Four-axis patrol unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and discloses a four-axis patrol unmanned aerial vehicle, which comprises an observation window for covering a sensing detection module group, and also comprises a flexible cleaning body and a wind shielding shell which are both mounted at one side edge of the observation window; the wind shielding shell is hollow, the side, close to the observation window, of the wind shielding shell is open, and the flexible cleaning body is arranged in the wind shielding shell and attached to the observation window. And the linear transmission part is used for driving the wind shielding shell to linearly move back and forth in the direction perpendicular to the mounting side edge, so that the flexible cleaning body is driven to move to clean stains on the surface of the observation window. The linear transmission part drives the flexible cleaning body to clean stains on the surface of the observation window, and it is ensured that the sensing detection module group can accurately sense external environment signals through the clean observation window; furthermore, a liquid spraying head is matched with a liquid box, a one-way liquid outlet pipeline and a one-way liquid inlet pipeline, and the cleaning liquid is controlled to flow between a liquid cavity and the liquid spraying head, so that the cleaning liquid acts on the cleaning part of the flexible cleaning body.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, in particular to a four-axis patrol unmanned aerial vehicle. Background Art

[0002] With the rapid development of modern science and technology, drone technology has been widely used in many fields. Four-axis patrol drones are one of the most representative types. With their flexible maneuverability, stable flight performance and convenient operation characteristics, four-axis patrol drones play a vital role in many scenarios such as environmental monitoring, agricultural plant protection, power inspection, security monitoring, etc.

[0003] When performing patrol missions, drones need to use various sensor detection modules to obtain accurate data information in order to achieve accurate monitoring and analysis of the target area. These sensor detection modules usually perceive external environmental signals through observation windows. However, in actual flight, drones often face complex and changeable environments. For example, when flying in industrial areas, pollutants such as dust and oil in the air can easily adhere to the surface of the observation window; in the wild environment, rain, insects and flying dust will also continue to erode the observation window. Once the surface of the observation window is covered with stains, the signal received by the sensor detection module will be seriously interfered with, resulting in inaccurate and incomplete detection data, which in turn affects the quality and effectiveness of the entire patrol mission, and may even cause the drone to make wrong decisions and cause safety accidents.

[0004] Therefore, the present application proposes a four-axis patrol drone to solve the above problems. Summary of the invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides a four-axis patrol drone.

[0006] To achieve the above object, the present invention provides the following technical solution: a four-axis patrol drone, comprising an observation window for covering a sensor detection module group, and further comprising: The flexible cleaning body and the wind shield are both installed on one side of the observation window; The windshield shell is hollow inside and has an opening on one side close to the observation window. The flexible cleaning body is arranged in the windshield shell and fits the observation window. The linear transmission member is used to drive the windshield shell to move back and forth in a linear direction perpendicular to the side edge on which it is installed, thereby driving the flexible cleaning body to move and clean the stains on the surface of the observation window.

[0007] In the above technical solution, preferably, the flexible cleaning body is a sponge, and the sponge includes a nano sponge and a polyurethane sponge.

[0008] In the above technical solution, preferably, the linear transmission member includes: An assembly rack, which is mounted on the fuselage of the UAV; A reciprocating screw, rotatably arranged in the assembly frame; A motor is connected to the reciprocating screw drive; The linkage seat is arranged on the reciprocating screw rod and is connected with the wind shield shell.

[0009] In the above technical solution, preferably, a liquid spray head is provided on the opening side of the windshield shell close to the moving path, and the liquid spray head faces the joint between the flexible cleaning body and the observation window;

[0010] Also includes: A liquid tank having a liquid cavity for containing a cleaning liquid; The liquid chamber is respectively connected with a one-way liquid outlet pipeline and a one-way liquid inlet pipeline, and the other end of the one-way liquid outlet pipeline is connected with the liquid spray head; When the windshield housing moves forwardly / reversely, the one-way liquid outlet pipeline / one-way liquid inlet pipeline flows the cleaning liquid to the liquid spray head / liquid chamber.

