Photovoltaic panel cleaning robot hoisting unmanned aerial vehicle and control method

Abstract

The invention relates to the technical field of photovoltaic power generation, in particular to a photovoltaic panel cleaning robot hoisting unmanned aerial vehicle and a control method. The grabbing and releasing mechanism is fixed under the unmanned aerial vehicle body, and the butt joint mechanism is arranged under the grabbing and releasing mechanism and matched with the grabbing and releasing mechanism to form fixed connection or release connection according to the operation state. A photovoltaic panel cleaning robot is fixed below the docking mechanism; the grabbing and releasing mechanism is provided with a photoelectric switch, the photoelectric switch senses the placement state of the photovoltaic panel cleaning robot and the connection state of the grabbing and releasing mechanism and the butt joint mechanism, and the photoelectric switch is in signal connection with the photovoltaic panel cleaning robot and the unmanned aerial vehicle body. The problems that the endurance is shortened due to the fact that the photovoltaic cleaning robot and the unmanned aerial vehicle cannot be separated during operation, and the cleaning efficiency is reduced due to the fact that equipment shakes and deviates during movement are solved, and the effect that one unmanned aerial vehicle can convey multiple photovoltaic panel cleaning robots is achieved at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic power generation, and in particular to a photovoltaic panel cleaning robot hoisting drone and a control method. Background Art

[0002] Photovoltaic solar energy plays an important role in my country's energy structure. Because it is in an outdoor environment for a long time and requires a certain tilt angle when fixed, dust and dirt are easily accumulated on the surface of photovoltaic panels, which will not only reduce the photoelectric conversion efficiency and reduce the power generation, but also may cause heat to be unable to dissipate effectively, resulting in a hot spot effect and thus shortening the service life of the photovoltaic panels. Therefore, it is very important to clean photovoltaic panels regularly.

[0003] Currently, the most common cleaning method is manual operation, but manual cleaning is not only inefficient, but also poses great safety hazards. In recent years, photovoltaic cleaning robots have also been used. However, the installation environment of photovoltaic panels is relatively diverse, especially for photovoltaic panels on roofs, mountains, flexible brackets, etc. Due to the complex surrounding terrain or being in a high-altitude state, photovoltaic cleaning robots are often difficult to retract and unreliable in fixing.

[0004] In the prior art, a patent with publication number CN219324522U discloses a wet and dry dual-purpose photovoltaic panel cleaning drone, including a rotor-type drone and a tracked remote-controlled vehicle. A detachable assembly connection structure is adopted between the tracked remote-controlled vehicle and the rotor-type drone, which can be quickly installed and disassembled. The tracked remote-controlled vehicle has symmetrically hinged rotating cleaning structures on both sides, and can use dry cleaning or wet cleaning mode according to actual use needs: a dry cleaning module is used in places where water is insufficient, and the dust on the surface of the photovoltaic panel is cleaned by rotating the cleaning roller brush; a water washing system is used in places where water is sufficient, and water is supplied by rotating the cleaning roller brush and using an external water supply component to achieve the purpose of cleaning operations.

[0005] This patent combines a rotor-type UAV with a tracked remote-controlled vehicle, which can transport the tracked remote-controlled vehicle to a designated location where work is required, effectively avoiding the safety hazards caused by manual placement. However, there are the following problems: the rotor-type UAV and the tracked remote-controlled vehicle in this patent cannot be separated during operation. After the rotor-type UAV transports the tracked remote-controlled vehicle to the photovoltaic panel, the surface of the photovoltaic panel is cleaned by the crawler-type coordinated rotating cleaning structure. During this process, the rotor-type UAV is stationary and is always carried by the tracked remote-controlled vehicle. This will not only increase the power consumption of the tracked remote-controlled vehicle and shorten its battery life, but also because the overall center of gravity is biased upward, the entire device may also shake and deviate when moving, resulting in poor contact between the rotating cleaning structure and the photovoltaic panel, affecting the cleaning efficiency; when this patent is operating, one UAV can only correspond to one tracked remote-controlled vehicle. For the situation where multiple devices are linked for cleaning operations, an equal number of UAVs are required for transportation, which not only increases the operating cost, but also makes equipment transportation inconvenient. Summary of the invention

[0006] The purpose of the present invention is to provide a photovoltaic panel cleaning robot hoisting drone and control method to address the defects in the prior art, so as to solve the problem that the photovoltaic cleaning robot and the drone cannot be separated during operation, resulting in shortened battery life, shaking and deviation when the equipment moves, thereby reducing the cleaning efficiency, and at the same time achieve the effect that one drone can transport multiple photovoltaic panel cleaning robots.

[0007] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a photovoltaic panel cleaning robot hoisting drone and a control method, including a drone body, a grasping and releasing mechanism, and a docking mechanism; the grasping and releasing mechanism is fixed directly below the drone body, and the docking mechanism is arranged below the grasping and releasing mechanism, and cooperates with the grasping and releasing mechanism to form a fixed connection or a released connection according to the operating status; the photovoltaic panel cleaning robot is fixed below the docking mechanism; the grasping and releasing mechanism is provided with a photoelectric switch, and the photoelectric switch senses the placement status of the photovoltaic panel cleaning robot and the connection status of the grasping and releasing mechanism and the docking mechanism, and the photoelectric switch is connected to the photovoltaic panel cleaning robot and the drone body signal.

[0008] Furthermore, the catch and release mechanism includes a catch and release component, which is a cavity structure, and is composed of a card block, the photoelectric switch, a compression spring, a square baffle, and a shell; a circular hole is opened in the center of the shell, and guide grooves and limit surfaces are symmetrically arranged on the left and right sides, and the top of the guide groove is semicircular in shape for easy processing and manufacturing, and the photoelectric switch is installed next to the limit surface; the card block cooperates with the guide groove to slide horizontally along the guide groove, one end of the card block is provided with a slope, the upper part is provided with a boss, and the tail is provided with the compression spring, the other end of the compression spring is pressed onto the square baffle, and the square baffle is fixed to the two sides of the shell by bolts, and the square baffle is in the middle A circular through hole is opened at the intermediate position, and the tail of the card block passes through; the grasping and releasing mechanism grasps and releases the docking mechanism through the grasping and releasing assembly, and the boss is pressed to the limit surface under the action of the elastic force of the compression spring when it is not squeezed by the docking mechanism, and the left and right two card blocks are at the closest position to the center of the shell, and the boss is between the photoelectric switch signal transmitting and receiving systems, the photoelectric switch is in the off state, and the exposed surface of the tail of the card block is flush with the side of the shell; after the card block is squeezed by the docking mechanism and moves away from the center of the shell, the boss leaves the photoelectric switch, and the photoelectric switch becomes on.

