200.

[0043] The lower hanging device 200 in the embodiment of the application is provided with the lower hanging module 20 and the joint module 30, the lower hanging module 20 carries the cleaning medium, and the lower hanging module 20 can be adapted to unmanned aerial vehicles 100 of different models, thereby having a wide range of use, and the lower hanging device 200 will not interfere with the support surface when the unmanned aerial vehicle 100 is parked and lands, thereby being safe.

[0044] The joint module 30 in the embodiment of the application will be described in detail below.

[0045] Please refer to Figure 2 and Figure 3 The embodiment of the application provides a joint module 30 for a lower hanging device 200 of a photovoltaic panel cleaning device 1000, which is placed on a support surface when the unmanned aerial vehicle 100 is parked and is flown above the photovoltaic panel when the unmanned aerial vehicle 100 is working.

[0046] The joint module 30 comprises a support assembly 31 and a spraying assembly 32, the support assembly 31 is rotationally connected with the lower hanging module 20, and the spraying assembly 32 is rotationally connected with the support assembly 31. When the unmanned aerial vehicle 100 switches between the parked state and the working state, the support assembly 31 rotates relative to the lower hanging module 20, and the support assembly 31 and the spraying assembly 32 are both spaced from the support surface when the unmanned aerial vehicle 100 is parked.

[0047] The connection mode between the support assembly 31 and the lower hanging module 20 can be welding, bonding, clamping, screwing, riveting, magnetic attraction, etc., without limitation. The connection mode between the parts of the joint module 30, for example, the parts of the spraying assembly 32 and the support assembly 31, the parts of the spraying assembly 32, and the parts of the support assembly 31 can all be welding, bonding, clamping, screwing, riveting, magnetic attraction, etc., without limitation.

[0048] The support assembly 31 is used to rotate relative to the lower hanging module 20 to drive the spraying assembly 32 to fold or unfold. The spraying assembly 32 is used to rotate relative to the support assembly 31 according to the inclination angle of the photovoltaic panel and clean the surface of the photovoltaic panel.

[0049] When the unmanned aerial vehicle 100 is in the parked state, as shown in Figure 3As shown, the landing gear 10 of the drone 100 contacts the support surface to support the photovoltaic panel cleaning equipment 1000. At this time, both the support assembly 31 and the spray assembly 32 are in a folded state, and there is a gap between the support assembly 31 and the spray assembly 32 and the support surface to avoid interference and collision. When the drone 100 switches from the stopped state to the working state, the support assembly 31 can rotate relative to the lower module 20 (i.e., from the folded state to the unfolded state, as shown). Figure 1 (As shown), it can also remain folded without restriction. When the drone 100 flies over the photovoltaic panel, as... Figure 2 As shown, the support component 31 is in the unfolded state, and the spray component 32 rotates relative to the support component 31 according to the tilt angle of the photovoltaic panel, cleaning the surface of the photovoltaic panel. When the drone 100 flies away from the photovoltaic panel, the spray component 32 can rotate back to its folded position, or it can maintain the rotation angle during cleaning, without restriction; the support component 31 can rotate from the unfolded state relative to the lower module 20 into the folded state, or it can remain in the unfolded state, without restriction. When the drone 100 switches from the working state to the stopped state, both the support component 31 and the spray component 32 switch from the unfolded state to the folded state, so that when the drone 100 is stopped, there is a gap between the support component 31 and the spray component 32 and the supporting surface.

[0050] In this embodiment of the application, the joint module 30 is equipped with a support component 31 and a spray component 32. When the drone 100 flies over the photovoltaic panel, the support component 31 and the spray component 32 unfold. The spray component 32 can rotate relative to the support component 31 according to the tilt angle of the photovoltaic panel, resulting in high cleaning efficiency. When the drone 100 stops, the support component 31 and the spray component 32 fold to avoid collision or interference with the support surface, ensuring high safety in use.

[0051] In one embodiment, such as Figure 2 and Figure 5 As shown, the support assembly 31 includes a first rotating structure 311 and a first support rod 312. The first rotating structure 311 is installed on the lower hanging module 20. One end of the first support rod 312 is connected to the first rotating structure 311, and the end of the first support rod 312 away from the first rotating structure 311 is connected to the spray assembly 32. The first rotating structure 311 is used to drive the first support rod 312 to rotate.

