A dust-free photovoltaic cleaning unmanned aerial vehicle based on a dust accumulation mechanical model

Abstract

The application relates to a waterless photovoltaic cleaning unmanned aerial vehicle based on a dust accumulation mechanics model, and belongs to photovoltaic panel cleaning. The speed-increasing flow-increasing duct drives the high-speed downward airflow generated by a brushless motor and a propeller to be plasticized to generate high-speed airflow. The outlet airflow velocity is effectively increased based on the flow-increasing speed-increasing duct, the dust accumulation mechanics model and the removal condition of adhered particles. The high-speed airflow after speed increase has high velocity and cleaning effect, and can effectively remove the dust and dirt on the surface of a photovoltaic panel. On the other hand, the application adopts an edge straight line detection image processing technology to position a cleaning area in view of the unmanned aerial vehicle vision and path planning problem. In addition, four groups of notches are designed at the bottom side of the speed-increasing flow-increasing duct to ensure the stability of the unmanned aerial vehicle in high-load operation. The carbon plate connecting assembly of the application uses high-strength and light-weight carbon fiber material, which can not only bear large stress, but also reduce the overall weight, improve the flight efficiency and endurance.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic panel cleaning technology, specifically to a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model, and more particularly to a drone based on a dust accumulation mechanics model and a method for waterless photovoltaic cleaning. Background Technology

[0002] Western my country possesses abundant solar energy resources. my country's photovoltaic (PV) industry has made significant progress, evolving from distributed to centralized systems and then to large-scale photovoltaic projects. By the end of the year, my country's total installed PV capacity had surpassed the important milestone of 600 million kilowatts, reaching 609.49 million kilowatts, achieving three major breakthroughs in succession. It surpassed hydropower to become the second largest installed power source of the year, accounting for 21% of the country's total installed power capacity. Annual PV power generation reached 294 billion kilowatt-hours, a year-on-year increase of 17.17%, accounting for 3.3% of my country's total power generation, and is rapidly moving towards becoming a dominant energy source.

[0003] When photovoltaic modules are left exposed to air for extended periods, dust accumulation reduces the effective area exposed to solar radiation and affects the transmittance of the silicon crystals on the module surface, thus lowering the efficiency of photovoltaic power generation. Prolonged exposure to sunlight also causes the covered areas to overheat and form hot spots on the module surface, leading to widespread damage.

[0004] Currently, the main cleaning methods for photovoltaic (PV) panels include cleaning trucks and manual cleaning. Cleaning trucks use high-pressure water guns, typically requiring two employees to operate, with a range of up to 30 meters, effectively covering the cleaning area. However, this method is costly, and since most large-scale PV power plants in my country are concentrated in the northwest region where water resources are scarce, using high-pressure water guns leads to water waste. Manual cleaning includes dry cleaning and wet cleaning. Dry cleaning mainly uses long-handled wool mops with specialized cleaning agents, utilizing electrostatic adsorption to attract dust and sand particles, enhancing the cleaning tools' dust and dirt removal capabilities, thus effectively reducing dust and sand particles flying during cleaning. However, this method may result in more surface residue, and uneven stress on the modules may cause deformation and microcracks. Wet cleaning utilizes equipment with water storage capabilities, such as water tankers, in conjunction with manually operated spray nozzles to clean PV panel modules, achieving better cleaning results. However, wet cleaning may leave wastewater residue on the PV panel surface, affecting the glass's light transmission performance, and it consumes a significant amount of water.

[0005] To address the problem of dust cleaning on photovoltaic panels, existing technologies offer the following solutions: Chinese patent application CN115889271A proposes a method using drones for inspection, deploying photovoltaic cleaning drones to clean the photovoltaic panels. However, the process of deploying cleaning drones for cleaning and then transporting the panels after cleaning is cumbersome, requires high reliability in deployment operations, is inefficient, and faces significant challenges in commercialization and practical application.

[0006] Chinese patent application CN117208202A proposes a photovoltaic panel cleaning drone equipped with a water tank and pump to spray water onto the photovoltaic panels to clean them. However, photovoltaic power plants are mostly located in the Northwest region, where water resources are scarce, and the main pollutants on the panels are mostly dust. If a water-based cleaning method is used, scale and sludge will form on the panels, which may cause secondary shading of the photovoltaic panels. Summary of the Invention

[0007] In view of the above problems, the present invention provides a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model. On the one hand, the drone of the present invention is designed with a plasticizing and flow-increasing duct, which effectively increases the outlet airflow velocity based on the flow-increasing and speed-increasing duct, the dust accumulation mechanics model, and the removal conditions of adhering particles. On the other hand, the present invention addresses the vision and path planning problems of the drone by using image processing technology with edge line detection to locate the cleaning area.

[0008] This invention provides a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model, comprising: a speed-increasing duct 1, a carbon plate connecting assembly, and the drone.

[0009] The speed-increasing duct 1 is connected to the drone via a carbon plate connecting assembly;

[0010] The speed-increasing duct is used to solve the problems of insufficient wind speed and scattered flow velocity generated by the drone rotor.

[0011] Preferably, the drone is a quadcopter drone;

[0012] Preferably, the speed-increasing duct 1 includes a support arm assembly, a crossbeam assembly, and a skin 1-2;

[0013] The support arm assembly and the crossbeam assembly are connected to form a duct frame 1-1, and a cavity is formed inside the duct frame 1-1; the skin 1-2 is connected to the support arm assembly and the crossbeam assembly respectively; the UAV is disposed inside the cavity.

[0014] Furthermore, the skin 1-2 is a heat-shrink film material used in the field of model aircraft;

[0015] The structure of the speed-increasing duct 1 is both axisymmetric and centrosymmetric.

[0016] Furthermore, the duct frame 1-1 defines the outline of the speed-increasing duct 1;

[0017] The cross-section of the duct frame 1-1 gradually decreases from the inlet to the outlet of the speed-increasing duct 1, and this cross-section is perpendicular to the longitudinal central axis of the speed-increasing duct 1.