[0009] Furthermore, the docking mechanism includes a conical joint, a sliding retaining ring, and a limiting rod. The top of the conical joint is conical, and its maximum radial dimension is larger than the middle and bottom parts, and slightly smaller than the size of the circular hole passing through the shell from top to bottom. A docking ring groove is processed at the connection between the top and the middle part of the conical joint; the middle part of the conical joint is slidably connected to the sliding retaining ring, and the two are clearance-matched. The sliding retaining ring is in the shape of an inverted truncated cone, and a docking ring is provided on the top. The size of the docking ring matches the docking ring groove, and the limiting rod is connected to the lower part of the conical joint through an elastic pin, and a limiting ring is processed at the upper position of the limiting rod. When there is no external force, the sliding retaining ring is stationary on the upper surface of the limiting ring under the action of gravity. When the sliding retaining ring is moved upward by external force and slides to below the top of the conical joint, the docking ring groove and the docking ring are docked and matched to ensure that the conical joint is aligned with the center of the sliding retaining ring.

[0010] Furthermore, the catch-and-release mechanism grabs the docking mechanism through the catch-and-release assembly in cooperation with the conical joint. During the downward movement of the catch-and-release assembly after it is inserted into the conical joint, when the clamping block reaches the horizontal height of the top of the conical joint, the clamping block is pushed to both sides respectively, and the photoelectric switch is turned on; the catch-and-release assembly continues to move downward so that the top position of the conical joint is higher than the clamping block, and the clamping block returns to its initial position under the action of the elastic force of the compression spring, and the photoelectric switch is turned off. At this time, the clamping block clamps the conical joint, and the catch-and-release mechanism is fixedly connected to the docking mechanism; the catch-and-release mechanism releases the docking mechanism through the catch-and-release assembly in cooperation with the sliding retaining ring, and the catch-and-release assembly moves downward, and when the clamping block reaches the sliding retaining ring, the When the dynamic retaining ring is at a horizontal height, the sliding retaining ring is supported by the limit ring and restricts its movement, the blocking block is pushed to both sides again, the photoelectric switch is turned on, and as the catch and release assembly moves downward, the top surface of the sliding retaining ring is higher than the blocking block, and the catch and release assembly stops moving downward and rises in the opposite direction. The blocking block is squeezed toward the middle by the elastic force of the compression spring, driving the sliding retaining ring to move upward with the catch and release assembly, and the photoelectric switch is in an off state. When the sliding retaining ring moves up until it contacts the lower end of the top of the conical joint, the sliding retaining ring stops moving upward and pushes the blocking block to both sides again, the blocking block releases the top of the conical joint, and the catch and release assembly continues to move upward to separate the catch and release mechanism from the docking mechanism.

[0011] Furthermore, the grasping and releasing mechanism also includes a vertical rod, a T-shaped connecting block, and a connecting frame. The vertical rod is vertically downward and is fixedly connected to the bottom of the cross rod by the T-shaped connecting block. The vertical rod is perpendicular to the cross rod. The lower end of the vertical rod is connected to the connecting frame. The two ends of the connecting frame are hinged to the grasping and releasing assembly. The grasping and releasing assembly is also provided with a guide sleeve. The guide sleeve has a trumpet-shaped structure. The guide sleeve is fixed in the middle position of the lower part of the shell and is communicated with the inner cavity of the shell.

[0012] Furthermore, when the grasping and releasing mechanism is connected to the docking mechanism, the grasping and releasing assembly is sleeved on the conical joint, so that the conical joint is inserted into the circular hole of the shell and guided in the direction by the guide sleeve.

[0013] Furthermore, the docking mechanism also includes a supporting spring, a square connecting block, a swing frame, and a fixed half ring. The upper end of the supporting spring is connected to the lower end of the limiting rod, the square connecting block is fixed to the lower end of the supporting spring, and the swing frame is hinged to the square connecting block. After the fixed half ring is installed or clamped on the photovoltaic panel cleaning robot, it is connected to the swing frame by bolts to fix the docking mechanism on the photovoltaic panel cleaning robot. When the conical joint enters the grasping and releasing assembly along the guide sleeve, the supporting spring is appropriately bent and deformed to compensate for the vertical deviation between the grasping and releasing assembly and the conical joint.

[0014] Furthermore, a camera is installed on the drone body, and the camera lens faces downward to collect images below the drone body, which are displayed on the remote control screen or the connected mobile phone after processing and transmission. A landing gear is provided at the lower end of the drone body.

[0015] Furthermore, the grasping and releasing mechanism also includes a first quick buckle, a second quick buckle, an arc-shaped support plate, a cross bar and a sliding bar. There are two sliding bars in total and they are symmetrically distributed at both ends of the cross bar. The sliding bar is perpendicular to the cross bar. The sliding bar and the cross bar are detachably connected by the first quick buckle, and the first quick buckle can slide on the cross bar and adjust the distance between the two sliding bars. The arc-shaped support plate is connected to both ends of the sliding bar through the second quick buckle, and the second quick buckle can drive the arc-shaped support plate to slide and rotate on the sliding bar; the force-bearing surface of the arc-shaped support plate is an arc-shaped surface and cooperates with the landing gear. The arc-shaped support plates on the two sliding bars cooperate together to fix the grasping and releasing mechanism between the landing gears, by adjusting the first quick buckle spacing, the second quick buckle spacing and the turning angle.

[0016] A control method for hoisting a drone by a photovoltaic panel cleaning robot. During operation, a docking mechanism is first installed on the photovoltaic panel cleaning robot, and the drone body and the gripping and releasing mechanism are manually connected to the docking mechanism on the ground, and then the operation is started according to the following steps: The drone body is started, and the drone body is set to a placement state. The drone body is controlled to mount the photovoltaic panel cleaning robot through the grasping and releasing mechanism and the docking mechanism to fly to a designated position of the photovoltaic panel. The environment under the drone body is observed through the camera on the drone body, and the mounted photovoltaic panel cleaning robot is adjusted to be parallel to the photovoltaic panel.

[0017] The drone body is controlled to move downward, and the photovoltaic panel cleaning robot is placed on the photovoltaic panel. Then the drone body continues to fly downward, so that the card block is squeezed by the sliding retaining ring and moves to both sides for the first time in the placed state, so that the photoelectric switch is turned on and releases a signal to the drone body and the photovoltaic panel cleaning robot. After the photovoltaic panel cleaning robot receives the signal, the negative pressure adsorption system is turned on to allow the photovoltaic panel cleaning robot to be adsorbed on the photovoltaic panel. After receiving the signal, the drone body changes its movement direction to upward movement. Since the card block is lower than the top surface of the sliding retaining ring at this time, the card block drives the sliding retaining ring to move upward with the grasping and releasing assembly until the sliding retaining ring is upward against the lower end of the top of the conical joint. The card block is squeezed again and moves to both sides for the second time in the placed state, so that the grasping and releasing mechanism is separated from the docking mechanism. At the same time, the photoelectric switch is turned on for the second time, and a signal is sent to the drone body to inform the drone that the separation work has been completed. The drone body can return to the ground to mount and transport the next photovoltaic panel cleaning robot.

