Photovoltaic panel cleaning trolley hoisting method based on unmanned aerial vehicle

Abstract

The invention discloses a photovoltaic panel cleaning trolley hoisting method based on an unmanned aerial vehicle. The photovoltaic panel cleaning trolley hoisting method comprises the following steps that the unmanned aerial vehicle and a photovoltaic panel cleaning trolley are accurately aligned and connected, the photovoltaic panel cleaning trolley is put in, the unmanned aerial vehicle supplements water to the photovoltaic panel cleaning trolley, and the photovoltaic panel cleaning trolley is recycled. According to the photovoltaic panel cleaning trolley hoisting method based on the unmanned aerial vehicle, the unmanned aerial vehicle and the photovoltaic panel cleaning trolley are stably connected and are not prone to loosening by means of the clamping design of the drop hammer and the mounting base, hoisting connection of the unmanned aerial vehicle and the photovoltaic panel cleaning trolley is automatically and rapidly completed by means of the AI visual recognition technology, the hoisting connection speed and accuracy are improved, and the hoisting efficiency is improved. Putting and recycling of the photovoltaic panel cleaning trolley are facilitated; and one unmanned aerial vehicle can be used corresponding to a plurality of photovoltaic panel cleaning trolleys, so that the cost is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method for hoisting a photovoltaic panel cleaning trolley based on an UAV. Background Art

[0002] With the widespread adoption of photovoltaic power generation, panel cleanliness has become a significant factor affecting its efficiency. Due to their prolonged exposure to the outdoors, photovoltaic panels are susceptible to accumulation of dust, bird droppings, leaves, and other debris, which can reduce their power generation efficiency. Therefore, regular panel cleaning is crucial to maintain optimal working condition. In recent years, automated cleaning equipment, such as drones and photovoltaic panel cleaning carts, has gradually entered the photovoltaic panel cleaning market, becoming an ideal solution for improving cleaning efficiency and reducing labor costs.

[0003] Existing methods for cleaning photovoltaic panels have limitations in the hoisting and docking technology between drones and panel cleaning vehicles. Typically, a drone can only be docked with one panel cleaning vehicle, and the docking process is complex and difficult to operate. This results in multiple switching and individual drone dispatching for each cleaning task. This approach not only reduces efficiency but also increases labor and equipment scheduling costs during the cleaning process. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method for hoisting a photovoltaic panel cleaning trolley based on a drone, aiming to solve the problems of large manpower investment and high equipment investment cost in the existing hoisting methods of drones and photovoltaic panel cleaning trolleys.

[0005] To achieve the above objectives, the present invention proposes a method for hoisting a photovoltaic panel cleaning vehicle based on a drone, comprising a computer ground station, a drone, and a photovoltaic panel cleaning vehicle, wherein the computer ground station is wirelessly connected to the drone and the photovoltaic panel cleaning vehicle, and comprises the following steps: S1: The staff uses the computer ground station to plan the flight route of the UAV and the cleaning route of the photovoltaic panel cleaning vehicle; S2: After the photovoltaic panel cleaning trolley and the drone are docked with the electric engaging member in the mounting seat corresponding to the photovoltaic panel cleaning trolley via the hanging hammer configured on the drone, the trolley is placed on one side of the drone. The staff uses the computer ground station to start the drone to automatically take off vertically, and the photovoltaic panel cleaning trolley is lifted off the ground during the ascent; S3: The drone automatically flies to the photovoltaic panel laying area according to the route planned by the staff on the computer ground station, and places the photovoltaic panel cleaning cart on the photovoltaic panels. The drone transfers the water carried in its own water tank to the water tank of the photovoltaic panel cleaning cart through a hose. The staff disconnects the drone and the photovoltaic panel cleaning cart through the computer ground station, and starts the photovoltaic panel cleaning cart to automatically perform cleaning work. The drone automatically returns to the take-off point and lands. S4: The computer ground station obtains the water consumption of the photovoltaic panel cleaning trolley in real time. When the water level of the photovoltaic panel cleaning trolley is lower than the set value, the computer ground station activates the drone to automatically fly above the photovoltaic panel cleaning trolley according to the GPS positioning information of the photovoltaic panel cleaning trolley, and cooperates with the AI ​​visual recognition device to identify the position of the mounting seat, and connects through the docking structure of step S2. After the docking is completed, the drone is replenished with water. S5: After the photovoltaic panel cleaning trolley finishes cleaning, the UAV goes to the photovoltaic panel cleaning trolley for positioning and docking according to the method of step S4. The UAV rises and lifts the photovoltaic panel cleaning trolley away from the photovoltaic panel and then automatically returns to the take-off point. After placing the photovoltaic panel cleaning trolley at the designated location, the staff controls the computer ground station to disconnect the UAV from the photovoltaic panel cleaning trolley, and the UAV automatically lands at the take-off point.