[0018] The skin 1-2 matches the shape of the duct frame 1-1 and is tightly covered and fixed to the duct frame 1-1.

[0019] Furthermore, the support arm assembly includes at least two support arms 1-3; the crossbeam assembly includes at least two crossbeams 1-4;

[0020] The at least two crossbeams 1-4 are arranged perpendicularly to the longitudinal central axis of the speed-increasing duct 1 on the cross section, forming a closed structure;

[0021] The enclosing area of ​​the at least two crossbeams 1-4 gradually decreases in the direction from the inlet to the outlet of the speed-increasing duct;

[0022] The crossbeams 1-4 are arranged sequentially along the longitudinal central axis of the speed-increasing duct so that the spacing between adjacent crossbeams is the same; and wherein, the at least two support arms 1-3 extend along the outline of the duct frame in a generally longitudinal direction and join each of the crossbeams 1-4, and the at least two crossbeams and at least two support arms together form a mesh structure, constituting a structurally stable duct frame 1-1.

[0023] For example, the support arm assembly is configured such that adjacent support arms have the same spacing.

[0024] For example, the support arms are configured to have a smaller spacing at the corners to achieve a higher density.

[0025] Preferably, the current boosting and speed increasing duct 1 is manufactured using 3D printing technology, and the entire component adopts a skin-frame structure, which significantly reduces weight and lightens the flight load of the UAV.

[0026] Furthermore, both the skin 1-2 and the duct frame 1-1 are provided with at least one slot at the airflow outlet. The duct frame 1-1 has a frame slot 1-5, and the skin 1-2 may have a skin slot. The slot is used to connect with the UAV, and the shape of the slot can be formed as needed to match the corresponding assembly part of the UAV.

[0027] Furthermore, the positions of the skeleton slots 1-5 and the skin slots are evenly arranged along the outlet edges of the duct skeleton 1-1 and the skin 1-2, respectively, and the number is the same. After the duct skeleton 1-1 and the skin 1-2 are assembled, the positions of the skeleton slots 1-5 and the skin slots correspond to each other.

[0028] Optionally, the slot 1-5 is located at the outlet end of the duct frame 1-1 on the support arm 1-3 of the duct frame 1, and is formed along the longitudinal direction of the support arm 1-3, such as... Figure 2 As shown, this is to ensure the structural strength of the culvert frame and avoid affecting the structural strength of the beam assembly of the culvert frame 1.

[0029] In one embodiment, the UAV speed-increasing duct includes a skeleton lip 1-6; the skeleton lip 1-6 can be printed integrally during the 3D printing of the duct skeleton 1-1.

[0030] The skin is made into a lip structure suitable for the skeleton. When the skin 2 is covered on the duct skeleton 1, it fits and covers the structure along the lip of the duct skeleton 1. The structural design of the lip can be analyzed by mechanical strength analysis.

[0031] Furthermore, the skeleton lip 1-6 includes two crossbeams 1-4 disposed at the inlet end of the duct skeleton 1, and a set of short vertical beams 1-61 between the two crossbeams 1-4; the number of the short vertical beams 1-61 of the skeleton lip 1-6 may be more than the number of vertical beams 1-3 of the duct skeleton 1-1, so as to provide more reliable support and structural strength at the skeleton lip 1-6 when the increased airflow brings greater impact force;

[0032] In an optional embodiment, the skeleton lip 1-6 is formed in an outwardly expanding shape. That is, the skeleton lip 1-6 is slightly offset outward at an angle relative to the central axis of the duct. The expansion angle of the skeleton lip 1-6 can be set to approximately 0 to 25 degrees outward; the skeleton lip 1-6 is designed to directly affect the intake volume of the duct through the airflow pressure acting on the duct lip.

[0033] Optionally, the lip can be set so that the skeleton lip 1-6 is deflected outward by about 20 degrees to achieve the optimal values ​​of aerodynamic efficiency, air intake, stall characteristics, and thrust characteristics, with the air intake reaching its maximum value.

[0034] Optionally, the skeleton lip 1-6 has a streamlined symmetrical airfoil structure to fully comply with the principles of fluid dynamics. This streamlined design allows airflow to flow smoothly over the lip surface while also increasing lift. The skeleton lip 1-6 of this streamlined symmetrical airfoil structure is slightly thicker than other parts of the duct skeleton 1-1 and is slightly pointed at the leading edge. In cross-section, the skeleton lip 1-6 has a thinner willow leaf shape, forming a smooth overall shape. The curvature of the upper airfoil surface (i.e., the inner surface facing the duct interior) of the skeleton lip 1-6 is slightly larger than that of the lower airfoil surface (i.e., the outer surface facing the duct exterior), to create low pressure inside the duct lip and achieve better airflow performance.

[0035] Preferably, the drone includes a motor assembly, an electronic speed controller, a propeller assembly, a flight control system 9, a power supply, a receiver 4, and a GPS module 10;

[0036] The receiver 4, GPS module 10 and flight control system are mounted on the frame;

[0037] The propeller assembly includes a connecting rod assembly, a rotor mounting platform assembly, and a propeller blade assembly.

[0038] The frame is connected to the propeller assembly via a rotor mounting platform assembly and a connecting rod assembly;

[0039] Furthermore, the frame is made of carbon fiber laminate material;

[0040] The connecting rod assembly is made of hollow carbon tubes and is connected to the frame by bolts, which reduces weight while ensuring the strength and rigidity of the UAV frame structure;

[0041] The electronic speed controller (ESC) can adjust the motor speed in real time through signals transmitted from the flight control system, thereby controlling the attitude and position of the UAV.

[0042] The propeller assembly includes multiple propellers; each propeller is a two-bladed propeller made of carbon fiber material. Carbon fiber has low density and high strength, and is not prone to vibration under high-speed rotation, providing stable rotor lift. At the same time, the two-bladed propeller has higher efficiency than the multi-bladed propeller.