[0018] When the photovoltaic panel cleaning robot in the cleaning operation completes the cleaning operation, the drone body is set to the recovery state, and then the drone body is controlled to take off. At the same time, the built-in module of the photovoltaic panel cleaning robot sends its own latitude and longitude coordinates to the drone body, so that the drone body locates the photovoltaic panel cleaning robot and flies directly above it. Then, through the camera observation, the drone position is fine-tuned to make the grab and release component as close to the conical joint as possible, and the drone body is controlled to fly downward, and the grab and release component is inserted into the conical joint. When the block passes the top of the conical joint, the block is squeezed and moved to both sides, and the photoelectric switch is turned on and transmits a signal to the drone body and the photovoltaic panel cleaning robot, so that the drone body stops descending. At this time, the grab and release mechanism and the docking mechanism have been connected, and the negative pressure adsorption system of the photovoltaic panel cleaning robot is closed. The drone body is controlled to mount the photovoltaic panel cleaning robot and return to the ground. After the grab and release mechanism and the docking mechanism are manually separated on the ground, the drone body continues to recover other photovoltaic panel cleaning robots.

[0019] The method comprises a drone body, a grasping and releasing mechanism, and a docking mechanism; the grasping and releasing mechanism is fixed directly below the drone body, the docking mechanism is arranged below the grasping and releasing mechanism, and cooperates with the grasping and releasing mechanism to form a fixed connection or a released connection according to the operating state; a photovoltaic panel cleaning robot is fixed below the docking mechanism; the grasping and releasing mechanism is provided with a photoelectric switch, the photoelectric switch senses the placement state of the photovoltaic panel cleaning robot and the connection state of the grasping and releasing mechanism and the docking mechanism, the structure of the photoelectric switch signal connection with the photovoltaic panel cleaning robot and the drone body and the control method thereof, thereby solving the problem that the photovoltaic cleaning robot and the drone cannot be separated during operation, resulting in shortened battery life, shaking and offset when the equipment moves, and thus reducing the cleaning efficiency, and at the same time achieving the effect that one drone can transport multiple photovoltaic panel cleaning robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a schematic diagram of the structure of the catch and release mechanism of the present invention; Figure 3 for Figure 2 A partial enlarged view of the middle part; Figure 4 A partial cross-sectional view of the vicinity of the catch-and-place assembly of the present invention; Figure 5 It is a schematic diagram of the docking mechanism structure of the present invention.

[0022] Reference numerals: 1 is the drone body, 11 is the camera, and 12 is the landing gear; 2 is a gripping and releasing mechanism, 21 is a first quick buckle, 22 is a second quick buckle, 23 is an arc-shaped abutment plate, 24 is a cross bar, 25 is a slide bar, 26 is a vertical bar, 27 is a T-shaped connecting block, 28 is a connecting frame, 29 is a gripping and releasing assembly, 291 is a clamping block, 2911 is a boss, 292 is a photoelectric switch, 293 is a compression spring, 294 is a square baffle, 295 is a guide sleeve, 296 is a housing, 2961 is a guide groove, and 2962 is a limit surface; 3 is a docking mechanism, 31 is a conical joint, 311 is a docking ring groove, 32 is a sliding retaining ring, 321 is a docking ring, 33 is a supporting spring, 34 is a square connecting block, 35 is a swing frame, 36 is a fixed half ring, 37 is a limit rod, and 371 is a limit ring. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by “center”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “inside” and “outside”, etc., are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0025] A photovoltaic panel cleaning robot hoisting drone and control method, such as Figure 1 , 2 As shown in , 3, it includes a drone body 1, a grasping and releasing mechanism 2, and a docking mechanism 3; the grasping and releasing mechanism 2 is fixed directly below the drone body 1, and the docking mechanism 3 is arranged below the grasping and releasing mechanism 2, and cooperates with the grasping and releasing mechanism 2 to form a fixed connection or a released connection according to the working state; a photovoltaic panel cleaning robot is fixed below the docking mechanism 3; the grasping and releasing mechanism 2 is provided with a photoelectric switch 292, and the photoelectric switch 292 senses the placement state of the photovoltaic panel cleaning robot and the connection state of the grasping and releasing mechanism 2 and the docking mechanism 3, and the photoelectric switch 292 is connected to the photovoltaic panel cleaning robot and the drone body 1 signal.

[0026] Specifically, after the drone body 1 transports the photovoltaic panel cleaning robot to the designated location, the drone body 1 can separate the grabbing and releasing mechanism 2 from the docking mechanism 3 to achieve separation of the drone and the cleaning robot. The drone does not need to continue to carry the cleaning robot during the cleaning operation, thereby avoiding the problem of increased power consumption and shortened battery life, improving the efficiency and flexibility of the drone, and allowing the drone to return to the base faster for the next transportation or perform other tasks. The grabbing and releasing mechanism 2 and the docking mechanism 3 can form a fixed connection or a release connection according to the operating status, so that the drone can accurately grab and release the cleaning robot, ensuring the safety and accuracy of the operation. Through the induction of the photoelectric switch 292, real-time monitoring of the grabbing and releasing status is achieved, further improving the reliability and stability of the operation. The photoelectric switch 292 can sense the placement status of the photovoltaic panel cleaning robot and the connection status of the grabbing and releasing mechanism 2 and the docking mechanism 3, and transmit this information to the drone body 1 and the photovoltaic panel cleaning robot in real time, realizing intelligent monitoring of the operation process and improving the degree of automation and safety of the operation. Through the reasonable design of the grabbing and releasing mechanism 2 and the docking mechanism 3, one drone can transport multiple photovoltaic panel cleaning robots, significantly reducing the operating cost, improving the convenience of equipment transportation, and also improving the efficiency of the cleaning operation.

[0027] As a preferred embodiment of the above, Figure 3 , 4As shown, the catch and release mechanism 2 includes a catch and release component 29, which is a cavity structure, and is composed of a clamping block 291, the photoelectric switch 292, a compression spring 293, a square baffle 294, and a shell 296; a circular hole is opened in the middle of the shell 296, and a guide groove 2961 and a limit surface 2962 are symmetrically arranged on the left and right sides. The top of the guide groove 2961 is semicircular in shape for easy processing and manufacturing, and the photoelectric switch 292 is installed next to the limit surface 2962; the clamping block 291 cooperates with the guide groove 2961 to slide horizontally along the guide groove 2961, one end of the clamping block 291 is provided with an inclined surface, the upper part is provided with a boss 2911, and the tail is provided with the compression spring 293, and the other end of the compression spring 293 is pressed onto the square baffle 294, and the square baffle 294 is fixed to both sides of the shell 296 by bolts, and a circular through hole is opened in the middle of the square baffle 294 The hole cooperates with the tail of the card block 291 to pass through. When installing or removing the card block 291, it is only necessary to remove the square blocking piece 294 from the shell 296; the grasping and releasing mechanism 2 grasps and releases the docking mechanism 3 through the grasping and releasing assembly 29, and the boss 2911 is pressed onto the limiting surface 2962 under the action of the elastic force of the compression spring 293 when it is not squeezed by the docking mechanism 3. The left and right card blocks 291 are at the closest position to the center of the shell 296, and the boss 2911 is between the signal transmitting and receiving systems of the photoelectric switch 292. The photoelectric switch 292 is in the disconnected state, and the exposed surface of the tail of the card block 291 is flush with the side of the shell 296; after the card block 291 is squeezed by the docking mechanism 3 and moves away from the center of the shell 296, the boss 2911 leaves the photoelectric switch 292, and the photoelectric switch 292 becomes connected.

