Flight attitude compensation power output mechanism of jet cleaning unmanned aerial vehicle

Abstract

The invention relates to the technical field of attitude compensation power output mechanisms, in particular to a flight attitude compensation power output mechanism of a jet cleaning unmanned aerial vehicle, comprising: an unmanned aerial vehicle body including an unmanned aerial vehicle main body, a flight control rod body arranged on the unmanned aerial vehicle main body and a wing assembly arranged on the flight control rod body, a wind direction monitoring module, a gradienter module and a main control module are arranged on the unmanned aerial vehicle main body; the attitude compensation assembly comprises a jet power compensation component arranged on the flight control rod body and a universal rotating component arranged on the jet power compensation component, and the jet power compensation component controls the flight action of the unmanned aerial vehicle; and the cleaning assembly is arranged at the lower end of the unmanned aerial vehicle body.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude compensation power output mechanisms, and in particular to a flight attitude compensation power output mechanism for a jet cleaning UAV. Background Art

[0002] During flight, an aircraft's flight attitude can typically be divided into three attitude motion channels: roll, yaw, and pitch. For axisymmetric aircraft, the coupling between these three channels is weak. Therefore, the effect of this coupling on the aircraft's flight attitude can be treated as a random small perturbation, allowing the construction of a small-disturbance aerodynamic model for the aircraft. Currently, based on this small-disturbance aerodynamic model, three independent attitude controllers are typically deployed within an axisymmetric aircraft, one for controlling the angular velocity of the pitch, yaw, and roll channels, respectively.

[0003] However, axisymmetric aircraft are only a special case of plane-symmetric aircraft. Aircraft flying at higher speeds (e.g., exceeding Mach 5) typically adopt a plane-symmetric aerodynamic layout. During flight, the coupling between the roll, yaw, and pitch channels is strong. Typical coupling characteristics between these channels include inertial, kinematic, and aerodynamic coupling.

[0004] In the existing situation, when most aircraft are hovering for cleaning, if the external wind is too strong, the wind will interfere with the hovering of the drone, which in turn affects the cleaning of the photovoltaic panels. The existing aircraft lacks a power output mechanism that can compensate for the flight posture, and the existing power output mechanism does not have a fine-tuning function. Summary of the Invention

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the abstract and title of this application to avoid obscuring the purpose of this section, the abstract and the title of the invention, and such simplifications or omissions should not be used to limit the scope of the present invention.

[0006] The present invention is proposed in view of the problems existing in the flight attitude compensation power output mechanism of the above-mentioned existing jet cleaning UAV.

[0007] Therefore, the object of the present invention is to provide a flight attitude compensation power output mechanism for a jet cleaning UAV.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions: a flight attitude compensation power output mechanism for a jet cleaning UAV, comprising: a UAV body, including a UAV main body, a flight control rod body arranged on the UAV main body, and a wing assembly arranged on the flight control rod body, the UAV main body is provided with a wind direction monitoring module, a spirit level module and a main control module; an attitude compensation assembly, comprising a jet power compensation component arranged on the flight control rod body, a universal rotating component arranged on the jet power compensation component, the jet power compensation component controls the flight action of the UAV; a cleaning assembly, the cleaning assembly is arranged at the lower end of the UAV main body.

[0009] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone described in the present invention, the wing assembly includes a mounting cylinder arranged at the end of the flight control rod body, a drive motor arranged on the mounting cylinder, and a drive fan blade arranged on the drive motor, and the jet power compensation component is arranged at the lower end of the mounting cylinder.

[0010] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning UAV described in the present invention, the jet power compensation component includes a storage cavity arranged at the lower end of the mounting cylinder and a jet component arranged in the storage cavity.

[0011] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone described in the present invention, the jet component includes a jet tube connected to the storage chamber, a flame jet component arranged in the jet tube, and a back-spray component arranged on the jet tube, the rear end of the jet tube is connected to the universal rotating component, and the universal rotating component includes an adjusting cylinder component rotatably connected to the rear end of the jet tube and a rotating plate arranged at the rear end of the adjusting cylinder component.