[0043] The flight control system is the open-source Pixhawk 4 flight controller. The open-source Pixhawk 4 flight controller comes with multiple sensors, such as a 3-axis 16-bit gyroscope, a 3-axis 14-bit accelerometer, a magnetometer, and a barometer. The open-source Pixhawk 4 flight controller autopilot can control the drone's flight without external sensors. At the same time, it can connect to an external GPS module, allowing the drone to use the GPS module's signal for positioning, providing the drone's specific location information, and automatically completing tasks.

[0044] The frame is positioned at the center of the speed-increasing and flow-boosting component 1;

[0045] Furthermore, the linkage assembly includes linkage 5, linkage 2, linkage 3, and linkage 4; linkage 5, linkage 2, linkage 3, and linkage 4 are respectively connected to the four opposite corners of the frame;

[0046] The propeller blade assembly includes propeller blade one, propeller blade two, propeller blade three, and propeller blade four;

[0047] The rotor mounting platform assembly includes: rotor mounting platform one, rotor mounting platform two, rotor mounting platform three, and rotor mounting platform four;

[0048] The motor assembly includes four motors, divided into two pairs. The motors in each pair rotate in opposite directions to cancel out the torque generated by the motor rotation, thus preventing the drone from spinning.

[0049] Furthermore, the motor assembly includes motor 1 (7), motor 2, motor 3, and motor 4;

[0050] The propeller blade 2 is connected to the rotor mounting platform 6, the motor 7, and the connecting rod 1, respectively.

[0051] Furthermore, the connection methods of connecting rods two, three, and four are the same as those of connecting rod one;

[0052] For example, motor one, motor two, motor three and motor four are all three-phase AC brushless motors;

[0053] Furthermore, the flight control system is mounted on the upper surface of the frame via rubber damping washers;

[0054] The motor includes an output shaft and a motor body; a propeller blade is connected to the output shaft;

[0055] The flight control system transmits electrical signals to the electronic speed controller (ESC), which converts the electrical signals into three-phase AC signals and outputs them to motors one, two, three, and four, driving propellers one, two, three, and four to rotate.

[0056] For example, the propeller is screwed onto the rotor of the motor, and the propeller rotates by the rotation of the motor.

[0057] Preferably, the carbon plate connecting assembly includes carbon plate connector one, carbon plate connector two, carbon plate connector three, and carbon plate connector four;

[0058] The carbon plate connector includes a carbon plate and a carbon plate; one end of the carbon plate and the carbon plate are connected to the connecting rod by a bolt 8.

[0059] Furthermore, the other end of the carbon plate one and carbon plate two is connected to a slot in the flow-boosting and speed-increasing duct.

[0060] The carbon plate connectors 2, 3, and 4 are connected in the same way as the carbon plate connector 1.

[0061] For example, the carbon plate connector one, carbon plate connector two, carbon plate connector three and carbon plate connector four are all made of carbon fiber material;

[0062] The carbon plate connectors 1, 2, 3, and 4 designed in this invention are all made of high-strength, lightweight carbon fiber materials. They can not only withstand greater stress, but also significantly reduce the overall weight of the UAV, thereby improving flight efficiency and endurance.

[0063] This invention designs an axially symmetric and centrally symmetric speed-increasing and current-boosting component. Its bottom side is designed with four sets of slots to ensure that the speed-increasing and current-boosting component, the drone, and the carbon plate connecting component can still maintain a stable connection under high load operation. In addition, the design of the four sets of slots makes it easy to insert the four sets of carbon plate connectors. The other end of the four sets of carbon plate connectors is fixedly connected to the drone rotor mounting platform by bolts.

[0064] Another objective of this invention is to provide a method for waterless photovoltaic cleaning using a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model, comprising:

[0065] The waterless photovoltaic cleaning drone flies to the photovoltaic panel to be cleaned and hovers stably under the control of the flight control system (9);

[0066] Obtain the removal conditions for particles adhering to the photovoltaic panel to be cleaned;

[0067] Based on the removal conditions of the adhering particles, the minimum wind speed for removing the adhering particles is obtained, and the minimum wind speed is input into the flight control system 9 to obtain a three-phase AC signal.

[0068] The motor assembly receives a three-phase AC signal, which drives the propeller blade assembly to rotate and generate a corresponding airflow. The corresponding airflow passes through the speed-increasing duct 1 to generate a high-speed airflow, which is used to clean the photovoltaic panel to be cleaned.

[0069] Furthermore, the system controls the waterless photovoltaic cleaning drone to take off stably and reach the preset altitude;

[0070] Once it reaches the predetermined altitude, the waterless photovoltaic cleaning drone navigates along a preset path, adjusts its flight direction and altitude, and flies over the photovoltaic panels to be cleaned.

[0071] Upon reaching the target location, the drone hovers, with the flight control system 9 ensuring its stability.

[0072] The removal conditions for adhering particles on the photovoltaic panel to be cleaned are obtained; based on the removal conditions for adhering particles and the dust accumulation mechanics model, the minimum wind speed for removing adhering particles is obtained, and the minimum wind speed is input into the flight control system 9 to obtain an electrical signal and transmit it to the electronic speed controller (ESC). The ESC converts the electrical signal into a three-phase AC signal and outputs it to motors 1, 2, 3, and 4; thereby driving propeller blades 2, 3, and 4 to rotate and generate corresponding airflow. The corresponding airflow passes through the speed-increasing duct 1 to generate a high-speed airflow, which is used to clean the photovoltaic panel to be cleaned.