[0028] Specifically, the catch and release assembly 29 adopts a cavity structure, which contains a card block 291, a photoelectric switch 292, a compression spring 293 and a square baffle 294, making the entire catch and release mechanism more compact and fully functional, which not only optimizes the layout of components, but also improves the stability and durability of the mechanism, while reducing unnecessary weight, so that the drone can perform tasks more efficiently. The cooperation between the card block 291 and the guide groove 2961 enables the card block to slide horizontally along the guide groove, which not only ensures the accuracy of catch and release, but also improves the flexibility of the mechanism. The sliding of the card block 291 in the guide groove 2961 realizes the firm grasping and release of the docking mechanism, and facilitates the adjustment and correction of the position, thereby improving the efficiency and safety of the operation. The ingenious installation position of the photoelectric switch 292 and the cooperation with the boss 2911 of the card block 291 enable the card block 291 to be squeezed by the docking mechanism 3 when it is squeezed. The photoelectric switch 292 can quickly sense and change to the on state, thereby sending signals to the drone body 1 and the photovoltaic panel cleaning robot. This feedback mechanism greatly improves the automation and safety of the operation, ensures the accuracy and reliability of the grasping and releasing process, and the elastic force of the compression spring 293 enables the card block 291 to automatically reset to the initial position when not affected by external force, ensuring the stability and reliability of the grasping and releasing mechanism. Through the elastic force of the compression spring, the automatic reset and positioning of the card block are realized, the operation process is simplified, and the operation efficiency is improved. The square baffle 294 is fixed to both sides of the shell 296 by bolts, and a circular through hole is opened in the middle position to cooperate with the tail of the card block 291 to pass through, making it more convenient and quick to install or remove the card block. The easy-to-disassemble design facilitates maintenance and repair of the grasping and releasing mechanism, extends the service life of the mechanism, and also improves the convenience of operation.

[0029] As a preferred embodiment of the above, Figure 4 , 5 As shown, the docking mechanism 3 includes a conical joint 31, a sliding retaining ring 32, and a limiting rod 37. The top of the conical joint 31 is conical, and its maximum radial dimension is larger than the middle and bottom, and slightly smaller than the size of the circular hole through the shell 296. A docking ring groove 311 is processed at the connection between the top and the middle of the conical joint 31; the middle position of the conical joint 31 is slidably connected to the sliding retaining ring 32, and the two are clearance-matched. The sliding retaining ring 32 is in an inverted truncated cone shape, and a docking ring 321 is provided on the top. The size of the docking ring 321 In line with the docking ring groove 311, the limit rod 37 is connected to the lower part of the conical joint 31 through an elastic pin, and a limit ring 371 is processed at the upper position of the limit rod 37. When there is no external force, the sliding retaining ring 32 is stationary on the upper surface of the limit ring 371 under the action of gravity. When the sliding retaining ring 32 moves upward under the action of external force and slides to below the top of the conical joint 31, the docking ring groove 311 and the docking ring 321 are docked and matched to ensure that the centers of the conical joint 31 and the sliding retaining ring 32 are aligned.

[0030] Specifically, by combining the conical design of the conical joint 31 and the inverted truncated cone design of the sliding retaining ring 32, not only the automatic centering function during docking is realized, but also the stability of docking is ensured. By utilizing the difference in shape and size, the docking process is made smoother and more accurate. A docking ring groove 311 is processed at the top and middle connection of the conical joint 31, and a docking ring 321 is set at the top of the sliding retaining ring 32. The sizes of the two are consistent, which ensures the accuracy of docking, improves the reliability and stability of docking, and avoids failures or damage caused by inaccurate docking. The limit rod 37 is connected to the lower part of the conical joint 31 by an elastic pin, which provides stable support and limit for the sliding retaining ring 32. At the same time, the design of the limit ring 371 on the limit rod 37 enables the sliding retaining ring 32 to be stationary at a specific position when there is no external force, ensuring the stability of the docking mechanism in a static state.

[0031] As a preferred embodiment of the above, Figure 4 , 5 As shown, the catch and release mechanism 2 passes through the catch and release group The component 29 cooperates with the conical joint 31 to grasp the docking mechanism 3. During the downward movement of the grasping and releasing component 29 after being inserted into the conical joint 31, when the block 291 reaches the horizontal height of the top of the conical joint 31, the block 291 is pushed to both sides respectively, and the photoelectric switch 292 is turned on; the grasping and releasing component 29 continues to move downward so that the top position of the conical joint 31 is higher than the block 291, and the block 291 returns to the initial position under the action of the elastic force of the compression spring 293, and the photoelectric switch 292 is turned off. At this time, the block 291 clamps the conical joint 31, and the grasping and releasing mechanism 2 is fixedly connected to the docking mechanism 3; the grasping and releasing mechanism 2 releases the docking mechanism 3 through the grasping and releasing component 29 cooperating with the sliding retaining ring 32, and the grasping and releasing component 29 moves downward. When the block 291 reaches the horizontal height of the sliding retaining ring 32, When the degree of rotation is reached, the sliding retaining ring 32 is supported by the limiting ring 371 and restricted in movement, the blocking block 291 is pushed to both sides again, and the photoelectric switch 292 is turned on. As the catch and release assembly 29 moves downward, the top surface of the sliding retaining ring 32 is higher than the blocking block 291, and the catch and release assembly 29 stops moving downward and rises in the opposite direction. The blocking block 291 is squeezed toward the middle by the elastic force of the compression spring 293, driving the sliding retaining ring 32 to move upward with the catch and release assembly 29, and the photoelectric switch 292 is in an off state. When the sliding retaining ring 32 moves upward until it contacts the lower end of the top of the conical joint 31, the sliding retaining ring 32 stops moving upward and pushes the blocking block 291 to both sides again, and the blocking block 291 releases the top of the conical joint 31, and the catch and release assembly 29 continues to move upward to separate the catch and release mechanism 2 from the docking mechanism 3.