[0006] Preferably, before step S1, the drone and the photovoltaic panel cleaning vehicle need to be debugged and maintained.

[0007] Preferably, after step S5, the drone and the photovoltaic panel cleaning vehicle need to be cleaned.

[0008] Preferably, the drone can replenish water to the photovoltaic panel cleaning cart at multiple different locations.

[0009] Preferably, the cleaning head of the photovoltaic panel cleaning vehicle is provided with an ultrasonic probe for detecting whether the photovoltaic panel cleaning vehicle has reached the edge and transmitting the information to the screen of the computer ground station.

[0010] Preferably, the hammer is connected to the drone through a hanging part and a steel wire rope. The hammer is a conical structure. An annular groove is provided on the circumference of the hammer corresponding to the electric engaging part. A water supply channel is provided in the middle of the hammer, and the water supply channel is connected to the water tank of the photovoltaic panel cleaning cart.

[0011] Preferably, the mounting seat is provided with a conical mounting groove corresponding to the hanging hammer, and the groove wall of the conical mounting groove is provided with a through groove, and the locking block of the electric clamping part is movably connected to the through groove. When the electric clamping part is in the unlocked state, the locking block is completely retracted into the through groove.

[0012] Preferably, the electric engaging member further comprises a forward and reverse motor and a connecting rod, one end of the connecting rod is connected to the driving end of the forward and reverse motor, and the other end is connected to the locking block.

[0013] Preferably, there is a Hall sensor inside the locking block and an annular magnet in the annular groove. After the locking block is locked in place, the Hall sensor senses the annular magnet, sends a message to the computer ground station and displays it on the computer screen. The operator can judge whether the hanging hammer is correctly locked through this message.

[0014] Compared with the prior art, the present invention has the following beneficial effects: In this drone-based photovoltaic panel cleaning cart lifting method, the locking design of the lifting hammer and the mounting base ensures a stable connection between the drone and the photovoltaic panel cleaning cart, which is not easy to loosen. AI visual recognition technology is used to quickly complete the lifting of the drone and the photovoltaic panel cleaning cart, improving the lifting speed and accuracy, and facilitating the deployment and recovery of the photovoltaic panel cleaning cart. One drone can be used with multiple photovoltaic panel cleaning carts, saving costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0016] Figure 1 This is a flow chart of a method for hoisting a photovoltaic panel cleaning trolley based on a drone according to the present invention; Figure 2 This is a partial exploded view of the photovoltaic panel trolley in the photovoltaic panel cleaning trolley hoisting method based on a drone of the present invention; Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0017] In the accompanying drawings, 1-photovoltaic panel cleaning trolley, 11-vehicle body, 12-water tank, 13-controller, 2-electric clamp, 21-locking block, 22-forward and reverse motor, 23-connecting rod, 3-cleaning head, 4-mounting seat, 41-positioning cover, 42-conical mounting groove, 43-through groove, 5-hanging hammer, 51-annular groove, 52-water supply channel. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0020] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0021] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0022] To resolve the above issues, please refer to Figure 2 and Figure 3The present invention provides a method for lifting a photovoltaic panel cleaning trolley based on a drone, comprising a computer ground station, a drone and a photovoltaic panel cleaning trolley 1, wherein the computer ground station is wirelessly connected to the drone and the photovoltaic panel cleaning trolley 1, wherein the photovoltaic panel cleaning trolley 1 comprises a vehicle body 11, a water tank 12 and a controller 13, a walking structure is arranged on both sides of the width of the vehicle body 11, a cleaning head 3 is arranged in the length direction, a mounting seat 4 is arranged on the water tank 12, and a positioning cover 41 is arranged on the end of the mounting seat 4 away from the water tank 12 to improve recognition; the mounting seat 4 is provided with a conical mounting groove 42 corresponding to the hanging hammer 5, and the groove wall of the conical mounting groove 42 is provided with a through groove 43, the locking block 21 of the electric clamping component 2 is movably connected to the through groove 43, and when the electric clamping component 2 is in the unlocked state, the locking block 21 is completely retracted into the through groove 43. The pendant 5 is connected to the drone via a mounting member and a steel cable. The pendant 5 is a frustum, with an annular groove 51 formed around the periphery of the pendant 5 corresponding to the electric engaging member 2. A water supply channel 52 is formed in the middle of the pendant 5, which communicates with the water tank 12 of the photovoltaic panel cleaning vehicle 1. The cleaning head 3 of the photovoltaic panel cleaning vehicle 1 is equipped with an ultrasonic probe for detecting whether the photovoltaic panel cleaning vehicle 1 has reached an edge and transmitting this information to the screen of the computer ground station.