[0073] Furthermore, the design of the UAV speed-increasing duct is based on the incompressible fluid continuity formula. It accelerates the airflow and generates a high-speed airflow by narrowing the duct's cross-sectional area from the inlet to the outlet. The expression for the incompressible fluid continuity is:

[0074] ρV1A1=ρV2A2

[0075]

[0076] Where A1 is the inlet area and A2 is the outlet area. The cross-section of the duct perpendicular to its longitudinal central axis smoothly tapers from the inlet to the outlet. For example, in an illustrative example, the inlet area A1 of the duct designed using the above formula is 0.57m². 2 The outlet area A2 of the culvert is 0.225m². 2 The inlet-outlet contraction ratio is 0.395. In this example, the airflow velocity at the outlet after acceleration is approximately 2.5 times that at the drone's propellers, effectively increasing the wind speed generated during drone flight. ρ is the air density of the flight environment, V1 is the airflow velocity at the inlet, and V2 is the airflow velocity at the outlet.

[0077] The expression for the deposition mechanics model is:

[0078] F ad =F e +F vdw +G y +F buoyancy

[0079] Among them, F ad F is the primary adhesion force of dust particles perpendicular to the surface of the solar panel. e For electrostatic force, F vdw For van der Waals force, G y F is the gravitational component. buoyancy This refers to the buoyancy force experienced by microparticles in the air.

[0080] Furthermore, the rotation of propeller blades one, two, three, and four generates corresponding airflow velocities u. a The expression is:

[0081]

[0082] Where Cv is the dimensionless velocity coefficient, N is the propeller speed (in RPM), Dp is the propeller diameter, and ρ is the air density of the flight environment, which is related to the flight altitude.

[0083] The condition for removing adherent particles is expressed as follows:

[0084]

[0085] Where k0 is the static friction coefficient, d p F represents the diameter of the dust particles. n p0 is the supporting force, and p0 is the adhesive force of the adhering particles.

[0086] Preferably, the specific steps for flying over the photovoltaic panels to be cleaned include:

[0087] RGB images of the photovoltaic panels to be cleaned were acquired using drones;

[0088] Gaussian filtering is used to preprocess the RGB image of the photovoltaic panel to be cleaned to remove image noise and obtain a preprocessed RGB image.

[0089] Convert the preprocessed RGB image to an HSV image;

[0090] Determine the color threshold for the photovoltaic panel;

[0091] The HSV image is then segmented based on the color threshold and then subjected to dilation and erosion to obtain the processed image.

[0092] The portion of the processed image that matches the shape and size of the photovoltaic panel is retained, while contours that do not match the area and shape are removed. Based on the Sobel filter, the edge region of the photovoltaic panel to be cleaned is obtained.

[0093] The edge region of the photovoltaic panel to be cleaned is represented in the RGB image of the photovoltaic panel to be cleaned, and edge detection is performed to obtain the cleaning area of ​​the photovoltaic panel to be cleaned. The drone flies to the photovoltaic panel to be cleaned according to the cleaning area of ​​the photovoltaic panel to be cleaned.

[0094] Understandably, the flight control system 9 ensures stability to prevent the drone from deviating from the target due to airflow disturbances or wind.

[0095] Preferably, the preset path navigation is a remote control command from the operator or a flight path pre-planned by the ground station;

[0096] Preferably, the specific steps in step 1 for controlling the anhydrous photovoltaic cleaning drone to take off stably and reach the preset altitude include:

[0097] The remote controller sends operation commands to the waterless photovoltaic cleaning drone; the operation commands are transmitted to the drone via radio waves.

[0098] The drone transmits operating commands to the flight control system 9;

[0099] After receiving the operation command, the flight control system 9 performs a status check; the status check includes the status of the UAV sensors, battery level, motors and ESCs;

[0100] After the status check is completed, the flight control system 9 sends a low-frequency pulse signal to the electronic speed controller (ESC) to start the corresponding motor and drive the corresponding propeller to rotate at a low speed.

[0101] The flight control system controls the four motors to accelerate synchronously, while simultaneously controlling the drone's attitude to enable the drone to take off smoothly and reach the predetermined altitude.

[0102] In this invention, the takeoff process of the drone includes the flight controller gradually increasing the motor speed, driving the propeller to rotate and generating sufficient thrust to allow the drone to take off smoothly. After the drone takes off smoothly, the flight controller automatically adjusts its flight direction and altitude according to a pre-set path navigation, flying to the area above the photovoltaic panel to be cleaned. Upon reaching the target position, the drone hovers above the photovoltaic panel, and the flight controller ensures stable hovering to prevent it from deviating from the target due to airflow disturbances or wind. The motor drives the propeller to generate a high-speed, downward airflow. When the airflow passes through the speed-increasing and flow-boosting components, its velocity is further accelerated, forming a high-speed airflow. This accelerated high-speed airflow has a high flow rate and cleaning effect, effectively removing accumulated dust and dirt from the surface of the photovoltaic panel.

[0103] Compared with the prior art, the present invention has at least the following beneficial effects:

[0104] (1) The speed-increasing duct of the present invention uses the high-speed, downward airflow generated by the brushless motor driving the propeller to plasticize and generate high-speed airflow. The high-speed airflow after speed-increasing has a high flow rate and cleaning effect, and can effectively remove dust and dirt from the surface of the photovoltaic panel.

[0105] (2) The bottom side of the speed-increasing duct of the present invention is designed with four sets of slots to ensure that the UAV and carbon plate connection components can still maintain a stable connection during high-load operation.

[0106] (3) The carbon plate connecting assembly of the present invention uses high-strength, lightweight carbon fiber material, which can not only withstand greater stress, but also significantly reduce the overall weight of the UAV, thereby improving flight efficiency and endurance.

[0107] (4) The current-boosting and speed-increasing duct frame of the present invention adopts 3D printing technology, and the overall component adopts a skin skeleton structure, which can significantly reduce weight and reduce the flight load of the UAV. Attached Figure Description

[0108] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention.