[0052] The first rotating structure 311 includes a first connector 313, a second connector 314, and a first driving member 315. The first connector 313 is connected and fixed to the lower hanging module 20, the second connector 314 is connected and fixed to the first support rod 312, and the first driving member 315 is used to drive the second connector 314 to rotate relative to the first connector 313, so as to drive the first support rod 312 to rotate.

[0053] The first driving member 315 can be a stepping motor, a direct current motor, a hydraulic cylinder, or any other feasible driving structure in the art, without limitation. The first connecting member 313 and the second connecting member 314 can be roughly block-shaped, columnar, or any other feasible structure, without limitation. The first driving member 315 can be connected to any one or more of the first connecting member 313, the second connecting member 314, the lower hanging module 20, and the first supporting rod 312, and the connection mode can be welding, bonding, clamping, screwing, riveting, magnetic attraction, or the like, without limitation.

[0054] In a specific embodiment, as shown in Figure 5 , the first connecting member 313 and the second connecting member 314 jointly enclose a first receiving cavity, and the first driving member 315 is received in the first receiving cavity, and the stator of the first driving member 315 is fixedly connected to the first connecting member 313, and the rotor of the first driving member 315 is fixedly connected to the second connecting member 314.

[0055] As shown in Figure 2 and Figure 4 , when the unmanned aerial vehicle 100 is parked, the distance from the end of the first supporting rod 312 away from the first rotating structure 311 to the lower hanging module 20 in the first direction is a first distance D1, and when the unmanned aerial vehicle 100 is working, the distance from the end of the first supporting rod 312 away from the first rotating structure 311 to the lower hanging module 20 in the first direction is a second distance D2, satisfying D2>D1, and the first direction is the height direction of the unmanned aerial vehicle 100, i.e., the Z direction.

[0056] When the unmanned aerial vehicle 100 is parked, as shown in Figure 4 , the first distance D1 from the end of the first supporting rod 312 away from the first rotating structure 311, i.e., the end of the first supporting rod 312 connected to the spraying assembly 32, to the lower hanging module 20 in the Z direction is small, i.e., the support assembly 31 is folded, avoiding collision between the spraying assembly 32 and the first supporting rod 312 and the support surface, and reducing the service life.

[0057] When the unmanned aerial vehicle 100 is working, as shown in Figure 2 , the end of the first supporting rod 312 away from the first rotating structure 311, i.e., the end of the first supporting rod 312 connected to the spraying assembly 32, is far away from the lower hanging module 20 in the Z direction, i.e., the support assembly 31 is unfolded, and at this time, the spraying assembly 32 is far away from the unmanned aerial vehicle 100, and the spraying assembly 32 has a large activity space, facilitating the spraying assembly 32 to rotate relative to the first supporting rod 312 according to the inclination angle of the photovoltaic panel, and improving the cleaning efficiency of the spraying assembly 32.

[0058] In an embodiment, as shown in Figure 4As shown, the first support rod 312 and the Z direction have a first included angle A1 when the unmanned aerial vehicle 100 is parked, and the first included angle A1 satisfies: 60°≤A1≤120°; and / or, the first support rod 312 and the Z direction have a second included angle A2 when the spraying assembly 32 is working, and the second included angle A2 satisfies: 0°≤A1≤60°.

[0059] The included angle between the first support rod 312 and the Z direction is the included angle between the extension direction of the first support rod 312 and the Z direction. Optionally, one side of the first included angle A1 and the second included angle A2 is the extension direction of the first support rod 312, and the other side extends in the Z direction from the connection position of the first support rod 312 and the spraying assembly 32 to the side away from the unmanned aerial vehicle 100.

[0060] Optionally, the size of the first included angle A1 can be 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, 120°, etc., without limitation. When the first included angle A1 is greater than 120°, the folding angle of the first support rod 312 towards the unmanned aerial vehicle 100 is too large, and the spraying assembly 32 can interfere with the landing gear 10 of the unmanned aerial vehicle 100; when the first included angle A1 is less than 120°, the distance between the end of the first support rod 312 away from the unmanned aerial vehicle 100 and the support surface in the Z direction is relatively close, and the spraying assembly 32 can collide with the support surface.