[0011] In the above technical solution, preferably, it also includes: A push plate is disposed in the liquid cavity; A reciprocating linear pusher, used to push the push plate to move reciprocatingly and linearly in the direction toward the one-way liquid outlet pipeline; The one-way liquid outlet pipeline and the one-way liquid inlet pipeline are arranged adjacent to the connecting ends of the liquid cavity; When the windshield housing moves forwardly / reversely, the reciprocating linear pusher pushes the push plate to move closer to / away from the one-way liquid outlet pipeline, thereby exporting / introducing the cleaning liquid into the liquid spray head / liquid chamber.

[0012] In the above technical solution, preferably, the liquid tank is fixedly connected to the windshield shell, and the reciprocating linear driving member includes: A guide slide is provided on the fuselage of the UAV; A guide pulley, slidably arranged in the guide slideway; A push rod, one end of which passes through the liquid chamber and is connected to the push plate, and the other end of which is connected to the guide pulley; When the windshield housing moves forward / reversely, the guide pulley slides in the guide slideway in the forward / reverse direction, thereby driving the push rod and the push plate to move closer to / away from the one-way liquid outlet pipeline.

[0013] In the above technical solution, preferably, the windshield shell is further provided with an auxiliary stabilizing slide, the central axis of the guide pulley is provided with an auxiliary stabilizing pulley, and the auxiliary stabilizing pulley is slidably arranged in the auxiliary stabilizing slide.

[0014] In the above technical solution, preferably, a rotating shaft is provided in the windshield shell, the flexible cleaning body is provided on the rotating shaft, and a residual liquid scraping member is also provided on the rotating shaft; Also includes: A rotating transmission member, used for transmitting the rotating shaft to rotate back and forth in a circumferential direction; When the windshield shell moves forward / reversely over the coverage area of ​​the sensing detection module group on the observation window, the rotating transmission member drives the transmission shaft forward / reversely to rotate, driving the flexible cleaning body to rotate away from / close to the observation window, and driving the residual liquid scraping member to rotate close to / away from the observation window.

[0015] In the above technical solution, preferably, the residual liquid scraping member is a rubber scraper, and the rubber scraper includes a silicone rubber scraper and a nitrile rubber scraper.

[0016] In the above technical solution, preferably, the rotating transmission member includes: A cover shell is arranged on the side of the windshield shell adjacent to the opening; A gear, disposed at the shaft end of the rotating shaft and located in the housing; A tooth plate is slidably disposed in the housing and meshes with the gear; A push plate connected to the tooth plate, wherein the push plate is provided with a positive arc surface and a reverse arc surface; The forward trigger wheel and the reverse trigger wheel are respectively arranged perpendicularly to the forward arc surface and the reverse arc surface; Wherein, the cover shell is provided with a through hole adapted to the vertical path of the forward trigger wheel and the reverse trigger wheel; When the windshield shell moves forward / reversely over the coverage area of ​​the sensing detection module group on the observation window, the forward trigger wheel / reverse trigger wheel contacts the forward arc surface / reverse arc surface to push the push plate and the tooth plate to move away from / close to the observation window, thereby driving the gear and the rotating shaft to rotate forward / reverse.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention drives the windshield shell to drive the flexible cleaning body to directly clean the stains on the surface of the observation window through a linear transmission part, ensuring that the sensor detection module group can accurately sense external environmental signals through the clean observation window, thereby improving the accuracy and reliability of drone sensor detection.

[0018] Furthermore, by configuring the spray head in conjunction with a liquid tank, a one-way liquid outlet pipeline, a one-way liquid inlet pipeline, a push plate, and a reciprocating linear pusher, when the windshield shell moves forward or reversely, no additional power device is required. The windshield shell can follow the movement of the windshield shell to achieve the outflow and intake of cleaning liquid, thereby controlling the flow of cleaning liquid between the liquid chamber and the spray head. The spray head is directed toward the joint between the flexible cleaning body and the observation window, so that the cleaning liquid can directly act on the cleaning area, thereby enhancing the cleaning effect together with the flexible cleaning body.