[0109] Figure 1 This is a schematic diagram of the structure of the waterless photovoltaic cleaning drone based on the dust accumulation mechanical model in an embodiment of the present invention;

[0110] Figure 2 This is a schematic diagram of the actual object of the waterless photovoltaic cleaning drone based on the dust accumulation mechanical model in an embodiment of the present invention;

[0111] Figure 3 This is a schematic diagram of the speed-increasing duct structure in the waterless photovoltaic cleaning drone based on the dust accumulation mechanics model in an embodiment of the present invention.

[0112] Figure label:

[0113] 1-Increase flow duct, 2-Propeller blade II, 3-Carbon plate connector I, 4-Receiver, 5-Connecting rod I, 6-Rotor mounting platform, 7-Motor I, 8-Bolt I, 9-Flight control system, 10-GPS, 1-1-Duct frame, 1-2-Skin, 1-3-Support arm, 1-4-Crossbeam, 1-5-Frame slot, 1-6-Frame lip, 1-6-1-Short vertical beam Detailed Implementation

[0114] To better understand the above-described objectives, features, and advantages of the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other. Furthermore, the present invention can be implemented in other ways different from those described herein; therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0115] A specific embodiment of the present invention, such as Figure 1-3 This paper discloses a drone based on a dust accumulation mechanics model and a method for waterless photovoltaic cleaning.

[0116] To illustrate the effectiveness of the method proposed in this invention, the following detailed description of the above technical solution is provided through a specific embodiment. The specific implementation steps are as follows:

[0117] This invention provides a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model, comprising: a speed-increasing duct 1, a carbon plate connecting assembly, and the drone.

[0118] The speed-increasing duct 1 is connected to the drone via a carbon plate connecting assembly;

[0119] The speed-increasing duct is used to solve the problems of insufficient wind speed and scattered flow velocity generated by the drone rotor.

[0120] Preferably, the drone is a quadcopter drone;

[0121] Preferably, the speed-increasing duct 1 includes a support arm assembly, a crossbeam assembly, and a skin 1-2;

[0122] The support arm assembly and the crossbeam assembly are connected to form a duct frame 1-1, and a cavity is formed inside the duct frame 1-1; the skin 1-2 is connected to the support arm assembly and the crossbeam assembly respectively; the UAV is disposed inside the cavity.

[0123] Furthermore, the skin 1-2 is a heat-shrink film material used in the field of model aircraft;

[0124] The structure of the speed-increasing duct 1 is both axisymmetric and centrosymmetric.

[0125] Furthermore, the duct frame 1-1 defines the outline of the speed-increasing duct 1;

[0126] The cross-section of the duct frame 1-1 gradually decreases from the inlet to the outlet of the speed-increasing duct 1, and this cross-section is perpendicular to the longitudinal central axis of the speed-increasing duct 1.

[0127] The skin 1-2 matches the shape of the duct frame 1-1 and is tightly covered and fixed to the duct frame 1-1.

[0128] Furthermore, the support arm assembly includes at least two support arms 1-3; the crossbeam assembly includes at least two crossbeams 1-4;

[0129] The at least two crossbeams 1-4 are arranged perpendicularly to the longitudinal central axis of the speed-increasing duct 1 on the cross section, forming a closed structure;

[0130] The enclosing area of ​​the at least two crossbeams 1-4 gradually decreases in the direction from the inlet to the outlet of the speed-increasing duct;

[0131] The crossbeams 1-4 are arranged sequentially along the longitudinal central axis of the speed-increasing duct so that the spacing between adjacent crossbeams is the same; and wherein, the at least two support arms 1-3 extend along the outline of the duct frame in a generally longitudinal direction and join each of the crossbeams 1-4, and the at least two crossbeams and at least two support arms together form a mesh structure, constituting a structurally stable duct frame 1-1.

[0132] For example, the support arm assembly is configured such that adjacent support arms have the same spacing.

[0133] For example, the support arms are configured to have a smaller spacing at the corners to achieve a higher density.

[0134] Preferably, the current boosting and speed increasing duct 1 is manufactured using 3D printing technology, and the entire component adopts a skin-frame structure, which significantly reduces weight and lightens the flight load of the UAV.

[0135] Furthermore, both the skin 1-2 and the duct frame 1-1 are provided with at least one slot at the airflow outlet. The duct frame 1-1 has a frame slot 1-5, and the skin 1-2 may have a skin slot. The slot is used to connect with the UAV, and the shape of the slot can be formed as needed to match the corresponding assembly part of the UAV.

[0136] Furthermore, the positions of the skeleton slots 1-5 and the skin slots are evenly arranged along the outlet edges of the duct skeleton 1-1 and the skin 1-2, respectively, and the number is the same. After the duct skeleton 1-1 and the skin 1-2 are assembled, the positions of the skeleton slots 30 and the skin slots correspond to each other.

[0137] Optionally, the slot 1-5 is located at the outlet end of the duct frame 1-1 on the support arm 1-3 of the duct frame 1, and is formed along the longitudinal direction of the support arm 1-3, such as... Figure 2 As shown, this is to ensure the structural strength of the culvert frame and avoid affecting the structural strength of the beam assembly of the culvert frame 1.

[0138] In one embodiment, the UAV speed-increasing duct includes a skeleton lip 1-6; the skeleton lip 1-6 can be printed integrally during the 3D printing of the duct skeleton 1-1.

[0139] The skin is made into a lip structure suitable for the skeleton. When the skin 2 is covered on the duct skeleton 1, it fits and covers the structure along the lip of the duct skeleton 1. The structural design of the lip can be analyzed by mechanical strength analysis.

[0140] Furthermore, the skeleton lip 1-6 includes two crossbeams 1-4 disposed at the inlet end of the duct skeleton 1, and a set of short vertical beams 1-61 between the two crossbeams 1-4; the number of the short vertical beams 1-61 of the skeleton lip 1-6 may be more than the number of vertical beams 1-3 of the duct skeleton 1-1, so as to provide more reliable support and structural strength at the skeleton lip 1-6 when the increased airflow brings greater impact force;

[0141] In an optional embodiment, the skeleton lip 1-6 is formed in an outwardly expanding shape. That is, the skeleton lip 1-6 is slightly offset outward at an angle relative to the central axis of the duct. The expansion angle of the skeleton lip 1-6 can be set to approximately 0 to 25 degrees outward; the skeleton lip 1-6 is designed to directly affect the intake volume of the duct through the airflow pressure acting on the duct lip.