[0061] Optionally, the size of the second included angle A2 can be 0°, 5°, 10°, 15°, 20°, 25°, 30°, 35°, 40°, 45°, 50°, 55°, 60°, etc., without limitation, and the size of the second included angle A2 can be adjusted according to the arrangement of the photovoltaic panel, thereby adjusting the distance from the spraying assembly 32 to the photovoltaic panel. When the second included angle A2 is 0°, the extension direction of the first support rod 312 is parallel to the Z direction, and the maximum distance of the spraying assembly 32 from the unmanned aerial vehicle 100 is the maximum value; when the first included angle A1 is greater than 60°, the folding angle of the first support rod 312 towards the unmanned aerial vehicle 100 is relatively large, and since the spraying assembly 32 also rotates relative to the first support rod 312, the spraying assembly 32 can interfere with the unmanned aerial vehicle 100.

[0062] In a specific embodiment, as shown in Figure 2 When the unmanned aerial vehicle 100 flies above the photovoltaic panel or hovers, the second included angle A2 is 0°, and the first support rod 312 extends along the direction of gravity; when the unmanned aerial vehicle 100 is parked, as shown in Figure 4 The first included angle A1 is 90°, and the extension direction of the first support rod 312 is perpendicular to the direction of gravity.

[0063] In summary, by setting the first included angle A1 between the first supporting rod 312 and the Z direction to satisfy 60°≤A1≤120° when the unmanned aerial vehicle 100 is parked, and / or the second included angle A2 between the first supporting rod 312 and the Z direction to satisfy 0°≤A1≤60° when the spraying assembly 32 is working, the rotation angle of the first supporting rod 312 is reasonable, which avoids the collision between the joint module 30 and the supporting surface in the parked state of the unmanned aerial vehicle 100, and avoids the interference between the spraying assembly 32 and the parts of the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 flies above the photovoltaic panel, so that the safety in use is high.

[0064] In an embodiment, as shown in Figure 2 and Figure 5 The spraying assembly 32 further includes a second rotating structure 321, a second supporting rod 322, and a plurality of spray heads 323. The second rotating structure 321 is connected to the second supporting rod 322 at the end of the first supporting rod 312 away from the lower hanging module 20. The plurality of spray heads 323 are arranged at intervals on the second supporting rod 322. When the spraying assembly 32 is working, the spray heads 323 are used to spray cleaning substances to clean the photovoltaic panel. The second rotating structure 321 is used to drive the second supporting rod 322 to rotate relative to the first supporting rod 312.

[0065] The second rotating structure 321 includes a third connecting piece 324, a fourth connecting piece 325, and a second driving piece 326. The third connecting piece 324 is fixedly connected to the first supporting rod 312. The fourth connecting piece 325 is fixedly connected to the second supporting rod 322. The second driving piece 326 is used to drive the fourth connecting piece 325 to rotate relative to the third connecting piece 324, so as to drive the second supporting rod 322 to rotate.

[0066] The second driving piece 326 can be a stepping motor, a direct current motor, a hydraulic cylinder, or any other feasible driving structure in the art, without limitation. The third connecting piece 324 and the fourth connecting piece 325 can have a block shape, a column shape, or any other feasible structure, without limitation. The second driving piece 326 can be connected to any one or more of the third connecting piece 324, the fourth connecting piece 325, the first supporting rod 312, and the second supporting rod 322, and the connection mode can be welding, bonding, clamping, screwing, riveting, magnetic attraction, or the like, without limitation.

[0067] In a specific embodiment, as shown in Figure 5 The third connecting piece 324 constitutes at least part of the stator of the second driving piece 326. The third connecting piece 324 has a second receiving cavity that receives at least part of the rotor of the second driving piece 326. The rotor of the second driving piece 326 is exposed from the third connecting piece 324 and is fixedly connected to the fourth connecting piece 325.

[0068] The number of the spray heads 323 can be 2, 3, 4, 5, 6, etc. without limitation. For example, as shown in the figure, the number of the spray heads 323 is 4. The plurality of spray heads 323 can be arranged at equal intervals on the second support rod 322, and the distance between adjacent two spray heads 323 can also be different without limitation.