[0012] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone described in the present invention, the adjustment cylinder comprises a first rotating cylinder arranged on a rotating plate, a second rotating cylinder rotatably connected to the first rotating cylinder, inclined ports respectively opened at both ends of the second rotating cylinder and connected to the first rotating cylinder and the jet cylinder, and a rotating gear arranged at the rear ends of the second rotating cylinder and the jet cylinder, the first rotating cylinder and the second rotating cylinder are both provided with a driving gear near the rotating gear, the driving gear is meshed with the rotating gear, and the driving gear is provided with a driving motor,

[0013] The rotating plate is provided with a driving stepping motor.

[0014] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone of the present invention, the anti-spray component includes a sliding guide rail arranged on the spray barrel, a driving rod slidably connected to the sliding guide rail, a plurality of first driving rods and second driving rods rotatably connected to the sliding guide rail, and a baffle connecting the ends of the first driving rod and the second driving rod, a guide rod is provided on the driving rod, and an electric control cylinder is provided at the rear end of the driving rod.

[0015] The baffles include main baffles and arc-shaped baffles arranged between the main baffles, and sealing ports are arranged at the ends of the main baffles.

[0016] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone described in the present invention, wherein: the length of the second driving rod is greater than that of the first driving rod, the second driving rod includes a baffle rod hinged to the sliding guide rail, an extension rod slidingly connected to the baffle rod, a rotating rod arranged on the baffle rod, a rack arranged on the extension rod, a micro-gear arranged on the rotating rod and meshing with the rack, and a connecting rod extending outward from the side wall of the extension rod and connected to the rotating rod.

[0017] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone described in the present invention, the cleaning component includes a water tank arranged at the lower end of the drone body, a water nozzle arranged on the water tank, a flow rate control valve is provided on the water nozzle, and a flow rate control module is provided on the flow rate control valve.

[0018] As a preferred solution of the flight attitude compensation power output mechanism of the jet cleaning drone described in the present invention, wherein: the wind direction monitoring module is electrically connected to the driving stepper motor and the driving motor, an information synchronization module is arranged between the flow rate control module and the wind direction monitoring module, the information synchronization module is connected to the main control module, and the main control module is provided with a feedback module, the information synchronization module is used to synchronously calculate the current wind speed, liquid jet flow rate and spray intensity of the spray barrel, and feed back the obtained results to the driving stepper motor and the driving motor through the feedback module.

[0019] The beneficial effects of the present invention are as follows: by utilizing the above-mentioned structure and control logic, comprehensive control of the stability of the drone fuselage can be achieved when the drone is working in weather with strong external winds, ensuring that the impact of external wind on the fuselage can be reduced when performing cleaning or other tasks such as transportation, thereby maintaining flight stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be derived from these drawings without inventive effort. Among them:

[0021] Figure 1 This is an overall schematic diagram of the UAV with a flight attitude compensation power output mechanism for the jet cleaning UAV of the present invention.

[0022] Figure 2 This is a structural schematic diagram of the attitude compensation component of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0023] Figure 3 This is a schematic diagram of the open state of the anti-spray component of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0024] Figure 4 This is a schematic diagram of the open back-spray component of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0025] Figure 5 This is a schematic diagram of the explosion of the anti-spray component structure of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0026] Figure 6 This is a schematic diagram of the arc-shaped baffle of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0027] Figure 7 This is a schematic diagram of the exploded structure on the second drive rod of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0028] Figure 8 This is a structural schematic diagram of the connection between the second drive rod and the drive rod of the flight attitude compensation power output mechanism of the jet cleaning UAV of the present invention.

[0029] Explanation of reference numerals: 100, drone body; 101, drone body; 102, flight control rod body; 103, wing assembly; 103a, mounting cylinder; 103b, driving fan blade; 200, attitude compensation assembly; 201, jet power compensation component; 202, universal rotation component; 201a, storage chamber; 201b, jet component; 201b-1, jet cylinder; 201b-2, flame jet component; 300, anti-spray component; 202a, adjustment cylinder; 202b, rotating plate; 202a-1, first rotating cylinder; 202a-2, second rotating cylinder; 202a-3, rotating gear; 2 02a-4, driving gear; 301, sliding guide rail; 302, driving rod; 302a, card; 302b, bottom block; 302c, electric cylinder; 303, first driving rod; 304, second driving rod; 305, baffle; 306, guide rod; 305a, main baffle; 305b, arc baffle; 304a, baffle rod; 304b, extension rod; 304c, rotating rod; 304d, rack; 304e, micro gear; 304f, connecting rod; 307a, movable angle plate; 307b, circular groove; 307c, connecting sphere; 400, cleaning component; 401, water tank; 402, water nozzle. DETAILED DESCRIPTION

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in various places throughout this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive of other embodiments.

