A flight attitude compensation power output mechanism for a jet cleaning drone

Abstract

This invention relates to the technical field of attitude compensation power output mechanisms, and more particularly to a flight attitude compensation power output mechanism for a jet cleaning drone, comprising: a drone body, including a drone main body, a flight control stick mounted on the drone main body, and a wing assembly mounted on the flight control stick; the drone main body is provided with a wind direction monitoring module, a level module, and a main control module; an attitude compensation component, including a jet power compensation component mounted on the flight control stick and a universal rotating component mounted on the jet power compensation component, the jet power compensation component controlling the flight actions of the drone; and a cleaning component, the cleaning component being disposed at the lower end of the drone main body.

Description

Technical Field

[0001] This invention relates to the technical field of attitude compensation power output mechanisms, and more particularly to a flight attitude compensation power output mechanism for a jet cleaning UAV. Background Technology

[0002] During flight, an aircraft's 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 influence of coupling on the flight attitude of an axisymmetric aircraft can be treated as a small random perturbation, allowing for the construction of a small perturbation aerodynamic model. Currently, based on this small perturbation aerodynamic model, three independent attitude controllers are typically set up within the axisymmetric aircraft to control the angular velocities of the pitch, yaw, and roll channels, respectively.

[0003] However, axisymmetric aircraft are just a special case of symmetrical aircraft. Aircraft with high flight speeds (e.g., exceeding Mach 5) typically employ a symmetrical aerodynamic layout, i.e., they are symmetrical aircraft. During their flight, the coupling between their roll, yaw, and pitch channels is strong. The coupling characteristics between these channels can usually include inertial coupling characteristics, kinematic coupling characteristics, and aerodynamic coupling characteristics.

[0004] In existing systems, when most aircraft are hovering for cleaning, strong winds can interfere with the drone's hovering, thus affecting the cleaning of the photovoltaic panels. Furthermore, existing aircraft lack a power output mechanism that can compensate for flight attitude, and the existing power output mechanism does not have fine-tuning capabilities. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

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

[0007] Therefore, the purpose of this invention is to provide a flight attitude compensation power output mechanism for a jet cleaning drone.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flight attitude compensation power output mechanism for a jet cleaning drone, comprising: a drone body, including a drone main body, a flight control stick mounted on the drone main body, and a wing assembly mounted on the flight control stick; the drone main body is provided with a wind direction monitoring module, a level module, and a main control module; an attitude compensation component, including a jet power compensation component mounted on the flight control stick and a universal rotating component mounted on the jet power compensation component, the jet power compensation component controlling the flight actions of the drone; and a cleaning component, the cleaning component being disposed at the lower end of the drone main body.

[0009] As a preferred embodiment of the flight attitude compensation power output mechanism of the UAV for jet cleaning according to the present invention, the wing assembly includes a mounting cylinder disposed at the end of the flight control stick, a drive motor disposed on the mounting cylinder, and a drive fan blade disposed on the drive motor, and the jet power compensation component is disposed at the lower end of the mounting cylinder.

[0010] As a preferred embodiment of the flight attitude compensation power output mechanism for the UAV used for jet cleaning according to the present invention, the jet power compensation component includes a storage cavity disposed at the lower end of the mounting cylinder and a jet component disposed within the storage cavity.

[0011] As a preferred embodiment of the flight attitude compensation power output mechanism of the UAV for jet cleaning according to the present invention, the jet component includes a jet cylinder connected to the storage cavity, a flame jet component disposed in the jet cylinder, and a reverse jet component disposed on the jet cylinder. The rear end of the jet cylinder is connected to a universal rotating component, and the universal rotating component includes an adjusting cylinder rotatably connected to the rear end of the jet cylinder and a rotating plate disposed at the rear end of the adjusting cylinder.

[0012] In a preferred embodiment of the flight attitude compensation power output mechanism for the UAV using jet cleaning as described in this invention, the adjusting cylinder comprises: a first rotating cylinder mounted 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 rotating gears disposed at the rear ends of the second rotating cylinder and the jet cylinder. Both the first and second rotating cylinders are provided with drive gears near the rotating gears, and the drive gears mesh with the rotating gears. A drive motor is mounted on the drive gears.

[0013] A drive stepper motor is provided on the rotating plate.

[0014] In a preferred embodiment of the flight attitude compensation power output mechanism for the UAV used for jet cleaning according to the present invention, the anti-jet component includes a sliding guide rail mounted on the jet nozzle, a drive rod slidably connected to the sliding guide rail, a plurality of first drive rods and second drive rods rotatably connected to the sliding guide rail, and baffles connecting the ends of the first drive rods and second drive rods. A guide rod is mounted on the drive rod, and an electrically controlled cylinder is mounted at the rear end of the drive rod.