[0069] The spray head 323 is fixedly connected with the second support rod 322, and / or the spray head 323 is rotationally connected with the second support rod 322. Optionally, all the plurality of spray heads 323 are fixedly connected with the second support rod 322; or all the plurality of spray heads 323 are rotationally connected with the second support rod 322; or at least one of the plurality of spray heads 323 is fixedly connected with the second support rod 322, and at least one of the plurality of spray heads 323 is rotationally connected with the second support rod 322, all of which are acceptable without limitation. The connection mode of the spray head 323 with the second support rod 322 can be welding, bonding, clamping, screwing, riveting, magnetic attraction, etc. without limitation.

[0070] The spray head 323 can be used to spray cleaning medium such as ion wind or air-water mist, and the user can select different cleaning medium sprayed by the spray head 323 to clean according to the dirt degree of the photovoltaic panel.

[0071] When the unmanned aerial vehicle 100 flies above the photovoltaic panel, the second rotating structure 321 drives the second support rod 322 to rotate relative to the first support rod 312 according to the inclination angle of the photovoltaic panel, and the included angle between the second support rod 322 and the photovoltaic panel when the spray assembly 32 works satisfies the first range.

[0072] Optionally, the first range can be 0° to 10°, and when the included angle between the second support rod 322 and the photovoltaic panel is 0°, the second support rod 322 is parallel to the photovoltaic panel. Controlling the included angle between the second support rod 322 and the photovoltaic panel to be small can reduce the overlapping area between the cleanable ranges of the plurality of spray heads 323, and the cleaning efficiency of the spray assembly 32 is high.

[0073] By setting the spray assembly 32 to further include the second rotating structure 321, the second support rod 322 and the plurality of spray heads 323, the included angle between the second support rod 322 and the photovoltaic panel when the spray assembly 32 works satisfies the first range, which can reduce the overlapping area between the cleanable ranges of the plurality of spray heads 323, and the cleaning efficiency of the spray assembly 32 is high.

[0074] In an embodiment, when the unmanned aerial vehicle 100 is parked, as shown in Figure 3 the second support rod 322 has a third included angle B1 with the Z direction, which satisfies: 70°≤B1≤110°; and / or when the spray assembly 32 works, as shown in Figure 2 the second support rod 322 has a fourth included angle B2 with the Z direction, which satisfies: 45°≤B2≤135°.

[0075] The third angle B1 between the second support rod 322 and the Z direction is an angle between the extension direction of the second support rod 322 and the Z direction. Alternatively, one side of the third angle B1 and the fourth angle B2 is the extension direction of the second support rod 322, and the other side extends from the connection position of the second support rod 322 and the second rotating structure 321 to the side away from the unmanned aerial vehicle 100 in the Z direction, or the other side extends from the connection position of the second support rod 322 and the second rotating structure 321 to the side toward the unmanned aerial vehicle 100 in the Z direction, without limitation.

[0076] Alternatively, the third angle B1 can be 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, etc., without limitation. When the third angle B1 is greater than 110° or less than 70°, the distance from the two ends of the second support rod 322 to the support surface is too different, which may cause one end to contact or collide with the support surface.

[0077] Alternatively, the fourth angle B2 can be 45°, 50°, 55°, 60°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, etc., without limitation. The size of the fourth angle B2 can be adjusted according to the inclination angle of the photovoltaic panel, so that the second support rod 322 is substantially parallel to the photovoltaic panel, increases the coverage area of the spray head 323, and improves the cleaning efficiency of the spray assembly 32. When the fourth angle B2 is greater than 135° or less than 45°, the inclination of the second support rod 322 relative to the Z direction is too large, and the cleaning medium sprayed by the spray head 323 may fall under the influence of gravity, which may reduce the coverage area of the spray head 323 and affect the cleaning efficiency of the spray assembly 32. In addition, the inclination angle of the photovoltaic panel relative to the ground generally does not exceed 45° to avoid affecting the utilization rate of light energy by the photovoltaic panel.

[0078] In summary, by setting the third angle B1 between the second support rod 322 and the Z direction to satisfy 70°≤B1≤110° when the unmanned aerial vehicle 100 is parked, and / or the fourth angle B2 between the second support rod 322 and the Z direction to satisfy 45°≤B2≤135° when the spray assembly 32 is working, the rotation angle of the second support rod 322 is reasonable, the coverage area of the spray head 323 is large, and the cleaning efficiency of the spray assembly 32 is high. When the unmanned aerial vehicle 100 is parked, the risk of collision between the spray assembly 32 and the support surface can be reduced, and the safety in use is high.