[0019] When the windshield shell moves forward or reversely over the coverage area of ​​the sensing detection module group on the observation window, the combined design of the gears, tooth plates, push plates, forward trigger wheels and reverse trigger wheels can realize automatic switching of the flexible cleaning body and the residual liquid scraping member, thereby achieving the effects of cleaning with cleaning liquid and scraping off excess cleaning liquid when the windshield shell moves forward or reversely, thereby preventing residual liquid from affecting the normal operation of the sensing detection module. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A top view of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the observation window, windshield shell and linear transmission member of the present invention; Figure 3 It is a schematic cross-sectional structural diagram of the windshield shell of the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the windshield shell and the reciprocating linear driving member of the present invention; Figure 5 It is a schematic structural diagram of the liquid box and the push plate of the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the push rod and the push plate of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the rotating transmission member of the present invention; Figure 8 It is a schematic diagram of the structure of the cover shell of the present invention; Fig. 9 It is a three-dimensional structural schematic diagram of the rotating shaft, residual liquid scraping member, gear, tooth plate and push plate of the present invention; Fig.10 It is a schematic diagram of the three-dimensional structure of the observation window, the forward trigger wheel and the reverse trigger wheel of the present invention.

[0021] In the figure: 1. observation window; 2. flexible cleaning body; 3. wind shield shell; 4. linear transmission member; 41. assembly frame; 42. reciprocating screw; 43. motor; 44. linkage seat; 5. spray head; 6. liquid tank; 7. liquid chamber; 8. one-way liquid outlet pipeline; 9. one-way liquid inlet pipeline; 10. push plate; 11. reciprocating linear push member; 111. guide slide; 112. guide pulley; 113. push rod; 114. auxiliary stabilizing slide; 115. auxiliary stabilizing pulley; 12. rotating shaft; 13. residual liquid scraping member; 14. rotating transmission member; 141. cover shell; 142. gear; 143. tooth plate; 144. push plate; 145. positive arc surface; 146. reverse arc surface; 147. positive trigger wheel; 148. reverse trigger wheel; 149. through hole. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The four-axis patrol drone of the present application has a sensor detection module group including a forward-looking visual obstacle avoidance module (i.e., a visual sensor such as a camera), a laser ranging module (which emits a laser beam and receives a reflected laser signal for measuring the distance between the drone and surrounding objects), a millimeter-wave radar module (which uses high-frequency electromagnetic waves for detection and ranging), a GPS positioning module, etc., wherein the forward-looking visual obstacle avoidance module, the laser ranging module, and the millimeter-wave radar module are located inside the drone body and sense through an observation window 1 (not shown in the above figure).

[0024] like Figure 1 , Figure 2 As shown, the present invention provides a four-axis patrol drone, including an observation window 1 for covering a sensor detection module group, and also includes: The flexible cleaning body 2 and the windshield shell 3 are both installed at one side of the observation window 1; The windshield shell 3 is hollow inside and has an opening on one side close to the observation window 1. The flexible cleaning body 2 is arranged in the windshield shell 3 and fits with the observation window 1. Specifically, the side of the windshield shell 3 away from the moving path may also be set as an opening; It can provide convenience for replacing the flexible cleaning body 2. There is no need to disassemble the entire windshield shell 3. The old flexible cleaning body 2 can be taken out from the opening and a new cleaning body can be installed, which saves maintenance time and workload.

[0025] The linear transmission member 4 is used to drive the windshield housing 3 to move linearly back and forth in a direction perpendicular to the side edge on which it is installed, thereby driving the flexible cleaning body 2 to move and clean the stains on the surface of the observation window 1 .