[0142] Optionally, the lip can be set so that the skeleton lip 1-6 is deflected outward by about 20 degrees to achieve the optimal values ​​of aerodynamic efficiency, air intake, stall characteristics, and thrust characteristics, with the air intake reaching its maximum value.

[0143] Optionally, the skeleton lip 1-6 has a streamlined symmetrical airfoil structure to fully comply with the principles of fluid dynamics. This streamlined design allows airflow to flow smoothly over the lip surface while also increasing lift. The skeleton lip 1-6 of this streamlined symmetrical airfoil structure is slightly thicker than other parts of the duct skeleton 1-1 and is slightly pointed at the leading edge. In cross-section, the skeleton lip 1-6 has a thinner willow leaf shape, forming a smooth overall shape. The curvature of the upper airfoil surface (i.e., the inner surface facing the duct interior) of the skeleton lip 1-6 is slightly larger than that of the lower airfoil surface (i.e., the outer surface facing the duct exterior), to create low pressure inside the duct lip and achieve better airflow performance.

[0144] Preferably, the drone includes a motor assembly, an electronic speed controller, a propeller assembly, a flight control system 9, a power supply, a receiver 4, and a GPS module 10;

[0145] The receiver 4, GPS module 10 and flight control system are mounted on the frame;

[0146] The propeller assembly includes a connecting rod assembly, a rotor mounting platform assembly, and a propeller blade assembly.

[0147] The frame is connected to the propeller assembly via a rotor mounting platform assembly and a connecting rod assembly;

[0148] Furthermore, the frame is made of carbon fiber laminate material;

[0149] The connecting rod assembly is made of hollow carbon tubes and is connected to the frame by bolts, which reduces weight while ensuring the strength and rigidity of the UAV frame structure;

[0150] The electronic speed controller (ESC) can adjust the motor speed in real time through signals transmitted from the flight control system, thereby controlling the attitude and position of the UAV.

[0151] The propeller assembly includes multiple propellers; each propeller is a two-bladed propeller made of carbon fiber material. Carbon fiber has low density and high strength, and is not prone to vibration under high-speed rotation, providing stable rotor lift. At the same time, the two-bladed propeller has higher efficiency than the multi-bladed propeller.

[0152] The flight control system is the open-source Pixhawk 4 flight controller. The open-source Pixhawk 4 flight controller comes with multiple sensors, such as a 3-axis 16-bit gyroscope, a 3-axis 14-bit accelerometer, a magnetometer, and a barometer. The open-source Pixhawk 4 flight controller autopilot can control the drone's flight without external sensors. At the same time, it can connect to an external GPS module, allowing the drone to use the GPS module's signal for positioning, providing the drone's specific location information, and automatically completing tasks.

[0153] The frame is positioned at the center of the speed-increasing and flow-boosting component 1;

[0154] Furthermore, the linkage assembly includes linkage 5, linkage 2, linkage 3, and linkage 4; linkage 5, linkage 2, linkage 3, and linkage 4 are respectively connected to the four opposite corners of the frame;

[0155] The propeller blade assembly includes propeller blade one, propeller blade two, propeller blade three, and propeller blade four;

[0156] The rotor mounting platform assembly includes: rotor mounting platform one, rotor mounting platform two, rotor mounting platform three, and rotor mounting platform four;

[0157] The motor assembly includes four motors, divided into two pairs. The motors in each pair rotate in opposite directions to cancel out the torque generated by the motor rotation, thus preventing the drone from spinning.

[0158] Furthermore, the motor assembly includes motor 1 (7), motor 2, motor 3, and motor 4;

[0159] The propeller blade 2 is connected to the rotor mounting platform 6, the motor 7, and the connecting rod 1, respectively.

[0160] Furthermore, the connection methods of connecting rods two, three, and four are the same as those of connecting rod one;

[0161] For example, motor one, motor two, motor three and motor four are all three-phase AC brushless motors;

[0162] Furthermore, the flight control system is mounted on the upper surface of the frame via rubber damping washers;

[0163] The motor includes an output shaft and a motor body; a propeller blade is connected to the output shaft;

[0164] The flight control system transmits electrical signals to the electronic speed controller (ESC), which converts the electrical signals into three-phase AC signals and outputs them to motors one, two, three, and four, driving propellers one, two, three, and four to rotate.

[0165] For example, the propeller is screwed onto the rotor of the motor, and the propeller rotates by the rotation of the motor.

[0166] Preferably, the carbon plate connecting assembly includes carbon plate connector one, carbon plate connector two, carbon plate connector three, and carbon plate connector four;

[0167] The carbon plate connector includes a carbon plate and a carbon plate; one end of the carbon plate and the carbon plate are connected to the connecting rod by a bolt 8.

[0168] Furthermore, the other end of the carbon plate one and carbon plate two is connected to a slot in the flow-boosting and speed-increasing duct.

[0169] The carbon plate connectors 2, 3, and 4 are connected in the same way as the carbon plate connector 1.

[0170] For example, the carbon plate connector one, carbon plate connector two, carbon plate connector three and carbon plate connector four are all made of carbon fiber material;

[0171] The carbon plate connectors 1, 2, 3, and 4 designed in this invention are all made of high-strength, lightweight carbon fiber materials. They can not only withstand greater stress, but also significantly reduce the overall weight of the UAV, thereby improving flight efficiency and endurance.