[0079] Optionally, the extension direction of the first support rod 312 is approximately perpendicular to the extension direction of the second support rod 322, and the included angle between them can be 0°-10°, so as to avoid the distances from the two ends of the second support rod 322 to the landing gear 10 being too different and to reduce the risk of collision.

[0080] Optionally, the first support rod 312 has a first length L1, and the second support rod 322 has a second length L2, satisfying: 1 / 5 ≤ L1 / L2 ≤ 1 / 2. Specifically, the value of L1 / L2 can be 1 / 5, 1 / 4, 1 / 3, 1 / 2, etc., without restriction.

[0081] Optionally, the second length L2 satisfies: 3m ≤ L2 ≤ 5m. Specifically, the second length L2 can be 3m, 3.5m, 4m, 4.5m, 5m, etc., without restriction. The value of the second length L2 can be determined according to the width of the photovoltaic panel, preferably such that the total coverage width of the multiple nozzles 323 on the second support rod 322 is equal to the width of the photovoltaic panel.

[0082] In one embodiment, the joint module 30 further includes multiple detection elements (not shown in the figure), which are spaced apart on the second support rod 322. These detection elements are used to detect their distance from the photovoltaic panel and obtain multiple distance data points. These distance data points are also used to determine the angle between the second support rod 322 and the photovoltaic panel. The second rotation structure 321 drives the second support rod 322 to rotate based on the multiple distance data points, ensuring that the angle between the second support rod 322 and the photovoltaic panel satisfies a first range.

[0083] The detection device can be a commonly used ranging detection device in this field, such as a laser rangefinder, an infrared measuring instrument, a magnetoresistive angle sensor, etc., or any other feasible ranging structure can be used, without any specific restrictions.

[0084] The inspection process for the tested components can be roughly as follows: When the drone 100 flies over the photovoltaic panel, if... Figure 1 As shown, multiple detection devices detect their initial distance from the photovoltaic panel and obtain multiple distance data. The angle between the second support rod 322 and the photovoltaic panel can be obtained based on the difference between the multiple distance data. Subsequently, the second rotation structure 321 drives the second support rod 322 to rotate based on the detected multiple distance data to reduce the difference between the multiple distance data, thereby reducing the angle between the second support rod 322 and the photovoltaic panel. After the second support rod 322 rotates a certain angle, the multiple detection devices can perform detection again. If the angle between the second support rod 322 and the photovoltaic panel still does not meet the first range, the second rotation structure 321 drives the second support rod 322 to rotate again based on the detected multiple distance data until the detection data of the multiple detection devices indicate that the angle between the second support rod 322 and the photovoltaic panel meets the first range. Figure 2If the angle between the second support rod 322 and the photovoltaic panel meets the first range, the angle adjustment of the second support rod 322 is completed, at this time, the coverage range of the spray head 323 on the photovoltaic panel is larger, and the cleaning efficiency is high.

[0085] The first range can be 0°-10°.

[0086] The two ends of the second support rod 322 are respectively provided with a detection member.

[0087] By setting multiple detection members, the distances of the multiple detection members to the photovoltaic panel are detected, the angle between the second support rod 322 and the photovoltaic panel is obtained according to the multiple distance data, the second rotating structure 321 drives the second support rod 322 to rotate according to the multiple distance data, and the angle between the second support rod 322 and the photovoltaic panel meets the first range, so that the coverage range of the spray head 323 on the photovoltaic panel is larger, and the cleaning efficiency is high.

[0088] In an embodiment, the joint module 30 further comprises a control member (not shown in the figure), which is electrically connected with the first rotating structure 311, the second rotating structure 321 and the multiple detection members. When the unmanned aerial vehicle 100 flies above the photovoltaic panel, the control member controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20 according to the distances of the multiple detection members to the photovoltaic panel, and controls the second rotating structure 321 to drive the second support rod 322 to rotate relative to the first support rod 312, so that the angle between the second support rod 322 and the photovoltaic panel meets the first range, and the distances between the multiple detection members and the photovoltaic panel meet the second range.