[0033] Furthermore, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, when describing the embodiments of the present invention, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, the three-dimensional dimensions of length, width, and depth should be included.

[0034] Example 1

[0035] Reference Figures 1-8, which is the first embodiment of the present invention, provides a flight attitude compensation power output mechanism for a jet cleaning drone, including a drone body 100. The drone body 100 is mainly used to clean photovoltaic panels. In this embodiment, the drone body 100 includes a drone body 101, a flight control rod body 102 set on the drone body 101, and a wing assembly 103 set on the flight control rod body 102. The drone body 101 is the main structure of the drone, and the flight control rod body 102 extends outward from the drone body 101. In this embodiment, four flight control rod bodies 102 are provided, and the wing assembly 103 on each flight control rod body 102 can increase lift, allowing the drone to perform actions such as takeoff, landing, and turning.

[0036] Preferably, in this embodiment, the flight control rod body 102 is equidistantly arranged on the drone body 101, and the direction of the flight control rod body 102 after being extended forms an angle with the horizontal direction, the angle of which is 15°-21°, preferably 20°, and the size of the end of the flight control rod body 102 connected to the drone body 101 is larger than the end of the flight control rod body 102 away from the drone body 101.

[0037] Furthermore, the wing assembly 103 includes a mounting cylinder 103a arranged at the end of the flight control rod body 102, a drive motor arranged on the mounting cylinder 103a, and a drive blade 103b arranged on the drive motor. The mounting cylinder 103a is vertically arranged, and the motor shaft of the drive motor extends upward from the upper end of the mounting cylinder 103a. The drive blade 103b is directly connected to the drive motor, and the drive motor controls the drive blade 103b.

[0038] Furthermore, a wind direction monitoring module, a level module and a main control module are provided on the drone body 101. The information synchronization module is connected to the main control module. A feedback module is provided on the main control module. The information synchronization module is used to synchronously calculate the current wind speed, liquid injection flow rate and injection intensity of the injection tube 201b-1.

[0039] Furthermore, the present invention also includes an attitude compensation component 200. In this embodiment, the attitude compensation component 200 includes a jet power compensation component 201 arranged on the flight control rod body 102, and a universal rotating component 202 arranged on the jet power compensation component 201. The jet power compensation component 201 can fine-tune and change the flight attitude of the drone body 101. When the drone body 101 is stably suspended for cleaning, if it is affected by external wind and deviates, the jet power compensation component 201 is activated to maintain the stable suspension of the drone.

[0040] Furthermore, the universal rotating component 202 is mainly used to change the direction of the jet power compensation component 201. Furthermore, the present invention also includes a cleaning component 400, which is arranged at the lower end of the drone body 101.

[0041] Furthermore, in this embodiment, the jet power compensation component 201 includes a storage cavity 201a arranged at the lower end of the mounting cylinder 103a, and an injection component 201b arranged in the storage cavity 201a. An air supply pipeline is arranged inside the storage cavity 201a, and a gas storage tank is arranged on the drone body 101. The gas storage tank is connected to the air supply pipeline, and the air supply pipeline extends into the injection component 201b.

[0042] Furthermore, in this embodiment, the injection component 201b includes an injection tube 201b-1 connected to the storage cavity 201a, a flame injection component 201b-2 arranged in the injection tube 201b-1, and a reverse injection component 300 arranged on the injection tube 201b-1. The injection tube 201b-1 is provided with an air inlet, and the air supply pipeline passes the compressed air into the air inlet. A combustion chamber is also provided in the injection tube 201b-1, and a turbine is also provided in the air inlet. The compressed air enters the combustion chamber and mixes with kerosene to burn, generating high-temperature and high-pressure gas. The expansion work drives the turbine to rotate at high speed. A nozzle is also provided at the end of the injection tube 201b-1. The high-temperature and high-pressure gas is ejected outward under the action of the turbine, and after being ejected, it can give the drone reverse thrust.