[0026] In dusty industrial areas, humid and rainy outdoor environments, etc., the observation window 1 of the drone is easily contaminated with dust, oil, rain and other stains during flight. The operator can start the cleaning function according to the actual situation and remove these stains in time to ensure that the sensor detection module group can accurately perceive the external environmental signals through the clean observation window 1. The clean observation window 1 can ensure that external environmental signals such as light and electromagnetic waves pass through unimpeded, allowing the sensor detection module group to stably receive signals and avoid signal attenuation or distortion caused by stains, so that the sensing detection function of the drone can always remain in good condition.

[0027] like Figure 3As shown, the flexible cleaning body 2 is a sponge, and the sponge includes a nano sponge and a polyurethane sponge.

[0028] Nano sponge and polyurethane sponge can maintain good performance under different environmental temperature and humidity conditions. They will not harden or soften due to temperature changes, nor will they lose adsorption capacity due to humidity changes. They can adapt well to different environments and have good adsorption and elasticity. When wiping the observation window 1, they can fit tightly to the surface of the observation window 1, and their porous structure can store a certain amount of cleaning liquid. During the wiping process, the cleaning liquid can be absorbed and continuously released to enhance the dissolution and cleaning effect of stains.

[0029] like Figure 2 As shown, the linear transmission member 4 includes: An assembly frame 41 is provided on the fuselage of the UAV; A reciprocating screw 42 is rotatably disposed in the assembly frame 41; The motor 43 is connected to the reciprocating screw 42; The linkage seat 44 is transmission-mounted on the reciprocating screw 42 and connected to the windshield shell 3 .

[0030] Although the linear transmission member 4 can also be realized by a transmission member such as an electric push rod, the electric push rod can usually only realize a simple telescopic action, and the adjustment range of its stroke is limited. The transmission method of the reciprocating screw 42 is adopted, the stroke range is larger, and the process of converting the rotational motion of the motor 43 into the linear motion of the linkage seat 44 is also smoother, which can ensure that the motion trajectory of the linkage seat 44 is repeatable in each cleaning operation.

[0031] like Figure 1 , Figure 3 , Figure 5 As shown, a liquid spray head 5 is provided on the opening side of the windshield shell 3 close to the moving path, and the liquid spray head 5 faces the joint between the flexible cleaning body 2 and the observation window 1; The cleaning liquid sprayed by the liquid spray head 5 can evenly wet the flexible cleaning body 2, so that it always maintains a good cleaning state during the wiping process, and can reduce the friction resistance between the flexible cleaning body and the observation window, avoiding surface damage caused by the dry cleaning body scratching the observation window 1. In combination with the effect of the cleaning liquid in dissolving stains such as oil and dust, it can significantly enhance the ability to remove stubborn stains on the surface of the observation window 1, making the observation window 1 cleaner and more transparent, thereby ensuring that the sensor detection module group can accurately sense external environmental signals.

[0032] Also includes: A liquid tank 6, having a liquid chamber 7 for containing a cleaning liquid; The liquid chamber 7 is connected to a one-way liquid outlet pipeline 8 and a one-way liquid inlet pipeline 9 respectively, and the other end of the one-way liquid outlet pipeline 8 is connected to the liquid spray head 5; The other end of the one-way liquid inlet pipeline 9 is connected to a cleaning liquid box (not shown in the figure). The cleaning liquid box can be arranged on the outside or inside of the fuselage of the UAV, and can be arranged according to actual conditions. The one-way liquid inlet pipeline 9 is a hose, which can be flexibly deformed when the windshield shell 3 moves, thereby avoiding entanglement, pulling and damage of the pipeline, and ensuring that the cleaning liquid is stably transported from the cleaning liquid box to the liquid cavity 7. When the windshield housing 3 moves forward / reversely, the one-way liquid outlet pipeline 8 / one-way liquid inlet pipeline 9 circulates the cleaning liquid to the liquid spray head 5 / liquid chamber 7.