[0032] Specifically, the block 291 in the catch and release assembly 29 can intelligently respond to the shape changes of the conical joint 31 and the sliding retaining ring 32. When the block 291 encounters the top of the conical joint 31, the block 291 is pushed away, and when the top position of the conical joint 31 is higher than the block 291, the block returns to its original position under the action of the compression spring 293 and clamps the conical joint, realizing automatic grasping and fixed connection, which not only simplifies the operation process, but also improves the accuracy and efficiency of docking. The photoelectric switch 292 provides precise feedback and control for the catch and release process. When the block 291 is pushed away, the photoelectric switch is turned on, and when the block returns to its original position and clamps the conical joint or the sliding retaining ring, the photoelectric switch 292 is turned off. The grasping and releasing mechanism can accurately judge the current state and adjust its motion trajectory accordingly, thereby ensuring the stability and reliability of the entire process. In the process of releasing the docking mechanism 3, the sliding retaining ring 32 is supported by the limit ring 371 and restricts movement, which enables the block 291 to be pushed open again, thereby allowing the grasping and releasing assembly 29 to rise together with the sliding retaining ring, which not only realizes the smooth release of the docking mechanism, but also ensures the stability and safety of the entire process. Through the innovative coordination mechanism of the block 291, the conical joint 31, the sliding retaining ring 32 and the coordinated application of the photoelectric switch 292, the grasping and releasing mechanism 2 can automatically complete the process of grasping, fixing the connection and releasing the docking mechanism 3, which greatly improves the degree of automation and operating efficiency, provides accurate feedback and control for the system, and further enhances the stability and reliability of the system.

[0033] As a preferred embodiment of the above, Figure 2 As shown, the grasping and releasing mechanism 2 also includes a vertical rod 26, a T-shaped connecting block 27, and a connecting frame 28. The vertical rod 26 extends vertically downward and is fixedly connected to the bottom of the cross bar 24 by the T-shaped connecting block 27. The vertical rod 26 is perpendicular to the cross bar 24. The lower end of the vertical rod 26 is connected to the connecting frame 28, and the two ends of the connecting frame 28 are hinged to the grasping and releasing component 29; the grasping and releasing component 29 is also provided with a guide sleeve 295, and the guide sleeve 295 has a trumpet-shaped structure to facilitate the connection between the docking mechanism 3 and the grasping and releasing mechanism 2 when working. The guide sleeve 295 is fixed at the center position of the lower part of the shell 296 and is communicated with the inner cavity of the shell 296.

[0034] Specifically, the vertical rod 26, T-shaped connecting block 27 and connecting frame 28 make the grasping and releasing mechanism 2 more modular, which not only makes the connection between the various components more stable, but also facilitates disassembly and reorganization, thereby improving the flexibility and adaptability of the entire mechanism. The trumpet-shaped structure of the guide sleeve 295 not only facilitates the smooth connection between the docking mechanism 3 and the grasping and releasing mechanism 2 during operation, but also plays a role in guiding and positioning, thereby greatly improving the accuracy and efficiency of the docking. By fixing the guide sleeve 295 in the middle position of the lower part of the shell 296 and communicating with the inner cavity of the shell 296, the structure is further optimized, which not only simplifies the operation process, but also improves the stability and reliability of the entire mechanism, and reduces operation errors and time costs.

[0035] As a preferred embodiment of the above, Figure 4 , 5 As shown, when the grasping and releasing mechanism 2 is connected with the docking mechanism 3, the grasping and releasing component 29 is sleeved on the conical joint 31, so that the conical joint 31 is inserted into the circular hole of the shell 296 and guided by the guide sleeve 295, which is equivalent to expanding the size of the entrance at the lower end of the circular hole of the grasping and releasing component 29, so that the conical joint 31 can enter the grasping and releasing component 29 when docking. When the grasping and releasing component 29 and the conical joint 31 are docked up and down, there is a certain range of deviation in the vertical direction.

[0036] Specifically, the guide sleeve 295 significantly enhances the flexibility and fault tolerance of the pick-and-place assembly 29 and the conical joint 31 when docking. Its trumpet-shaped structure not only widens the entrance size of the lower end of the circular hole of the pick-and-place assembly 29, but also plays a role in accurately guiding the conical joint 31 into a predetermined position, thereby allowing a certain range of deviation in the vertical direction, which means that even if there is a slight position error during the docking process, the conical joint 31 can still smoothly enter the pick-and-place assembly 29. This fault tolerance greatly improves the success rate and efficiency of docking. Due to the guiding effect of the guide sleeve 295, it is not necessary to accurately control the position of the conical joint 31 to achieve smooth docking with the pick-and-place assembly 29.

[0037] As a preferred embodiment of the above, Figure 4 , 5As shown, the docking mechanism 3 also includes a support spring 33, a square connecting block 34, a swing frame 35, and a fixed semi-ring 36. The upper end of the support spring 33 is connected to the lower end of the limit rod 37, and the square connecting block 34 is fixed to the lower end of the support spring 33. The swing frame 35 is hinged on the square connecting block 34. The angle of the swing frame 35 and the square connecting block 34 can be adjusted according to the installation angle of the photovoltaic panel, so that the photovoltaic panel cleaning robot can adapt to the angle of the photovoltaic panel when placed. After the fixed semi-ring 36 is installed or clamped on the photovoltaic panel cleaning robot, it is bolted to the bottom of the swing frame 35 to fix the docking mechanism 3 on the photovoltaic panel cleaning robot. When the conical joint 31 enters the grasping and releasing assembly 29 along the guide sleeve 295, the support spring 33 is appropriately bent and deformed to compensate for the vertical deviation of the grasping and releasing assembly 29 and the conical joint 31, so as to facilitate smooth docking of the two.

[0038] Specifically, the hinged design of the swing frame 35 and the square connecting block 34 allows the angle of the swing frame 35 to be flexibly adjusted according to the installation angle of the photovoltaic panel, ensuring that the photovoltaic panel cleaning robot can closely fit the photovoltaic panels with different tilt angles when placed, greatly improving the adaptability and flexibility of the equipment, the design of the support spring 33 not only provides the necessary support force, but also can compensate for the deviation of the cone joint 31 and the catch-and-place assembly 29 in the vertical direction through appropriate bending deformation during the docking process, ensuring that the docking process can proceed smoothly even in the presence of slight deviations, the installation or clamping design of the fixed semi-ring 36 enables the docking mechanism 3 to be firmly fixed on the photovoltaic panel cleaning robot, which not only simplifies the installation process, but also improves the stability and reliability of the equipment, the entire docking mechanism 3 realizes an efficient and flexible docking process through the ingenious combination of the guide sleeve 295, the support spring 33, the square connecting block 34, the swing frame 35 and the fixed semi-ring 36, making the docking process smoother and more efficient, and significantly improving the success rate of docking. This helps to reduce the difficulty of operation and time cost, and improve overall work efficiency.

[0039] As a preferred embodiment of the above, Figure 1 As shown, a camera 11 is installed on the drone body 1, and the camera 11 lens faces downward to collect images below the drone body 1, which are displayed on the remote control screen or the connected mobile phone after processing and transmission. A landing gear 12 is provided at the lower end of the drone body 1.