[0043] Furthermore, the rear end of the injection cylinder 201b-1 is connected to the universal rotating component 202, and the universal rotating component 202 includes an adjusting cylinder 202a rotatably connected to the rear end of the injection cylinder 201b-1, and a rotating plate 202b arranged at the rear end of the adjusting cylinder 202a. The rotating plate 202b is connected to the injection cylinder 201b-1, and the adjusting cylinder 202a can control and adjust the direction of the injection cylinder 201b-1, and the rotating plate 202b can drive the rotation of the adjusting cylinder 202a, and a driving stepper motor is provided at the rear end of the rotating plate 202b, and the driving stepper motor can drive the rotation of the rotating plate 202b.

[0044] Preferably, in this embodiment, the adjusting cylinder 202a includes a first rotating cylinder 202a-1 arranged on the rotating plate 202b, a second rotating cylinder 202a-2 rotatably connected to the first rotating cylinder 202a-1, inclined ports respectively opened at both ends of the second rotating cylinder 202a-2 and connected to the first rotating cylinder 202a-1 and the spraying cylinder 201b-1, and a rotating gear 202a-3 arranged at the rear ends of the second rotating cylinder 202a-2 and the spraying cylinder 201b-1. A driving gear 202a-4 is provided near the rotating gear 202a-3 on the first rotating cylinder 202a-1 and the second rotating cylinder 202a-2, and the driving gear 202a-4 is engaged with the rotating gear 202a-3. A driving motor is provided on the driving gear 202a-4, and the driving motors are respectively provided on the first rotating cylinder 202a-1 and the second rotating cylinder 202a-2.

[0045] The ports at both ends of the second rotating cylinder 202a-2 are tilted. When viewed from the side of the second rotating cylinder 202a-2, the tilt angles of the ports at both ends of the second rotating cylinder 202a-2 are consistent. The tilt angles of the two tilted ports are complementary, and the tilt angles of the ports are 45° and 135°. The cross-sectional shape of the two tilted ports is circular. When the driving motor drives the driving gear 202a-4 to rotate, it drives the second rotating cylinder 202a-2 to rotate in the circle of the driving gear 202a-4. The direction is rotated by the circular surface of the inclined port. After the rotation, the direction of the second rotating cylinder 202a-2 changes. When the driving motor on the second rotating cylinder 202a-2 is started, the driving gear 202a-4 on the injection cylinder 201b-1 is controlled to rotate, thereby adjusting the direction angle of the injection cylinder 201b-1. By using a multi-stage structure, the port of the injection cylinder 201b-1 can be rotated to any angle. When the injection cylinder 201b-1 is thrust, the tilt direction of the drone body 101 will be adjusted.

[0046] Furthermore, in this embodiment, the anti-spray component 300 includes a sliding guide rail 301 arranged on the spray cylinder 201b-1, a driving rod 302 slidingly connected to the sliding guide rail 301, a plurality of first driving rods 303 and second driving rods 304 rotatably connected to the sliding guide rail 301, and a baffle 305 hinged at the ends of the first driving rod 303 and the second driving rod 304, a guide rod 306 is arranged on the driving rod 302, four first driving rods 303 and four second driving rods 304 are arranged, every two first driving rods 303 and two second driving rods 304 are connected to a baffle 305, and a first driving rod 303 and a second driving rod 304 are arranged on one side of a baffle 305, the first driving rod 303 is arranged at the end close to the spray cylinder 201b-1, and the second driving rod 304 is arranged at the end away from the spray cylinder 201b-1.

[0047] Preferably, an electric-controlled cylinder 302 c is provided at the rear end of the driving rod 302 .

[0048] Furthermore, the baffle 305 includes a main baffle 305a and an arc-shaped baffle 305b arranged between the main baffles 305a. A sealing port is provided at the lower end of the arc-shaped baffle 305b. The overall shape of the arc-shaped baffle 305b is an arc-shaped plate with a certain curvature, and the sealing port is mainly used to seal the end after the two baffles 305 are docked. The sealing port is a rubber material structure arranged on the arc-shaped baffle 305b.

[0049] Furthermore, a plurality of movable angle plates 307a are provided on the inner surface of the arc baffle 305b, a circular groove 307b for installing each movable angle plate 307a is opened on the inner wall of the arc baffle 305b, and a connecting ball 307c is provided at one end of the movable angle plate 307a extending into the circular groove 307b.