[0023] Furthermore, the electric locking component 2 also includes a forward and reverse motor 22 and a connecting rod 23, one end of the connecting rod 23 is connected to the driving end of the forward and reverse motor 22, and the other end is connected to the locking block 21. When the driving end of the forward and reverse motor 22 rotates, the connecting rod 23 drives the locking block 21 to move along the through groove 43.

[0024] In this embodiment, the locking block 21 is internally provided with a Hall effect sensor, and the annular groove 51 is provided with an annular magnet. When the locking block 21 is locked into place, the Hall effect sensor senses the annular magnet and sends a message to the computer ground station, which is displayed on the computer screen. This message allows the operator to determine whether the pendant 5 is correctly locked. The sensing principle of the Hall effect sensor and the annular magnet is based on the Hall effect. When the Hall effect sensor and the annular magnet are in close proximity, the Hall effect element outputs an analog or digital signal, which can quickly determine whether the pendant 5 is locked with the locking block 21.

[0025] like Figure 1 As shown, the drone hoists the photovoltaic panels to the photovoltaic panel laying area and replenishes water to the photovoltaic panel cleaning vehicle through the following steps: S1: The staff uses the computer ground station to plan the flight route of the UAV and the cleaning route of the photovoltaic panel cleaning vehicle, so that the UAV and the photovoltaic panel cleaning vehicle can fly and clean according to the optimal route respectively, thereby improving efficiency; S2: The staff manually puts the hanging hammer 5 into the mounting seat 4 of the photovoltaic panel cleaning trolley 1, and uses the computer ground station to send a locking command. The electric engaging part 2 receives the command and runs, and is engaged in the annular groove 51 of the hanging hammer 5. The induction principle of the Hall sensor and the annular magnet is used to determine whether the locking block is locked in the annular groove. The photovoltaic panel cleaning trolley 1 and the drone are firmly docked with the electric engaging part 2 in the mounting seat 4 corresponding to the hanging hammer 5 of the drone and the photovoltaic panel cleaning trolley 1, and are placed on one side of the drone. The staff uses the computer ground station to start the drone to automatically take off to 2-3m from the ground, and move towards the photovoltaic panel cleaning trolley 1 until it reaches above the photovoltaic panel cleaning trolley. The drone rises vertically and lifts the photovoltaic panel cleaning trolley off the ground; before the drone takes off, the wire rope and the hanging hammer 5 are arranged to avoid the wire ropes from being entangled with each other and the hanging hammer 5 from being entangled by the wire rope, so as to ensure the safety of the lifting; S3: The drone automatically flies to the photovoltaic panel laying area according to the route planned by the staff on the computer ground station, accurately lands the photovoltaic panel cleaning trolley 1 on the photovoltaic panel, and controls the drone to transport the water carried in its own water tank to the water tank of the photovoltaic panel cleaning trolley 1 through a hose. The staff sends an unlocking command through the computer ground station, and the electric clamping part 2 receives the command to unlock. The drone rises and takes out the hanging hammer 5 from the mounting seat 4, disconnecting the connection between the drone and the photovoltaic panel cleaning trolley 1. The drone automatically returns to the take-off point and lands. The computer ground station starts the photovoltaic panel cleaning trolley 1 to automatically perform cleaning work. The staff controls the photovoltaic panel cleaning trolley 1 to walk on the surface of the photovoltaic panel and uses the cleaning head 3 to roll the surface of the photovoltaic panel. The photovoltaic panel cleaning trolley 1 is equipped with an ultrasonic probe. The ultrasonic probe will detect that the photovoltaic panel cleaning trolley 1 is about to walk to the edge and transmit the image information to the computer ground station so that the staff can stop the photovoltaic panel cleaning trolley 1 in time. S4: While the photovoltaic panel cleaning trolley 1 is cleaning, the drone replenishes water at the takeoff point and stands by. The staff obtains the water consumption of the photovoltaic panel cleaning trolley 1 through the monitoring data of the liquid level sensor configured in the water tank of the photovoltaic panel cleaning trolley 1. When the water level of the photovoltaic panel cleaning trolley 1 is lower than the set value, the computer ground station activates the drone to automatically fly to 8 meters above the photovoltaic panel cleaning trolley based on the GPS positioning information of the photovoltaic panel cleaning trolley 1. The drone tracks the position of the photovoltaic panel cleaning trolley 1 in real time through the AI ​​visual recognition device, and descends to place the hanging hammer 5 configured by the drone into the corresponding mounting seat 4 of the photovoltaic panel cleaning trolley, so that the electric engaging member 2 engages with the annular groove 51. The drone then transfers the water carried in its own water tank to the water tank of the photovoltaic panel cleaning trolley 1 through a hose.