[0040] As a preferred embodiment of the above, Figure 2As shown, the catch and release mechanism 2 also includes a first quick buckle 21, a second quick buckle 22, an arc-shaped support plate 23, a cross bar 24 and a slide bar 25. The slide bars 25 are two in total and are symmetrically distributed at both ends of the cross bar 24. The slide bar 25 is perpendicular to the cross bar 24. The slide bar 25 and the cross bar 24 are detachably connected by the first quick buckle 21, and the first quick buckle 21 can slide on the cross bar 24 and adjust the distance between the two slide bars 25. The arc-shaped support plate 23 is connected to both ends of the slide bar 25 through the second quick buckle 22, and the second quick buckle 22 can drive the arc-shaped support plate 23 Slide and rotate on the slide bar 25; the force-bearing surface of the arc-shaped abutment plate 23 is an arc-shaped curved surface, which cooperates with the landing gear 12 to make the contact surfaces of the two more closely fitted, and the arc-shaped abutment plates 23 on the two slide bars 25 cooperate together to fix the grasping and releasing mechanism 2 between the landing gears 12. By adjusting the spacing of the first quick buckles 21 and the spacing and rotation angle of the second quick buckles 22, the arc-shaped abutment plates 23 can adapt to landing gears of different sizes and different inclination angles, and the grasping and releasing mechanism 2 can be reliably fixed between the landing gears 12, and the grasping and releasing mechanism 2 is placed directly below the UAV 1 without the center of gravity shifting, thereby ensuring that the flight posture of the UAV is not affected during operation.

[0041] Specifically, by sliding the first quick buckle 21 on the cross bar 24, the distance between the two slide bars 25 can be conveniently adjusted, so as to adapt to landing gears 12 of different widths, so that the catch and release mechanism 2 can be flexibly applied to UAV landing gears of various sizes, and the arc-shaped abutment plate 23 is connected to both ends of the slide bar 25 through the second quick buckle 22, and can slide and rotate on the slide bar 25. This design not only allows the arc-shaped abutment plate 23 to adapt to landing gears of different inclination angles, but also ensures that the contact surface with the landing gear is more closely fitted, thereby improving the stability and reliability of the fixation. The entire catch and release mechanism 2 realizes an efficient and flexible fixing process through the ingenious combination of the first quick buckle 21, the second quick buckle 22, the arc-shaped abutment plate 23, the cross bar 24 and the slide bar 25. This design not only improves work efficiency, but also reduces operational difficulty. By precisely adjusting the spacing between the first quick buckles 21, the spacing between the second quick buckles 22, and the turning angle, it can ensure that the catch and release mechanism 2 is reliably fixed between the landing gears 12, and that the catch and release mechanism 2 is directly below the drone 1 without center of gravity shifting.

[0042] A control method for hoisting a UAV by a photovoltaic panel cleaning robot. When operating, first install a docking mechanism 3 on the photovoltaic panel cleaning robot, manually connect the UAV body 1 and the gripping and releasing mechanism 2 with the docking mechanism 3 on the ground, and then start the operation according to the following steps: Start the drone body 1, set the drone body 1 to a placement state, control the drone body 1 to mount the photovoltaic panel cleaning robot through the grasping and releasing mechanism 2 and the docking mechanism 3 to fly to a designated position of the photovoltaic panel, observe the environmental conditions under the drone body 1 through the camera 11 on the drone body 1, and adjust the mounted photovoltaic panel cleaning robot to be parallel to the photovoltaic panel.

[0043] The drone body 1 is controlled to move downward, and the photovoltaic panel cleaning robot is placed on the photovoltaic panel. Then the drone body 1 continues to fly downward, so that the card block 291 is squeezed by the sliding retaining ring 32, and moves to both sides for the first time in the placed state, so that the photoelectric switch 292 is turned on and releases a signal to the drone body 1 and the photovoltaic panel cleaning robot. After the photovoltaic panel cleaning robot receives the signal, the negative pressure adsorption system is turned on, so that the photovoltaic panel cleaning robot is adsorbed on the photovoltaic panel. After receiving the signal, the drone body 1 changes its movement direction to upward movement. At this time, the card block 2 91 is lower than the top surface of the sliding retaining ring 32, so the block 291 drives the sliding retaining ring 32 to move upward together with the grasping and releasing component 29, until the sliding retaining ring 32 presses against the lower end of the top of the conical joint 31, the block 291 is squeezed again, and moves to both sides for the second time in the placed state, so that the grasping and releasing mechanism 2 is separated from the docking mechanism 3, and at the same time the photoelectric switch 292 is turned on for the second time, sending a signal to the drone body 1 to inform the drone that the separation work has been completed, and the drone body 1 can return to the ground to mount and transport the next photovoltaic panel cleaning robot.

[0044] When the photovoltaic panel cleaning robot in the cleaning operation completes the cleaning operation, the drone body 1 is set to the recovery state, and then the drone body 1 is controlled to take off. At the same time, the built-in module of the photovoltaic panel cleaning robot sends its own latitude and longitude coordinates to the drone body 1, so that the drone body 1 locates the photovoltaic panel cleaning robot and flies directly above it. Then, through the observation of the camera 11, the drone position is fine-tuned to make the grasping and releasing component 29 face the conical joint 31 as much as possible, and then the drone body 1 is controlled to fly downward, and the grasping and releasing component 29 is inserted into the conical joint 31. When the card When block 291 passes the top of the conical joint 31, the block 291 is squeezed and moved to both sides, and the photoelectric switch 292 is turned on and transmits a signal to the drone body 1 and the photovoltaic panel cleaning robot, so that the drone body 1 stops descending. At this time, the grasping and releasing mechanism 2 and the docking mechanism 3 are connected, and the negative pressure adsorption system of the photovoltaic panel cleaning robot is turned off. The drone body 1 is controlled to mount the photovoltaic panel cleaning robot and return to the ground. After manually separating the grasping and releasing mechanism 2 and the docking mechanism 3 on the ground, the drone body 1 continues to recover other photovoltaic panel cleaning robots.