[0172] This invention designs an axially symmetric and centrally symmetric speed-increasing and current-boosting component. Its bottom side is designed with four sets of slots to ensure that the speed-increasing and current-boosting component, the drone, and the carbon plate connecting component can still maintain a stable connection under high load operation. In addition, the design of the four sets of slots makes it easy to insert the four sets of carbon plate connectors. The other end of the four sets of carbon plate connectors is fixedly connected to the drone rotor mounting platform by bolts.

[0173] Another objective of this invention is to provide a method for waterless photovoltaic cleaning using a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model, comprising:

[0174] The waterless photovoltaic cleaning drone flies to the photovoltaic panel to be cleaned and hovers stably under the control of the flight control system (9);

[0175] Obtain the removal conditions for particles adhering to the photovoltaic panel to be cleaned;

[0176] Based on the removal conditions of the adhering particles, the minimum wind speed for removing the adhering particles is obtained, and the minimum wind speed is input into the flight control system 9 to obtain a three-phase AC signal.

[0177] The motor assembly receives a three-phase AC signal, which drives the propeller blade assembly to rotate and generate a corresponding airflow. The corresponding airflow passes through the speed-increasing duct 1 to generate a high-speed airflow, which is used to clean the photovoltaic panel to be cleaned.

[0178] Furthermore, the system controls the waterless photovoltaic cleaning drone to take off stably and reach the preset altitude;

[0179] Once it reaches the predetermined altitude, the waterless photovoltaic cleaning drone navigates along a preset path, adjusts its flight direction and altitude, and flies over the photovoltaic panels to be cleaned.

[0180] Upon reaching the target location, the drone hovers, with the flight control system 9 ensuring its stability.

[0181] The removal conditions for adhering particles on the photovoltaic panel to be cleaned are obtained; based on the removal conditions for adhering particles and the dust accumulation mechanics model, the minimum wind speed for removing adhering particles is obtained, and the minimum wind speed is input into the flight control system 9 to obtain an electrical signal and transmit it to the electronic speed controller (ESC). The ESC converts the electrical signal into a three-phase AC signal and outputs it to motors 1, 2, 3, and 4; thereby driving propeller blades 2, 3, and 4 to rotate and generate corresponding airflow. The corresponding airflow passes through the speed-increasing duct 1 to generate a high-speed airflow, which is used to clean the photovoltaic panel to be cleaned.

[0182] Furthermore, the design of the UAV speed-increasing duct is based on the incompressible fluid continuity formula. It accelerates the airflow and generates a high-speed airflow by narrowing the duct's cross-sectional area from the inlet to the outlet. The expression for the incompressible fluid continuity is:

[0183] ρV1A1=ρV2A2

[0184]

[0185] Where A1 is the inlet area and A2 is the outlet area. The cross-section of the duct perpendicular to its longitudinal central axis smoothly tapers from the inlet to the outlet. For example, in an illustrative example, the inlet area A1 of the duct designed using the above formula is 0.57m². 2 The outlet area A2 of the culvert is 0.225m². 2The inlet-outlet contraction ratio is 0.395. In this example, the airflow velocity at the outlet after acceleration is approximately 2.5 times that at the drone's propellers, effectively increasing the wind speed generated during drone flight. ρ is the air density of the flight environment, V1 is the airflow velocity at the inlet, and V2 is the airflow velocity at the outlet.

[0186] The expression for the deposition mechanics model is:

[0187] F ad =F e +F vdw +G y +F buoyancy

[0188] Among them, F ad F is the primary adhesion force of dust particles perpendicular to the surface of the solar panel. e For electrostatic force, F vdw For van der Waals force, G y F is the gravitational component. buoyancy This refers to the buoyancy force experienced by microparticles in the air.

[0189] Furthermore, the rotation of propeller blades one, two, three, and four generates corresponding airflow velocities u. a The expression is:

[0190]

[0191] Where Cv is the dimensionless velocity coefficient, N is the propeller speed (in RPM), Dp is the propeller diameter, and ρ is the air density of the flight environment, which is related to the flight altitude.

[0192] The condition for removing adherent particles is expressed as follows:

[0193]

[0194] Where k0 is the static friction coefficient, d p F represents the diameter of the dust particles. n p0 is the supporting force, and p0 is the adhesive force of the adhering particles.

[0195] Preferably, the specific steps for flying over the photovoltaic panels to be cleaned include:

[0196] RGB images of the photovoltaic panels to be cleaned were acquired using drones;

[0197] Gaussian filtering is used to preprocess the RGB image of the photovoltaic panel to be cleaned to remove image noise and obtain a preprocessed RGB image.

[0198] Convert the preprocessed RGB image to an HSV image;

[0199] Determine the color threshold for the photovoltaic panel;

[0200] The HSV image is then segmented based on the color threshold and then subjected to dilation and erosion to obtain the processed image.

[0201] The portion of the processed image that matches the shape and size of the photovoltaic panel is retained, while contours that do not match the area and shape are removed. Based on the Sobel filter, the edge region of the photovoltaic panel to be cleaned is obtained.

[0202] The edge region of the photovoltaic panel to be cleaned is represented in the RGB image of the photovoltaic panel to be cleaned, and edge detection is performed to obtain the cleaning area of ​​the photovoltaic panel to be cleaned. The drone flies to the photovoltaic panel to be cleaned according to the cleaning area of ​​the photovoltaic panel to be cleaned.

[0203] Understandably, the flight control system 9 ensures stability to prevent the drone from deviating from the target due to airflow disturbances or wind.

[0204] Preferably, the preset path navigation is a remote control command from the operator or a flight path pre-planned by the ground station;

[0205] Preferably, the specific steps in step 1 for controlling the anhydrous photovoltaic cleaning drone to take off stably and reach the preset altitude include:

[0206] The remote controller sends operation commands to the waterless photovoltaic cleaning drone; the operation commands are transmitted to the drone via radio waves.

[0207] The drone transmits operating commands to the flight control system 9;

[0208] After receiving the operation command, the flight control system 9 performs a status check; the status check includes the status of the UAV sensors, battery level, motors and ESCs;

[0209] After the status check is completed, the flight control system 9 sends a low-frequency pulse signal to the electronic speed controller (ESC) to start the corresponding motor and drive the corresponding propeller to rotate at a low speed.