[0033] The supply of cleaning liquid is synchronized with the wiping action of the flexible cleaning body 2, and is set to one-way liquid outlet and liquid inlet, ensuring that the cleaning liquid is supplied to the spray head 5 and the liquid chamber 7 at different stages in coordination with the wiping action of the flexible cleaning body 2, completing the automatic spraying and cleaning liquid replenishing operations.

[0034] like Figure 4 , Figure 5 As shown, it also includes: A push plate 10 is disposed in the liquid chamber 7; The reciprocating linear pusher 11 is used to push the push plate 10 to move reciprocatingly and linearly in the direction toward the one-way liquid outlet pipeline 8; The one-way liquid outlet pipeline 8 and the one-way liquid inlet pipeline 9 are arranged adjacent to the connecting ends of the liquid cavity 7; When the windshield housing 3 moves forward / reversely, the reciprocating linear pusher 11 pushes the push plate 10 to move closer to / away from the one-way liquid outlet pipeline 8, thereby exporting / introducing the cleaning liquid to the liquid spray head 5 / liquid chamber 7.

[0035] The reciprocating movement of the push plate 10 is associated with the forward / reverse movement of the windshield shell 3, and the two are realized synchronously. This design allows the export and import processes of the cleaning liquid to be coordinated with the wiping action of the flexible cleaning body 2. There is no need to set a separate power source for the push plate 10, and the existing power resources of the drone can be fully utilized.

[0036] like Figure 4 , Figure 6 As shown, the liquid tank 6 is fixedly connected to the windshield shell 3, and the reciprocating linear pusher 11 includes: A guide slide 111 is provided on the fuselage of the UAV; A guide pulley 112 is slidably disposed in the guide slideway 111; A push rod 113, one end of which passes through the liquid chamber 7 and is connected to the push plate 10, and the other end of which is connected to the guide pulley 112;

[0037] When the windshield housing 3 moves forward / reversely, the guide pulley 112 slides forward / reversely in the guide slideway 111 , thereby driving the push rod 113 and the push plate 10 to move closer to / away from the one-way liquid outlet pipeline 8 .

[0038] Specifically, the guide slide 111 is obliquely arranged on the fuselage of the drone, and has lateral and longitudinal displacements. When the guide pulley 112 moves with the push rod 113, it moves longitudinally along the guide slide 111, and at the same time generates a lateral displacement and pushes the push rod 113 to move laterally. Its moving trajectory is an oblique line determined by the oblique direction of the guide slide 111, ensuring that the push rod 113 drives the push plate 10 to work accurately. In addition, this design does not require an additional power source, and the power transmission directly depends on the movement of the windshield shell 3, so that the delivery of the cleaning liquid and the cleaning action can be carried out synchronously; like Figure 4 As shown, an auxiliary stabilizing slide 114 is also provided on the windshield shell 3 , and an auxiliary stabilizing pulley 115 is provided on the central axis of the guide pulley 112 , and the auxiliary stabilizing pulley 115 is slidably disposed in the auxiliary stabilizing slide 114 .

[0039] During the movement of the guide pulley 112 along the guide slideway 111, the guide pulley 112 may shake or deviate due to various external factors (such as vibration during the flight of the drone, the influence of airflow, and the force generated by the push rod). The auxiliary stabilizing pulley 115 slides in the auxiliary stabilizing slideway 114, which can provide additional constraints and balancing force on the guide pulley 112, limit its shaking in the non-movement direction, and make the movement of the guide pulley 112 more stable.