[0045] Specifically, through the ingenious cooperation between the card block 291 and the sliding retaining ring 32 in the catch and release mechanism 2, the card block 291 can be effectively squeezed by the sliding retaining ring 32 during the descent and ascent of the drone, thereby triggering the signal transmission of the photoelectric switch 292. The docking design of the conical joint 31 and the catch and release component 29 ensures that when the drone recycles the photovoltaic panel cleaning robot, it can accurately insert the catch and release component into the conical joint to achieve a stable connection. The photoelectric switch 292 is used as a key signal sensor, which can not only be turned on and release the signal when the card block 291 is squeezed, but also be turned on again during the separation process to inform the drone that the separation work has been completed. The flexible application of the photoelectric switch enables the drone to automatically adjust operations according to the actual state, such as stopping descent, changing the direction of movement, etc. The camera 11 on the drone body 1 is used to observe the environment in real time to ensure that the mounted photovoltaic panel cleaning robot is parallel to the photovoltaic panel, thereby improving the accuracy and safety of placement. The built-in module of the cleaning robot can send its own latitude and longitude coordinates to the drone, so that the drone can accurately locate and recover the robot, realizing efficient collaborative operation of the drone and the robot. By integrating sensors such as the camera 11 and the photoelectric switch 292 with the drone and the photovoltaic panel cleaning robot, real-time monitoring and precise control of the operation process are realized, and the automation level of the operation is improved. The photoelectric switch 292 and other sensors are used to realize real-time transmission and feedback of signals, so that the drone can automatically adjust the operation according to the received signal, improving the accuracy and flexibility of the operation. Through precise structural design and signal coordination, the drone can realize the full automation of the operation from take-off, mounting, placement, cleaning, recovery to take-off again, improving the operation efficiency and stability. It is not only suitable for the hoisting operation of the photovoltaic panel cleaning robot, but can also be expanded to other scenarios that require drone mounting and recovery, such as environmental monitoring, agricultural plant protection and other fields, and has broad application prospects.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A photovoltaic panel cleaning robot hoisting drone, characterized by: It comprises a drone body (1), a grasping and releasing mechanism (2), and a docking mechanism (3); The grasping and releasing mechanism (2) is fixed directly below the drone body (1), and the docking mechanism (3) is arranged below the grasping and releasing mechanism (2) and cooperates with the grasping and releasing mechanism (2) to form a fixed connection or a release connection according to the operation state; A photovoltaic panel cleaning robot is fixed below the docking mechanism (3); The grasping and placing mechanism (2) is provided with a grasping and placing component (29) and a photoelectric switch (292), wherein the photoelectric switch (292) senses the placement state of the photovoltaic panel cleaning robot and the connection state between the grasping and placing mechanism (2) and the docking mechanism (3), and the photoelectric switch (292) is signal-connected to the photovoltaic panel cleaning robot and the drone body (1); The docking mechanism (3) comprises a conical joint (31) and a sliding retaining ring (32). The middle part of the conical joint (31) is slidably connected to the sliding retaining ring (32). The two are clearance-matched. When the sliding retaining ring (32) moves upward until it abuts against the lower end of the top of the conical joint (31), the sliding retaining ring (32) stops moving upward and pushes the catch and release assembly (29) to both sides again. The catch and release assembly (29) releases the top of the conical joint (31). The catch and release assembly (29) continues to move upward to separate the catch and release mechanism (2) from the docking mechanism (3).

2. The photovoltaic panel cleaning robot hoisting drone according to claim 1, characterized in that: The catch and release mechanism (2) comprises the catch and release assembly (29), which is a cavity structure and is composed of a clamping block (291), the photoelectric switch (292), a compression spring (293), a square baffle (294), and a shell (296); a circular hole is opened in the middle of the shell (296) and is symmetrically provided with a guide groove (2961) and a limit surface (2962) on the left and right sides; the top of the guide groove (2961) is semicircular in shape for easy processing and manufacturing; the photoelectric switch (292) is installed next to the limit surface (2962); the clamping block (291) cooperates with the guide groove (2961) to slide horizontally along the guide groove (2961); one end of the clamping block (291) is provided with an inclined surface, the upper part is provided with a boss (2911), and the tail is provided with the compression spring (293); the other end of the compression spring (293) is pressed to On the square baffle (294), the square baffle (294) is fixed to both sides of the shell (296) by bolts, and a circular through hole is opened in the middle of the square baffle (294), which cooperates with the tail of the clamping block (291) to pass through; the grasping and releasing mechanism (2) grasps and releases the docking mechanism (3) through the grasping and releasing assembly (29), and the boss (2911) is pressed onto the limit surface (2962) under the action of the elastic force of the compression spring (293) when it is not squeezed by the docking mechanism (3), and the left and right clamping blocks (291) are at the position closest to the center of the shell (296), the boss (2911) is between the signal transmitting and receiving systems of the photoelectric switch (292), the photoelectric switch (292) is in an off state, and the exposed surface of the tail of the clamping block (291) is flush with the side of the shell (296); After the block (291) is squeezed by the docking mechanism (3) and moves in a direction away from the center of the housing (296), the boss (2911) leaves the photoelectric switch (292), and the photoelectric switch (292) becomes in an on state.

3. The photovoltaic panel cleaning robot hoisting drone according to claim 2, characterized in that: The docking mechanism (3) comprises the conical joint (31), the sliding retaining ring (32), and a limiting rod (37); the top of the conical joint (31) is conical, and its maximum radial dimension is larger than that of the middle and bottom parts, and slightly smaller than that of a circular hole passing through the shell (296) from top to bottom; a docking ring groove (311) is machined at the connection between the top and the middle part of the conical joint (31); The middle part of the conical joint (31) is slidably connected to the sliding retaining ring (32), and the two are clearance-matched. The sliding retaining ring (32) is in the shape of an inverted truncated cone, and a docking ring (321) is provided on the top. The size of the docking ring (321) matches the docking ring groove (311). The limiting rod (37) is connected to the lower part of the conical joint (31) through an elastic pin. The limiting ring (371) is processed at the upper part of the limiting rod (37). When no external force is applied, the sliding retaining ring (32) is stationary on the upper surface of the limiting ring (371) under the action of gravity. When the sliding retaining ring (32) is moved upward by the external force and slides to below the top of the conical joint (31), the docking ring groove (311) and the docking ring (321) are docked and matched, so as to ensure that the centers of the conical joint (31) and the sliding retaining ring (32) are aligned.

4. The photovoltaic panel cleaning robot hoisting drone according to claim 3, characterized in that: The grasping and releasing mechanism (2) grasps the docking mechanism (3) through the grasping and releasing component (29) and the tapered joint (31); during the downward movement of the grasping and releasing component (29) after being inserted into the tapered joint (31), when the clamping block (291) reaches the horizontal height of the top of the tapered joint (31), the clamping block (291) is pushed to both sides respectively, and the photoelectric switch (292) is turned on; The catch-and-release assembly (29) continues to move downward so that the top position of the conical joint (31) is higher than the clamping block (291), and the clamping block (291) returns to its initial position under the elastic force of the compression spring (293), and the photoelectric switch (292) is disconnected. At this time, the clamping block (291) clamps the conical joint (31), and the catch-and-release mechanism (2) is fixedly connected to the docking mechanism (3); The catch and release mechanism (2) releases the docking mechanism (3) through the catch and release component (29) cooperating with the sliding retaining ring (32), and the catch and release component (29) moves downward. When the clamping block (291) reaches the horizontal height of the sliding retaining ring (32), the sliding retaining ring (32) is supported and restricted in movement by the limiting ring (371), and the clamping block (291) is pushed to both sides again, and the photoelectric switch (292) is turned on. As the catch and release component (29) moves downward, the top surface of the sliding retaining ring (32) is higher than the clamping block (291), and the catch and release component (29) stops moving downward and moves in the opposite direction. The clamping block (291) is pressed toward the middle by the elastic force of the compression spring (293), driving the sliding retaining ring (32) to move upward together with the grab and release assembly (29), and the photoelectric switch (292) is in an off state. When the sliding retaining ring (32) moves upward until it abuts against the lower end of the top of the conical joint (31), the sliding retaining ring (32) stops moving upward and pushes the clamping block (291) to both sides again, and the clamping block (291) releases the top of the conical joint (31). The grab and release assembly (29) continues to move upward to separate the grab and release mechanism (2) from the docking mechanism (3).