[0050] Preferably, the second driving rod 304 is provided with a card 302a near the sliding guide rail 301, a groove is provided on the guide rod 306, and a bottom block 302b is slidably connected in the groove. The card 302a extends from the second driving rod 304 and is hinged to the bottom block 302b. The length of the second driving rod 304 is greater than that of the first driving rod 303. The second driving rod 304 includes a blocking rod 304a hinged to the sliding guide rail 301, an extension rod 304b slidably connected to the blocking rod 304a, a rotating rod 304c provided on the blocking rod 304a, and a A rack 304d is provided on the extension rod 304b, and a fine-motion gear 304e is provided on the rotating rod 304c and meshes with the rack 304d. A micro-motor is provided at the end of the fine-motion gear 304e away from the rotating rod 304c, and a connecting rod 304f connected to the rotating rod 304c extends outward from the side wall of the extension rod 304b. When the fine-motion gear 304e is controlled by the micro-motor provided at its end to rotate, the rack 304d will slide, thereby pushing the extension rod 304b outward, thereby changing the angle between the two baffles 305.

[0051] In this embodiment, the cleaning component 400 includes a water tank 401 arranged at the lower end of the drone body 101, a water nozzle 402 arranged on the water tank 401, a flow rate control valve is provided on the water nozzle 402, and a flow rate control module is provided on the flow rate control valve.

[0052] Furthermore, the wind direction monitoring module is electrically connected to the driving stepper motor and the driving motor, an information synchronization module is arranged between the flow rate control module and the wind direction monitoring module, an information synchronization module is arranged on the main control module, and a feedback module is arranged on the main control module. The information synchronization module is used to synchronously calculate the current wind speed, liquid injection flow rate and injection intensity of the injection tube 201b-1, and feed back the obtained results to the driving stepper motor and the driving motor through the feedback module.

[0053] Operation process: When the drone is performing photovoltaic panel cleaning operations, if the external wind force has a strong impact, the following attitude compensation process will be adopted:

[0054] The current wind speed data is collected by using the wind direction monitoring module (ultrasonic wind speed sensor) to collect three-dimensional wind speed (V x ,V y ,V z ), and transmit the data information to the information synchronization module in real time. The collected data is then low-pass filtered to remove high-frequency noise and enter the wind force level threshold determination link.

[0055] Determine the wind force level threshold:

[0056] 1. Level 1 wind speed (3m / s<V≤8m / s): When the external horizontal wind speed exceeds 3m / s, the basic compensation mode is triggered. The level meter module starts high-frequency attitude sampling to monitor the pitch / roll angle deviation and yaw angle.

[0057] 2. Level 2 wind force (8m / s<V≤15m / s): If the external horizontal wind speed exceeds 8m / s and the attitude deviation is greater than the set standard value of 2°, it is determined that strong wind compensation is required.

[0058] 3. Level 3 wind speed (V>15m / s): If the wind speed is detected to be >15m / s for 10 seconds continuously, the emergency mechanism will be triggered, the cleaning component 400 will be ready to shut down, and the emergency landing mechanism will be quickly triggered at the same time. The drone should quickly alert the operator.

[0059] All the above judgment results are transmitted to the main control module via the CAN bus, and the control parameter table corresponding to the compensation mode is activated at the same time.

[0060] When performing the compensation action, the posture compensation component 200 is started, and the air intake duct is provided on the injection tube 201b-1. The air supply pipeline introduces compressed air into the air intake duct. A combustion chamber is also provided in the injection tube 201b-1. At the same time, a turbine is also provided in the air intake duct. The compressed air enters the combustion chamber and mixes with kerosene to burn, generating high-temperature and high-pressure combustion gas. The expansion work drives the turbine to rotate at high speed. A nozzle is also provided at the end of the injection pipe. The high-temperature and high-pressure combustion gas is ejected outward under the action of the turbine, and after being ejected, it can give the injection pipe a reverse thrust.

[0061] At the same time, the wind direction and the spray force and direction of the water nozzle 402 of the cleaning component 400 are calculated and comprehensively considered.

[0062] First, calculate the compensation force model for the windward direction:

[0063] Based on the empirical formula of Bernoulli equation, the compensation force F is calculated according to the current wind force level. comp :

[0064] Level 1 wind force: F comp =1.2×F wind (F wind =0.5×ρ×V²×S, ρ is air density, S is windward area (0.6 m²), and V is wind speed);

[0065] Level 2 wind force: F comp =1.5×F wind , superimpose a 15% turbulence compensation coefficient; synchronize the calculation results to the injection direction solution module as the input parameters for three-dimensional posture adjustment.