[0026] Furthermore, the drone can refill water to the photovoltaic panel cleaning carts 1 at multiple different locations. The computer ground station receives the refill information from multiple photovoltaic panel cleaning carts and arranges it according to the time of receipt, controlling the drone to sequentially refill water at the corresponding photovoltaic panel cleaning carts 1, which has good adaptability and saves costs. The mounting base 4 is also equipped with a conical positioning cover 41. The positioning cover 41 is larger than the mounting base 4. Therefore, when the drone is refilling water or retrieving the photovoltaic panel cleaning cart, the position of the positioning cover 41 can be quickly determined, thereby determining the drone's landing position.

[0027] S5: After the cleaning work of the photovoltaic panel cleaning cart is completed, the UAV automatically flies to 8 meters above the photovoltaic panel cleaning cart 1 according to the GPS positioning information of the photovoltaic panel cleaning cart, and the UAV tracks the position of the photovoltaic panel cleaning cart 1 in real time through the AI ​​visual recognition device, and descends to put the hammer 5 configured by the UAV into the mounting seat corresponding to the photovoltaic panel cleaning cart 1 and cooperate with the Hall sensor to lock the electric clamp 2 in the annular groove 51. The UAV rises to lift the photovoltaic panel cleaning cart 1 away from the photovoltaic panel and then automatically returns to the take-off point. After placing the photovoltaic panel cleaning cart 1 at the designated position, the staff controls the computer ground station to disconnect the UAV and the photovoltaic panel cleaning cart 1, and the UAV automatically lands at the take-off point.

[0028] In an optional embodiment, the UAV and the photovoltaic panel cleaning vehicle 1 need to be debugged and maintained before step S1. Ensure that the UAV and the photovoltaic panel cleaning vehicle 1 are not damaged, have sufficient power, have no loose wire ropes, have sufficient water in the UAV's water tank, and that all components meet working standards to ensure safety during the lifting process.

[0029] To sum up, in the method of lifting the photovoltaic panel cleaning cart 1 based on the drone, the locking design of the lifting hammer 5 and the mounting seat 4 is utilized to ensure a stable connection between the drone and the photovoltaic panel cleaning cart 1, which is not easy to loosen. The AI ​​visual recognition technology is utilized to quickly complete the lifting of the drone and the photovoltaic panel cleaning cart 1, thereby improving the lifting speed and accuracy. The cooperation between the computer ground station and the drone enables the accurate deployment, water replenishment and recovery of the photovoltaic panel cleaning cart 1. One drone can be used with multiple photovoltaic panel cleaning carts 1, thus saving costs.