[0040] like Figure 2 , Figure 7 As shown, a rotating shaft 12 is disposed in the windshield housing 3, the flexible cleaning body 2 is disposed on the rotating shaft 12, and a residual liquid scraping member 13 is also disposed on the rotating shaft 12; Also includes: The rotary transmission member 14 is used to transmit the rotating shaft 12 to reciprocate and rotate in the circumferential direction; When the windshield shell 3 moves forward / reversely through the coverage area of ​​the sensing detection module group on the observation window 1, the rotating transmission member 14 drives the rotating shaft 12 to rotate forward / reversely, driving the flexible cleaning body 2 to rotate away from / close to the observation window 1, and driving the residual liquid scraping member 13 to rotate close to / away from the observation window 1; In the above scheme, the flexible cleaning body 2 and the residual liquid scraping member 13 are initially arranged on one side above the observation window 1. When the residual liquid scraping member 13 scrapes liquid from bottom to top, the residual liquid may drip and affect the sensor detection module. For this reason, the fitting surface between the residual liquid scraping member 13 and the observation window 1 is set to an inverted V shape (it is not limited to this shape, and other shapes that can prevent the residual liquid from dripping and affecting the sensor detection module are all acceptable). In this way, when scraping liquid, the residual liquid will slide along the two sides of the inverted V shape and will not drip into the sensor detection module area, thereby ensuring that the sensor detection is carried out normally.

[0041] Specifically, the flexible cleaning body 2 and the residual liquid scraping member 13 are respectively responsible for cleaning and scraping off the residual liquid on the forward / reverse path of the windshield shell 3. The residual liquid scraping member 13 can timely and effectively scrape off the residual cleaning liquid and stains on the surface of the observation window to avoid leaving traces after the cleaning liquid dries, thereby ensuring the high transparency and cleanliness of the observation window, reducing the interference of stains and residual liquid on signals such as light and electromagnetic waves, and providing a clear observation field of view for the sensor detection module group.

[0042] like Figure 7 As shown, the residual liquid scraping member 13 is a rubber scraper, and the rubber scraper includes a silicone rubber scraper and a nitrile rubber scraper.

[0043] Rubber has good flexibility and elasticity, will not scratch or wear the surface of the observation window and can fit the surface of the observation window, ensuring that when scraping off residual liquid and stains, no gaps will be left for residual liquid and stains to remain, and damage to the observation window will be avoided, thereby ensuring the cleanliness of the observation window.

[0044] like Figure 8 , Fig. 9 , Fig.10 As shown, the rotating transmission member 14 includes: The cover 141 is arranged on the side of the windshield housing 3 adjacent to the opening; The gear 142 is disposed at the shaft end of the rotating shaft 12 and is located in the housing 141; The gear plate 143 is slidably disposed in the housing 141 and meshes with the gear 142; A push plate 144 is connected to the tooth plate 143, and a positive arc surface 145 and a reverse arc surface 146 are provided on the push plate 144; The positive trigger wheel 147 and the reverse trigger wheel 148 are respectively arranged perpendicular to the positive arc surface 145 and the reverse arc surface 146; The cover 141 is provided with a through hole 149 adapted to the vertical path of the forward trigger wheel 147 and the reverse trigger wheel 148; When the windshield shell 3 moves forward / reversely over the coverage area of ​​the sensing detection module group on the observation window 1, the forward trigger wheel 147 / reverse trigger wheel 148 contacts the forward arc surface / reverse arc surface to push the push plate 144 and the tooth plate 143 to move in the direction away from / close to the observation window 1, thereby driving the gear 142 and the rotating shaft 12 to rotate forward / reverse.

[0045] A transmission method in which the gear 142 is meshed with the tooth plate 143 is adopted, and the forward arc surface 145 and the reverse arc surface 146 on the push plate 144 are combined with the forward trigger wheel 147 and the reverse trigger wheel 148 to ensure that each time the windshield shell 3 moves forward or reversely through the coverage area of ​​the sensor detection module group, the rotating shaft 12 can rotate forward or reverse, thereby realizing the switching of the cleaning and residual liquid scraping functions, that is, the flexible cleaning body 2 and the residual liquid scraping member 13 are close to or away from the observation window 1 at the right time.