[0089] Optionally, the control member receives a control signal (for example, a control signal from a remote controller) from the outside and controls the first rotating structure 311 and the second rotating structure 321 to rotate, or the control member automatically controls the first rotating structure 311 and the second rotating structure 321 to rotate according to the distance data detected by the detection members, or the control member can also be any other feasible control mode, which is not limited.

[0090] The control member is further used to control the first rotating structure 311 to drive the first support rod 312 to rotate relative to the lower hanging module 20 according to the multiple distance data detected by the multiple detection members, so that the distances between the multiple detection members and the photovoltaic panel meet the second range. When the unmanned aerial vehicle 100 works, the distance between the first support rod 312 and the photovoltaic panel can be adjusted, and then the distance between the unmanned aerial vehicle 100 and the photovoltaic panel is adjusted to a specified height, so as to facilitate the controlled high-altitude flight of the unmanned aerial vehicle 100.

[0091] By setting the control member, the control member controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the hanging module 20, so as to adjust the distance between the first support rod 312 and the hanging module 20 and the photovoltaic panel, so as to control the unmanned aerial vehicle 100 to fly at a certain height; the control member controls the second rotating structure 321 to drive the second support rod 322 to rotate relative to the first support rod 312, so as to adjust the coverage range of the plurality of nozzles 323 on the photovoltaic panel, and improve the cleaning efficiency.

[0092] In an embodiment, when the unmanned aerial vehicle 100 switches from the working state to the shutdown state, the plurality of detection members are also used to detect the distance from the support surface, the control member controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the hanging module 20 according to the distance detected by the detection member, and the control member also controls the second rotating structure 321 to drive the second support rod 322 to rotate relative to the first support rod 312 according to the included angle between the second support rod 322 and the support surface, and the support assembly 31 and the spraying assembly 32 are both spaced from the support surface when the unmanned aerial vehicle 100 is shut down.

[0093] The control member receives a control signal from the outside (for example, a control signal from a remote controller) or automatically controls the first rotating structure 311 to drive the first support rod 312 to rotate relative to the hanging module 20 according to a plurality of distance data detected by the plurality of detection members, so that the distance from the end of the first support rod 312 away from the first rotating structure 311 to the hanging module 20 is the first distance D1; the control member controls the second rotating structure 321 to drive the second support rod 322 to rotate, and the included angle between the second support rod 322 and the Z direction is the third included angle B1, so that the distance from the first support rod 312 and the second support rod 322 to the support surface can be adjusted before the unmanned aerial vehicle 100 is shut down, so as to avoid the support assembly 31 and the spraying assembly 32 from colliding with or interfering with the support surface when the unmanned aerial vehicle 100 is shut down, and the safety in use is high.

[0094] Optionally, the state of the photovoltaic panel cleaning device 1000 can be roughly divided into: an unmanned aerial vehicle 100 shutdown state (as shown in Figure 3 , an unmanned aerial vehicle 100 working state, and the unmanned aerial vehicle 100 is away from the support surface and has not yet flown above the photovoltaic panel; an unmanned aerial vehicle 100 working state, the unmanned aerial vehicle 100 flies above the photovoltaic panel, and the spraying assembly 32 works (as shown in Figure 2 , an unmanned aerial vehicle 100 working state, the unmanned aerial vehicle 100 is away from above the photovoltaic panel and has not yet flown above the support surface; and an unmanned aerial vehicle 100 working state, the unmanned aerial vehicle 100 flies above the support surface. The photovoltaic panel cleaning device 1000 enters the above states in turn for one round, and then the photovoltaic panel cleaning device 1000 completes a cleaning operation.

[0095] When the UAV 100 enters the working state from the parking state, the UAV 100 leaves the support surface, and the UAV 100 does not fly above the photovoltaic panel, the support assembly 31 can remain in the folded state, that is, the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is still the first distance D1; when the UAV 100 flies above the photovoltaic panel, the first rotating structure 311 drives the first support rod 312 to rotate again, and the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is the second distance D2, and the spraying assembly 32 works. Alternatively, when the UAV 100 enters the working state from the parking state, the UAV 100 leaves the support surface, and the UAV 100 does not fly above the photovoltaic panel, the first rotating structure 311 drives the first support rod 312 to rotate, and the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is the second distance D2, and the state is maintained until the UAV 100 flies above the photovoltaic panel, and the spraying assembly 32 works.