[0066] Then solve the three-dimensional parameters of the injection direction

[0067] First, determine the direction of the water nozzle 402. The direction of the water nozzle 402 is the rotation angle of the motor at the rear end of the water nozzle 402.

[0068] Determine the direction and angle of the wind, the pitch angle Δφ: by Δφ=arcsin(V z / V) calculates the vertical compensation angle, with an adjustment range of -30° to +30°;

[0069] Flow rate control: Determine the injection flow rate according to the wind force level table, and adjust the gas flow valve opening through the PWM signal.

[0070] After determining the angle and force that need to be compensated, the driving motor in the universal rotating component 202 is used to drive the rotation of the driving gear 202a-4, and then the rotating gear 202a-3 on the first rotating cylinder 202a-1 or the second rotating cylinder 202a-2 is rotated. It can be seen from the drawings in the specification that the setting of our rotating gear 202a-3 has a certain angle, so that the rotation angle of the rotating gear 202a-3 is not along the axial direction of the first rotating cylinder 202a-1 or the second rotating cylinder 202a-2. When the rotating gear 202a-3 on the first rotating cylinder 202a-1 rotates, the second rotating cylinder 202a-2 rotates along the axial direction of the side of the rotating gear 202a-3. After the rotation, the second rotating cylinder 202a-2 changes from the original straight line direction with the first rotating cylinder 202a-1 to the vertical direction.

[0071] The above adjustment will change the orientation of the jet tube 201b-1, thereby changing the thrust direction.

[0072] When fine-tuning of a small angle is required and compensation is required in a certain direction, the electric control cylinder 302c is used to control the sliding of the driving rod 302, so that the driving rod 302 slides down while driving the first driving rod 303 and the second driving rod 304 to swing outward. When swinging out, the baffle 305 originally leaning on the injection tube 201b-1 will be driven to swing from the direction close to the injection tube 201b-1 to the lower end position of the injection tube 201b-1, and the two baffles 305 are brought together. At this time, the gas ejected from the injection tube 201b-1 will be blocked by the two baffles 305, thereby reducing the injection force of the injection tube 201b-1 accordingly, and because of the force of the gas impacting the baffle 305, the drone will undergo a slight deflection and displacement in the opposite direction of the injection tube 201b-1.

[0073] At the same time, a number of movable angle plates 307a are provided on the baffle 305. When the jet tube 201b-1 impacts the movable angle plate 307a, the movable angle plate 307a will rotate at a certain angle.

[0074] By utilizing the above structure and control logic, comprehensive control of the drone's fuselage stability can be achieved when the drone is performing work in windy weather. This ensures that the impact of wind on the fuselage can be reduced and flight stability can be maintained when performing cleaning or other tasks such as transportation.

[0075] It is important to note that the construction and arrangement of the present application, as shown in various exemplary embodiments, are illustrative only. Although only a few embodiments are described in detail in this disclosure, those reading this disclosure will readily appreciate that numerous modifications are possible (e.g., variations in the size, dimensions, structure, shape, and proportions of various components, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without materially departing from the novel teachings and advantages of the subject matter described herein. For example, components shown as integrally formed may be constructed from multiple parts or components, the positions of components may be inverted or otherwise altered, and the nature, number, or position of discrete components may be modified or changed. All such modifications are therefore intended to be encompassed within the scope of this invention. The order or sequence of any process or method steps may be altered or resequenced according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover structures described herein that perform the stated function, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes, and omissions may be made in the design, operating conditions, and arrangement of the exemplary embodiments without departing from the scope of this invention. Therefore, the invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0076] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment may not be described (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention).

[0077] It will be appreciated that in the development of any actual embodiment, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will, for those of ordinary skill having the benefit of this disclosure, be a routine undertaking of design, fabrication, and production without undue experimentation.