[0046] The working principle and use process of the present invention: When the observation window 1 needs to be cleaned, the motor 43 is started to drive the reciprocating screw 42 to rotate, and then the linkage seat 44 drives the windshield shell 3 to start reciprocating linear movement in a direction perpendicular to the installation side; Among them, during the forward movement of the windshield shell 3, the guide pulley 112 slides forward in the guide slide 111, and drives the push plate 10 to approach the one-way liquid outlet pipeline 8 through the push rod 113. At this time, the cleaning liquid in the liquid chamber 7 is pushed by the push plate 10 and flows to the spray head 5 through the one-way liquid outlet pipeline 8. The spray head 5 sprays the cleaning liquid to the joint between the sponge and the observation window 1. As the windshield shell 3 moves, the sponge wipes the surface of the observation window 1 with the assistance of the cleaning liquid.

[0047] When the windshield shell 3 moves forward over the coverage area of ​​the sensing detection module group on the observation window 1, the forward trigger wheel 147 contacts the forward arc surface 145 on the pushing plate 144, pushing the pushing plate 144 and the tooth plate 143 to move in the direction away from the observation window 1, and the tooth plate 143 drives the gear 142 and the rotating shaft 12 to rotate forward, so that the sponge body rotates away from the observation window 1, and the rubber scraper rotates close to the observation window 1, and scrapes off the excess cleaning liquid on the surface of the observation window 1 during the reverse movement of the windshield shell 3.

[0048] When the windshield shell 3 moves in the reverse direction, the guide pulley 112 slides in the reverse direction in the guide slideway 111 , driving the push plate 10 away from the one-way liquid outlet pipeline 8 through the push rod 113 . At this time, the cleaning liquid is replenished into the liquid chamber 7 through the one-way liquid inlet pipeline 9 .

[0049] And when the windshield shell 3 moves in the reverse direction over the covered area, the reverse trigger wheel 148 contacts the reverse arc surface 146, pushing the push plate 144 and the tooth plate 143 to move in the direction close to the observation window 1, driving the gear 142 and the rotating shaft 12 to rotate in the opposite direction, so that the sponge body rotates close to the observation window 1, and the rubber scraper rotates away from the observation window 1, preparing for the next cleaning, thereby completing the entire cleaning operation.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A four-axis inspection drone, comprising an observation window (1) for covering a sensor detection module group, characterized in that: Also includes: The flexible cleaning body (2) and the windshield shell (3) are both installed on one side of the observation window (1); The windshield shell (3) is hollow inside and has an opening on one side close to the observation window (1); the flexible cleaning body (2) is arranged inside the windshield shell (3) and fits the observation window (1); The linear transmission member (4) is used to drive the windshield housing (3) to move linearly back and forth in a direction perpendicular to the side edge on which it is installed, thereby driving the flexible cleaning body (2) to move and clean the stains on the surface of the observation window (1).

2. A four-axis inspection drone according to claim 1, characterized in that: The flexible cleaning body (2) is a sponge, and the sponge includes a nano sponge and a polyurethane sponge.

3. A four-axis inspection drone according to claim 1, characterized in that: The linear transmission member (4) comprises: An assembly frame (41) is arranged on the fuselage of the UAV; A reciprocating screw (42) is rotatably disposed in the assembly frame (41); A motor (43) drivingly connected to the reciprocating screw (42); The linkage seat (44) is transmission-mounted on the reciprocating screw rod (42) and is connected to the windshield housing (3).

4. A four-axis inspection drone according to any one of claims 1 to 3, characterized in that: A liquid spray head (5) is provided on the side of the opening of the windshield shell (3) close to the moving path, and the liquid spray head (5) faces the joint between the flexible cleaning body (2) and the observation window (1); Also includes: A liquid tank (6) having a liquid chamber (7) therein for containing a cleaning liquid; The liquid cavity (7) is respectively connected to a one-way liquid outlet pipeline (8) and a one-way liquid inlet pipeline (9), and the other end of the one-way liquid outlet pipeline (8) is connected to the liquid spray head (5); When the windshield housing (3) moves forwardly / reversely, the one-way liquid outlet pipeline (8) / one-way liquid inlet pipeline (9) circulates the cleaning liquid to the liquid spray head (5) / liquid chamber (7).