[0096] During the working process of the spraying assembly 32, the second included angle A2 between the first support rod 312 and the Z direction and the fourth included angle B2 between the second support rod 322 and the Z direction can be adjusted according to the laying condition of the photovoltaic panel and the inclination angle of the photovoltaic panel. For example, when the photovoltaic panel is laid along a straight line, the UAV 100 flies above the photovoltaic panel, and the spraying assembly 32 works, the plurality of detection pieces can detect the distance from the photovoltaic panel at regular time intervals, and the control piece adjusts in real time according to the condition of the photovoltaic panel, thereby improving the cleaning efficiency of the photovoltaic panel cleaning device 1000.

[0097] Optionally, the second support rod 322 can also rotate around the Z direction under the drive of the second rotating structure 321. When the photovoltaic panel is laid along an arc, the UAV 100 flies above the photovoltaic panel, and the spraying assembly 32 works, the plurality of detection pieces can detect the distance from the photovoltaic panel at regular time intervals, and the control piece adjusts in real time according to the condition of the photovoltaic panel, so that the extension direction of the second support rod 322 is substantially parallel to the width direction of the photovoltaic panel, thereby improving the cleaning efficiency of the photovoltaic panel cleaning device 1000 and avoiding the waste of cleaning medium.

[0098] After the spraying assembly 32 finishes work, the unmanned aerial vehicle 100 leaves above the photovoltaic panel, and when the unmanned aerial vehicle 100 does not fly above the support surface, the spraying assembly 32 can remain in the inclined state, that is, the included angle between the second support rod 322 and the Z direction is still the fourth included angle B2, and the support assembly 31 can also remain in the unfolded state, that is, the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is still the second distance D2, until the unmanned aerial vehicle 100 flies above the support surface, the first rotating structure 311 drives the first support rod 312 to rotate, and the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is the first distance D1, and the second rotating structure 321 drives the second support rod 322 to rotate, and the included angle between the second support rod 322 and the Z direction is the third included angle B1.

[0099] Alternatively, at any time during the process that the unmanned aerial vehicle 100 leaves above the photovoltaic panel to the unmanned aerial vehicle 100 flies above the support surface, the first rotating structure 311 drives the first support rod 312 to rotate, and the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is the first distance D1, and the second rotating structure 321 drives the second support rod 322 to rotate, and the included angle between the second support rod 322 and the Z direction is the third included angle B1, and the specific limitation is not limited.

[0100] Alternatively, after the spraying assembly 32 finishes work, before the unmanned aerial vehicle 100 leaves above the photovoltaic panel, the first rotating structure 311 drives the first support rod 312 to rotate, and the distance from the end of the first support rod 312 away from the first rotating structure 311 to the lower hanging module 20 is the first distance D1, and the second rotating structure 321 drives the second support rod 322 to rotate, and the included angle between the second support rod 322 and the Z direction is the third included angle B1, that is, when the unmanned aerial vehicle 100 leaves above the photovoltaic panel, the folding of the support assembly 31 and the spraying assembly 32 has been completed, and when the unmanned aerial vehicle 100 flies above the support surface, the unmanned aerial vehicle 100 can be directly parked on the support surface and enter the parking state.

[0101] Optionally, the photovoltaic panel cleaning device 1000 can also adopt other any feasible working schemes, and the limitation is not limited.

[0102] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or positional relationship described in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0103] The above disclosure is only a preferred embodiment of the present application, of course, cannot be limited by this, the person skilled in the art can understand that the above-mentioned all or part of the process is realized, and the equivalent change is made according to the claims of the present application, still belongs to the scope covered by the present application.