5. The photovoltaic panel cleaning robot hoisting drone according to claim 4, characterized in that: The grasping and releasing mechanism (2) further comprises a vertical rod (26), a T-shaped connecting block (27), and a connecting frame (28); the vertical rod (26) extends vertically downward and is fixedly connected to the bottom of the cross rod (24) by the T-shaped connecting block (27); the vertical rod (26) is perpendicular to the cross rod (24); the lower end of the vertical rod (26) is connected to the connecting frame (28); the two ends of the connecting frame (28) are hinged to the grasping and releasing assembly (29); the grasping and releasing assembly (29) is further provided with a guide sleeve (295); the guide sleeve (295) has a trumpet-shaped structure; the guide sleeve (295) is fixed to the middle position of the lower part of the shell (296) and is communicated with the inner cavity of the shell (296).

6. The photovoltaic panel cleaning robot hoisting drone according to claim 5, characterized in that: When the grasping and releasing mechanism (2) is connected to the docking mechanism (3), the grasping and releasing assembly (29) is sleeved on the conical joint (31), so that the conical joint (31) is inserted into the circular hole of the shell (296) and guided in a direction by the guide sleeve (295).

7. The photovoltaic panel cleaning robot hoisting drone according to claim 6, characterized in that: The docking mechanism (3) further comprises a support spring (33), a square connecting block (34), a swing frame (35), and a fixed semi-ring (36); the upper end of the support spring (33) is connected to the lower end of the limit rod (37); the square connecting block (34) is fixed to the lower end of the support spring (33); the swing frame (35) is hinged on the square connecting block (34); the angle between the swing frame (35) and the square connecting block (34) can be adjusted according to the installation angle of the photovoltaic panel; after the fixed semi-ring (36) is installed or clamped on the photovoltaic panel cleaning robot, it is connected to the swing frame (35) by bolts, so that the docking mechanism (3) is fixed on the photovoltaic panel cleaning robot; when the conical joint (31) enters the grasping and placing assembly (29) along the guide sleeve (295), the support spring (33) is appropriately bent and deformed to compensate for the vertical deviation between the grasping and placing assembly (29) and the conical joint (31).

8. The photovoltaic panel cleaning robot hoisting drone according to claim 7, characterized in that: The drone body (1) is equipped with a camera (11), the lens of the camera (11) facing downwards to collect images below the drone body (1), which are displayed on a remote control screen or a connected mobile phone after being processed and transmitted. A landing gear (12) is provided at the lower end of the drone body (1).

9. The photovoltaic panel cleaning robot hoisting drone according to claim 8, characterized in that: The catch and release mechanism (2) further comprises a first quick buckle (21), a second quick buckle (22), an arc-shaped support plate (23), the cross bar (24) and a slide bar (25). The slide bars (25) are two in total and are symmetrically distributed at both ends of the cross bar (24). The slide bars (25) and the cross bar (24) are in a vertical relationship. The slide bars (25) and the cross bar (24) are detachably connected by the first quick buckle (21). The first quick buckle (21) can slide on the cross bar (24) and adjust the distance between the two slide bars (25). The arc-shaped support plate (23) is connected to the two ends of the slide bar (25) through the second quick buckle (22), and the second quick buckle (22) can drive the arc-shaped support plate (23) to slide and rotate on the slide bar (25); the force-bearing surface of the arc-shaped support plate (23) is an arc-shaped curved surface and cooperates with the landing gear (12), and the arc-shaped support plates (23) on the two slide bars (25) cooperate together to fix the grasping and releasing mechanism (2) between the landing gears (12), by adjusting the spacing of the first quick buckle (21), the spacing of the second quick buckle (22) and the rotation angle.

10. A control method for hoisting a UAV by a photovoltaic panel cleaning robot, characterized in that: During operation, the docking mechanism (3) is first installed on the photovoltaic panel cleaning robot, and the drone body (1) and the grasping and releasing mechanism (2) are manually connected to the docking mechanism (3) on the ground, and then the operation is started according to the following steps: The drone body (1) is started, the drone body (1) is set to a placement state, the drone body (1) is controlled to fly to a designated position of a photovoltaic panel by mounting the photovoltaic panel cleaning robot via the grasping and releasing mechanism (2) and the docking mechanism (3), the environment below the drone body (1) is observed via a camera (11) on the drone body (1), and the mounted photovoltaic panel cleaning robot is adjusted to be parallel to the photovoltaic panel; The drone body (1) is controlled to move downward, and the photovoltaic panel cleaning robot is placed on the photovoltaic panel. Then, the drone body (1) continues to fly downward, so that the block (291) is squeezed by the sliding retaining ring (32) and moves to both sides for the first time in the placed state, so that the photoelectric switch (292) is turned on and releases a signal to the drone body (1) and the photovoltaic panel cleaning robot. After the photovoltaic panel cleaning robot receives the signal, the negative pressure adsorption system is turned on, so that the photovoltaic panel cleaning robot is adsorbed on the photovoltaic panel. After the drone body (1) receives the signal, the movement direction is changed to upward movement. At this time, since the block (291) is already low, On the top surface of the sliding retaining ring (32), the clamping block (291) drives the sliding retaining ring (32) to move upward together with the grasping and releasing assembly (29), until the sliding retaining ring (32) presses upward against the lower end of the top of the conical joint (31), and the clamping block (291) is squeezed again and moves to both sides for the second time in the placed state, so that the grasping and releasing mechanism (2) is separated from the docking mechanism (3), and at the same time, the photoelectric switch (292) is turned on for the second time, sending a signal to the drone body (1) to inform the drone that the separation work has been completed, and the drone body (1) can return to the ground to mount and transport the next photovoltaic panel cleaning robot; When the photovoltaic panel cleaning robot completes the cleaning operation, the drone body (1) is set to a recovery state, and then the drone body (1) is controlled to take off. At the same time, the built-in module of the photovoltaic panel cleaning robot sends its own latitude and longitude coordinates to the drone body (1), so that the drone body (1) locates the photovoltaic panel cleaning robot and flies directly above it. Then, through observation by the camera (11), the drone position is fine-tuned so that the grasping and releasing component (29) is aligned with the conical joint (31) as much as possible, and then the drone body (1) is controlled to fly downward, and the grasping and releasing component (29) is inserted into the conical joint (31). When the block ( When the drone body (291) passes the top of the conical joint (31), the block (291) is squeezed and moved to both sides, and the photoelectric switch (292) is turned on and transmits a signal to the drone body (1) and the photovoltaic panel cleaning robot, so that the drone body (1) stops descending. At this time, the grasping and releasing mechanism (2) and the docking mechanism (3) are connected, and the negative pressure adsorption system of the photovoltaic panel cleaning robot is turned off. The drone body (1) is controlled to mount the photovoltaic panel cleaning robot and return to the ground. After the grasping and releasing mechanism (2) and the docking mechanism (3) are manually separated on the ground, the drone body (1) continues to recover other photovoltaic panel cleaning robots.

Images