5. A four-axis inspection drone according to claim 4, characterized in that: Also includes: A push plate (10) is disposed in the liquid chamber (7); A reciprocating linear pusher (11) is used to push the push plate (10) to move reciprocatingly and linearly in a direction toward the one-way liquid outlet pipeline (8); The one-way liquid outlet pipeline (8) and the one-way liquid inlet pipeline (9) are arranged adjacent to the communicating ends of the liquid cavity (7); When the windshield housing (3) moves forward / reversely, the reciprocating linear pusher (11) pushes the push plate (10) to move closer to / away from the one-way liquid outlet pipeline (8), thereby exporting / introducing the cleaning liquid into the liquid spray head (5) / liquid chamber (7).

6. A four-axis inspection drone according to claim 5, characterized in that: The liquid tank (6) is fixedly connected to the windshield shell (3), and the reciprocating linear pusher (11) comprises: A guide slide (111) is arranged on the fuselage of the UAV; A guide pulley (112) slidably disposed in the guide slideway (111); A push rod (113), one end of which passes through the liquid chamber (7) and is connected to the push plate (10), and the other end of which is connected to the guide pulley (112); When the windshield housing (3) moves forward / reversely, the guide pulley (112) slides forward / reversely in the guide slideway (111), thereby driving the push rod (113) and the push plate (10) to move closer to / away from the one-way liquid outlet pipeline (8).

7. A four-axis inspection drone according to claim 6, characterized in that: An auxiliary stabilizing slideway (114) is also provided on the windshield shell (3), an auxiliary stabilizing pulley (115) is provided on the central axis of the guide pulley (112), and the auxiliary stabilizing pulley (115) is slidably disposed in the auxiliary stabilizing slideway (114).

8. The four-axis inspection drone according to claim 4, characterized in that: A rotating shaft (12) is provided in the windshield shell (3), the flexible cleaning body (2) is arranged on the rotating shaft (12), and a residual liquid scraping member (13) is also provided on the rotating shaft (12); Also includes: A rotary transmission member (14) for transmitting the rotating shaft (12) to rotate back and forth in a circumferential direction; When the windshield shell (3) moves forwardly / reversely through the coverage area of ​​the sensing detection module group on the observation window (1), the transmission shaft (12) of the rotating transmission member (14) rotates forwardly / reversely, driving the flexible cleaning body (2) to rotate away from / close to the observation window (1), and driving the residual liquid scraping member (13) to rotate close to / away from the observation window (1).

9. A four-axis inspection drone according to claim 8, characterized in that: The residual liquid scraping member (13) is a rubber scraper, and the rubber scraper includes a silicone rubber scraper and a nitrile rubber scraper.

10. The four-axis inspection drone according to claim 8, characterized in that: The rotating transmission member (14) comprises: A cover shell (141) is arranged on a side of the windshield shell (3) adjacent to the opening; A gear (142) is disposed at the shaft end of the rotating shaft (12) and is located inside the housing (141); A tooth plate (143) is slidably disposed in the housing (141) and meshes with the gear (142); A push plate (144) connected to the tooth plate (143), wherein the push plate (144) is provided with a positive arc surface (145) and a reverse arc surface (146); The forward trigger wheel (147) and the reverse trigger wheel (148) are respectively arranged perpendicular to the forward arc surface (145) and the reverse arc surface (146); Wherein, the cover shell (141) is provided with a through hole (149) adapted to the vertical path of the forward trigger wheel (147) and the reverse trigger wheel (148); When the windshield shell (3) moves forward / reversely through the coverage area of ​​the sensing detection module group on the observation window (1), the forward trigger wheel (147) / reverse trigger wheel (148) contacts the forward arc surface / reverse arc surface to push the push plate (144) and the tooth plate (143) to move in a direction away from / close to the observation window (1), thereby driving the gear (142) and the rotating shaft (12) to rotate forward / reverse.

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