[0210] The flight control system controls the four motors to accelerate synchronously, while simultaneously controlling the drone's attitude to enable the drone to take off smoothly and reach the predetermined altitude.

[0211] In this invention, the takeoff process of the drone includes the flight controller gradually increasing the motor speed, driving the propeller to rotate and generating sufficient thrust to allow the drone to take off smoothly. After the drone takes off smoothly, the flight controller automatically adjusts its flight direction and altitude according to a pre-set path navigation, flying to the area above the photovoltaic panel to be cleaned. Upon reaching the target location, the drone hovers above the photovoltaic panel, and the flight controller ensures stable hovering to prevent it from deviating from the target due to airflow disturbances or wind. The motor drives the propeller to generate a high-speed, downward airflow. When the airflow passes through the speed-increasing and flow-boosting components, its velocity is further accelerated, forming a high-speed airflow. This accelerated high-speed airflow has a high flow rate and cleaning effect, effectively removing accumulated dust and other debris from the surface of the photovoltaic panel.

[0212] The above are embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for waterless photovoltaic cleaning using a waterless photovoltaic cleaning drone based on a dust accumulation mechanics model, comprising: The waterless photovoltaic cleaning drone flies to the photovoltaic panel to be cleaned and hovers stably under the control of the flight control system (9); Obtain the removal conditions for particles adhering to the photovoltaic panel to be cleaned; Based on the removal conditions of the adhering particles, the minimum wind speed for removing the adhering particles is obtained, and the minimum wind speed is input into the flight control system (9) to obtain a three-phase AC signal. The motor assembly receives a three-phase AC signal, which drives the propeller blade assembly to rotate and generate a corresponding airflow; the corresponding airflow passes through the speed-increasing duct (1) to generate a high-speed airflow, which is used to clean the photovoltaic panel to be cleaned; The anhydrous photovoltaic clean-up drone includes: Speed-increasing duct (1), carbon plate connecting components and drones; The speed-increasing duct (1) is connected to the UAV via a carbon plate connecting assembly; The speed-increasing duct (1) includes a support arm assembly, a crossbeam assembly, and a skin (1-2). The support arm assembly and the crossbeam assembly are connected to form a duct frame (1-1), and a cavity is formed inside the duct frame (1-1); the skin (1-2) is connected to the support arm assembly and the crossbeam assembly respectively; the UAV is disposed inside the cavity; The expression for the velocity of the airflow generated by the rotation of the propeller blade assembly is: in, This represents the airflow velocity generated by any propeller blade in the propeller blade assembly. The velocity coefficient is dimensionless. N The propeller speed, Dp The diameter of the propeller. ρ The air density of the flight environment.

2. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The structure of the speed-increasing duct (1) is both axisymmetric and centrally symmetric. The duct frame (1-1) defines the outline of the speed-increasing duct (1); The cross-section of the duct frame (1-1) is perpendicular to the longitudinal central axis of the speed-increasing duct (1).

3. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The UAV includes a flight control system (9), a motor assembly, and a propeller assembly; The motor assembly includes motor one (7); The propeller blade assembly includes propeller blade one (2).

4. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The beam assembly includes at least two beams (1-4). The at least two crossbeams (1-4) are arranged perpendicularly to the longitudinal central axis of the speed-increasing duct (1) on the cross section to form a closed structure; The support arm assembly includes at least two support arms (1-5); the at least two support arms (1-5) extend along the contour of the culvert frame (1-1) in the longitudinal direction and are joined with each of the crossbeams (1-4), the crossbeams and the support arms together form a mesh structure, constituting a structurally stable culvert frame (1-1).

5. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The design of the UAV speed-increasing duct is based on the continuity formula for incompressible fluids, expressed as: in, A 1 represents the imported area. A 2 represents the export area. ρ For the air density of the flight environment, V 1 represents the airflow velocity at the air inlet. V 2 represents the airflow velocity at the outlet.

6. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The expression for the dust accumulation mechanical model is: in, The primary adhesion force for dust particles is perpendicular to the surface of the solar panel. It is an electrostatic force. For van der Waals, For the gravitational component, This refers to the buoyancy force experienced by microparticles in the air.

7. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The cleaning area of ​​the photovoltaic panel to be cleaned is determined, and the drone flies to the area above the panel based on this area. The specific steps include: RGB images of the photovoltaic panels to be cleaned are obtained using a waterless photovoltaic cleaning drone; Gaussian filtering is used to preprocess the RGB image of the photovoltaic panel to be cleaned and convert it into an HSV image; Determine the color threshold for the photovoltaic panel; The HSV image is processed based on the color threshold to obtain the processed image; The edge region of the photovoltaic panel to be cleaned is obtained based on the processed image; The edge region of the photovoltaic panel to be cleaned is represented in the RGB image of the photovoltaic panel to be cleaned, and edge detection is performed to obtain the cleaning area of ​​the photovoltaic panel to be cleaned. The drone flies to the photovoltaic panel to be cleaned according to the cleaning area of ​​the photovoltaic panel to be cleaned.

8. The method for waterless photovoltaic cleaning using an anhydrous photovoltaic cleaning drone according to claim 1, characterized in that, The specific steps for the waterless photovoltaic cleaning drone to fly over the photovoltaic panels to be cleaned and hover stably under the control of the flight control system include: The flight control system (9) receives operation commands and performs status checks; After the status check is completed, the flight control system (9) sends a low-frequency pulse signal to the ESC to start the corresponding motor and drive the corresponding propeller to rotate at a low speed. The flight control system (9) controls the synchronous acceleration of each motor in the motor assembly, and at the same time controls the attitude of the UAV, so that the UAV leaves the ground, achieves a smooth take-off, and reaches the predetermined altitude.

Images