[0078] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A flight attitude compensation power output mechanism for a jet cleaning UAV, characterized by: include: The drone body (100) comprises a drone body (101), a flight control rod body (102) arranged on the drone body (101), and a wing assembly (103) arranged on the flight control rod body (102), wherein the drone body (101) is provided with a wind direction monitoring module, a level module, and a main control module; An attitude compensation assembly (200) comprises a jet power compensation component (201) arranged on a flight control rod body (102) and a universal rotation component (202) arranged on the jet power compensation component (201), wherein the jet power compensation component (201) controls the flight action of the unmanned aerial vehicle (UAV); the jet power compensation component (201) comprises a storage cavity (201a) arranged at the lower end of a mounting cylinder (103a), and a jet component (201b) arranged in the storage cavity (201a); the jet component (201b) comprises a jet cylinder (201b-1) connected to the storage cavity (201a), a flame jet component (201b-2) arranged in the jet cylinder (201b-1), and a reverse jet component (300) arranged on the jet cylinder (201b-1); the rear end of the jet cylinder (201b-1) is connected to the universal rotation component (202), and the universal rotation component (202) comprises a jet cylinder (201b-1) rotatably connected to the jet cylinder (201b-1). ) rear end of the adjusting cylinder (202a), and a rotating plate (202b) arranged at the rear end of the adjusting cylinder (202a); the adjusting cylinder (202a) comprises a first rotating cylinder (202a-1) arranged on the rotating plate (202b), a second rotating cylinder (202a-2) rotatably connected to the first rotating cylinder (202a-1), and respective rotating cylinders (202a-2) provided at both ends of the second rotating cylinder (202a-2) and connected to the first rotating cylinder (202a-1) and the ejecting cylinder (201b-1). The inclined port is connected to the rotating gear (202a-3) at the rear ends of the second rotating cylinder (202a-2) and the ejecting cylinder (201b-1); the first rotating cylinder (202a-1) and the second rotating cylinder (202a-2) are both provided with a driving gear (202a-4) near the rotating gear (202a-3); the driving gear (202a-4) is meshed with the rotating gear (202a-3); and the driving gear (202a-4) is provided with a driving motor. A driving stepping motor is provided on the rotating plate (202b).

2. The flight attitude compensation power output mechanism of the jet cleaning UAV according to claim 1, characterized in that: The wing assembly (103) comprises a mounting cylinder (103a) arranged at the end of the flight control rod body (102), a drive motor arranged on the mounting cylinder (103a), and a drive blade (103b) arranged on the drive motor. The jet power compensation component (201) is arranged at the lower end of the mounting cylinder (103a).

3. The flight attitude compensation power output mechanism of the jet cleaning UAV according to claim 1, characterized in that: The anti-spray component (300) comprises a sliding guide rail (301) provided on the spraying cylinder (201b-1), a driving rod (302) slidably connected to the sliding guide rail (301), a plurality of first driving rods (303) and second driving rods (304) rotatably connected to the sliding guide rail (301), and a baffle (305) hinged to the ends of the first driving rods (303) and the second driving rods (304); a guide rod (306) is provided on the driving rod (302); and an electric control cylinder (302c) is provided at the rear end of the driving rod (302); The baffle (305) comprises a main baffle (305a) and an arc-shaped baffle (305b) arranged between the main baffles (305a), and a sealing port is provided at the end of the main baffle (305a).

4. The flight attitude compensation power output mechanism of the jet cleaning UAV according to claim 3, characterized in that: The second driving rod (304) is longer than the first driving rod (303), and comprises a blocking rod (304a) hinged to the sliding guide rail (301), an extension rod (304b) slidingly connected to the blocking rod (304a), a rotating rod (304c) arranged on the blocking rod (304a), a rack (304d) arranged on the extension rod (304b), a micro-gear (304e) arranged on the rotating rod (304c) and meshing with the rack (304d), and a connecting rod (304f) extending outward from the side wall of the extension rod (304b) and connected to the rotating rod (304c).

5. The flight attitude compensation power output mechanism of the jet cleaning UAV according to claim 1, characterized in that: It also includes a cleaning component (400), which is arranged at the lower end of the drone body (101).

6. The flight attitude compensation power output mechanism of the jet cleaning UAV according to claim 5, characterized in that: The cleaning assembly (400) comprises a water tank (401) arranged at the lower end of the drone body (101), a water nozzle (402) arranged on the water tank (401), a flow rate control valve being provided on the water nozzle (402), and a flow rate control module being provided on the flow rate control valve.

7. The flight attitude compensation power output mechanism of the jet cleaning UAV according to claim 1, characterized in that: The main control module is provided with an information synchronization module, and the main control module is provided with a feedback module. The information synchronization module is used to synchronously calculate the current wind speed, liquid injection flow rate and injection intensity of the injection cylinder (201b-1).

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