[0030] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by using the contents of the present description and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A method for hoisting a photovoltaic panel cleaning vehicle based on a drone, comprising a computer ground station, a drone, and a photovoltaic panel cleaning vehicle, wherein the computer ground station is wirelessly connected to the drone and the photovoltaic panel cleaning vehicle, and is characterized in that: The following steps are involved: S1: The staff uses the computer ground station to plan the flight route of the UAV and the cleaning route of the photovoltaic panel cleaning vehicle; S2: After the photovoltaic panel cleaning trolley and the drone are docked with the electric engaging member in the mounting seat corresponding to the photovoltaic panel cleaning trolley via the hanging hammer configured on the drone, the trolley is placed on one side of the drone. The staff uses the computer ground station to start the drone to automatically take off vertically, and the photovoltaic panel cleaning trolley is lifted off the ground during the ascent; S3: The drone automatically flies to the photovoltaic panel laying area according to the route planned by the staff on the computer ground station, and places the photovoltaic panel cleaning cart on the photovoltaic panels. The drone transfers the water carried in its own water tank to the water tank of the photovoltaic panel cleaning cart through a hose. The staff disconnects the drone and the photovoltaic panel cleaning cart through the computer ground station, and starts the photovoltaic panel cleaning cart to automatically perform cleaning work. The drone automatically returns to the take-off point and lands. S4: The computer ground station obtains the water consumption of the photovoltaic panel cleaning trolley in real time. When the water level of the photovoltaic panel cleaning trolley is lower than the set value, the computer ground station activates the drone to automatically fly above the photovoltaic panel cleaning trolley according to the GPS positioning information of the photovoltaic panel cleaning trolley, and cooperates with the AI ​​visual recognition device to identify the position of the mounting seat, and connects through the docking structure of step S2. After the docking is completed, the drone is replenished with water. S5: After the photovoltaic panel cleaning trolley finishes cleaning, the UAV goes to the photovoltaic panel cleaning trolley for positioning and docking according to the method of step S4. The UAV rises and lifts the photovoltaic panel cleaning trolley away from the photovoltaic panel and then automatically returns to the take-off point. After placing the photovoltaic panel cleaning trolley at the designated location, the staff controls the computer ground station to disconnect the UAV from the photovoltaic panel cleaning trolley, and the UAV automatically lands at the take-off point.

2. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 1, characterized in that: Before step S1, the drone and the photovoltaic panel cleaning vehicle need to be debugged and maintained.

3. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 1, characterized in that: After step S5, the drone and the photovoltaic panel cleaning vehicle need to be cleaned.

4. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 1, characterized in that: The drone can replenish water to the photovoltaic panel cleaning cart at multiple different locations.

5. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 1, characterized in that: The cleaning head of the photovoltaic panel cleaning trolley is provided with an ultrasonic probe for detecting whether the photovoltaic panel cleaning trolley has walked to the edge and transmitting the information to the screen of the computer ground station.

6. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 1, characterized in that: The hanging hammer is connected to the UAV through a hanging part and a steel wire rope. The hanging hammer is a frustum structure. An annular groove is provided on the circumference of the hanging hammer corresponding to the electric engaging part. A water supply channel is provided in the middle of the hanging hammer. The water supply channel is connected to the water tank of the photovoltaic panel cleaning vehicle.

7. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 6, characterized in that: The mounting seat is provided with a conical mounting groove corresponding to the hanging hammer, and the groove wall of the conical mounting groove is provided with a through groove. The locking block of the electric clamping part is movably connected to the through groove. When the electric clamping part is in the unlocked state, the locking block is completely retracted into the through groove.

8. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 7, characterized in that: The electric engaging member further comprises a forward and reverse motor and a connecting rod, one end of the connecting rod is connected to the driving end of the forward and reverse motor, and the other end is connected to the locking block.

9. The method for hoisting a photovoltaic panel cleaning vehicle based on a drone according to claim 7, characterized in that: There is a Hall sensor inside the locking block and an annular magnet in the annular groove. After the locking block is locked in place, the Hall sensor senses the annular magnet, sends a message to the computer ground station and displays it on the computer screen. The operator can use this message to determine whether the hanging hammer is correctly locked.

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