Claims

1. An articulating module, comprising: The application discloses a hanging device for a photovoltaic panel cleaning device, and the photovoltaic panel cleaning device further comprises a drone, the hanging device further comprises a hanging module, the hanging module is installed on the drone, the drone is placed on a support surface when the drone is in a parking state, and the drone flies above a photovoltaic panel when the drone is in a working state. A support assembly is rotationally connected to the hanging module; A spraying assembly is rotationally connected to the support assembly; When the drone is switched between the parking state and the working state, the support assembly rotates relative to the hanging module, and the support assembly and the spraying assembly are both spaced from the support surface when the drone is in the parking state; The support assembly comprises a first rotating structure and a first support rod, the first rotating structure is installed on the hanging module, one end of the first support rod is connected to the first rotating structure, and the other end of the first support rod, which is away from the first rotating structure, is connected to the spraying assembly, and the first rotating structure is used to drive the first support rod to rotate; When the drone is in the parking state, the distance from the other end of the first support rod, which is away from the first rotating structure, to the hanging module in a first direction is a first distance D1, and when the drone is in the working state, the distance from the other end of the first support rod, which is away from the first rotating structure, to the hanging module in the first direction is a second distance D2, and D2>D1 is satisfied, and the first direction is a height direction of the drone; The spraying assembly further comprises a second rotating structure, a second support rod and a plurality of spray heads, the second rotating structure connects the other end of the first support rod, which is away from the hanging module, with the second support rod, and the plurality of spray heads are arranged at intervals on the second support rod, and the spray heads are used to spray cleaning substances to clean the photovoltaic panel when the spraying assembly is in a working state; The second rotating structure is used to drive the second support rod to rotate relative to the first support rod, and when the drone flies above the photovoltaic panel, the second rotating structure drives the second support rod to rotate relative to the first support rod according to an inclination angle of the photovoltaic panel, and the size of the included angle between the second support rod and the photovoltaic panel satisfies a first range when the spraying assembly is in the working state.

2. The joint module according to claim 1, characterized in that When the drone is in the parking state, the first support rod and the first direction form a first included angle A1, and 60°≤A1≤120° is satisfied; And / or, when the spraying assembly is in the working state, the first support rod and the first direction form a second included angle A2, and 0°≤A2≤60° is satisfied.

3. The joint module of claim 1, wherein When the drone is in the parking state, the second support rod and the first direction form a third included angle B1, and 70°≤B1≤110° is satisfied; And / or, when the spraying assembly is in the working state, the second support rod and the first direction form a fourth included angle B2, and 45°≤B2≤135° is satisfied.

4. The joint module of claim 1, wherein The joint module further comprises a plurality of detection members, the plurality of detection members are arranged on the second support rod at intervals, the plurality of detection members are used for detecting distances from the photovoltaic panel, and a plurality of distance data are obtained, the plurality of distance data are further used for obtaining an included angle between the second support rod and the photovoltaic panel; the second rotating structure drives the second support rod to rotate according to the plurality of distance data, and the included angle between the second support rod and the photovoltaic panel meets the first range.

5. The joint module of claim 4, wherein, The joint module further comprises a control member, the control member is electrically connected with the first rotating structure, the second rotating structure and the plurality of detection members, when the unmanned aerial vehicle flies above the photovoltaic panel, the control member controls the first rotating structure to drive the first support rod to rotate relative to the lower hanging module according to the distances from the photovoltaic panel detected by the plurality of detection members, the control member further controls the second rotating structure to drive the second support rod to rotate relative to the first support rod, so that the included angle between the second support rod and the photovoltaic panel meets the first range, and the distances between the plurality of detection members and the photovoltaic panel all meet a second range.

6. The joint module of claim 5, wherein, When the unmanned aerial vehicle switches from a working state to a shutdown state, the plurality of detection members are further used for detecting distances from the support surface, the control member controls the first rotating structure to drive the first support rod to rotate relative to the lower hanging module according to the distances detected by the detection members, the control member further controls the second rotating structure to drive the second support rod to rotate relative to the first support rod according to an included angle between the second support rod and the support surface, and when the unmanned aerial vehicle is shut down, the support assembly and the spraying assembly are both spaced from the support surface.

7. A hanger device, characterized in that The unmanned aerial vehicle comprises a lower hanging module and a joint module as claimed in any one of claims 1 to 6, the lower hanging module is installed on the unmanned aerial vehicle, and the support assembly of the joint module is rotationally connected with the lower hanging module.

8. A photovoltaic panel cleaning apparatus, characterized in that, The unmanned aerial vehicle comprises an unmanned aerial vehicle and a lower hanging device as claimed in claim 7, and the lower hanging device is installed on the unmanned aerial vehicle.

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