[0015] The baffle includes a main baffle and an arc-shaped baffle disposed between the main baffles, and the end of the main baffle is provided with a sealing port.

[0016] As a preferred embodiment of the flight attitude compensation power output mechanism of the UAV for jet cleaning described in this invention, the second drive rod is longer than the first drive rod. The second drive rod includes a stop rod hinged to the sliding guide rail, an extension rod slidably connected to the stop rod, a rotating rod disposed on the stop rod, a rack disposed on the extension rod, a micro gear disposed 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 embodiment of the flight attitude compensation power output mechanism of the UAV for jet cleaning according to the present invention, the cleaning component includes a water tank disposed at the lower end of the UAV body, a water nozzle disposed on the water tank, a flow rate control valve disposed on the water nozzle, and a flow rate control module disposed on the flow rate control valve.

[0018] As a preferred embodiment of the flight attitude compensation power output mechanism for the UAV used for jet cleaning according to the present invention, the wind direction monitoring module is electrically connected to the drive stepper motor and the drive motor. An information synchronization module is provided between the flow rate control module and the wind direction monitoring module. The information synchronization module is connected to the main control module. 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 jet intensity of the jet tube, and feed the results back to the drive stepper motor and the drive motor through the feedback module.

[0019] The beneficial effects of this invention are as follows: by utilizing the above-described structure and control logic, the stability of the UAV can be comprehensively controlled when it is operating in windy weather, ensuring that the impact of external wind on the UAV can be reduced and flight stability can be maintained when performing tasks such as cleaning or other tasks such as handling. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

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

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

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

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

[0025] Figure 5 This is an exploded view of the anti-jet component structure of the flight attitude compensation power output mechanism of the UAV for jet cleaning according to 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 UAV spray cleaning drone of the present invention.

[0027] Figure 7 This is an exploded view of the structure on the second drive rod of the flight attitude compensation power output mechanism of the UAV spray cleaning drone of the present invention.

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

[0029] Explanation of reference numerals in the attached drawings: 100, UAV body; 101, UAV main body; 102, flight control stick; 103, wing assembly; 103a, mounting cylinder; 103b, drive fan blade; 200, attitude compensation assembly; 201, jet power compensation component; 202, universal rotating component; 201a, storage cavity; 201b, jet component; 201b-1, jet tube; 201b-2, flame jet component; 300, reverse jet component; 202a, adjusting cylinder; 202b, rotating plate; 202a-1, first rotating cylinder; 202a-2, second rotating cylinder; 202a-3, rotating gear; 2 02a-4, Drive gear; 301, Sliding guide rail; 302, Drive rod; 302a, Card; 302b, Base block; 302c, Electric cylinder; 303, First drive rod; 304, Second drive rod; 305, Baffle; 306, Guide rod; 305a, Main baffle; 305b, Arc-shaped baffle; 304a, Stop bar; 304b, Extension rod; 304c, Rotating rod; 304d, Rack; 304e, Micro-gear; 304f, Connecting rod; 307a, Movable angle plate; 307b, Circular groove; 307c, Connecting ball; 400, Cleaning assembly; 401, Water tank; 402, Water nozzle. Detailed Implementation

[0030] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0032] Secondly, the term "one embodiment" or "embodiment" as used 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 different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0033] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0034] Example 1

[0035] Reference Figures 1-8This is the first embodiment of the present invention, which 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 for cleaning photovoltaic panels. In this embodiment, the drone body 100 includes a drone main body 101, a flight control stick 102 disposed on the drone main body 101, and a wing assembly 103 disposed on the flight control stick 102. The drone main body 101 is the main structure of the drone, and the flight control stick 102 extends outward from the drone main body 101. In this embodiment, four flight control sticks 102 are provided, and the wing assembly 103 on each flight control stick 102 can increase lift, allowing the drone to perform take-off, landing, turning and other actions.

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

[0037] Furthermore, the wing assembly 103 includes a mounting cylinder 103a disposed at the end of the flight control stick 102, a drive motor disposed on the mounting cylinder 103a, and a drive blade 103b disposed 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, the main body 101 of the UAV is equipped with a wind direction monitoring module, a level module, and a main control module. The information synchronization module is connected to the main control module, and the main control module is equipped with a feedback module. The information synchronization module is used to synchronously calculate the current wind speed, liquid jet flow rate, and jet intensity of the jet 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 disposed on the flight control stick 102 and a universal rotating component 202 disposed on the jet power compensation component 201. The jet power compensation component 201 can finely adjust and change the flight attitude of the UAV body 101. When the UAV body 101 is stably suspended for cleaning, if it is affected by external wind force and deviates, the jet power compensation component 201 is activated to maintain the suspension stability of the UAV.

[0040] Furthermore, the universal rotating component 202 mainly changes the orientation of the jet power compensation component 201. Furthermore, the present invention also includes a cleaning component 400, which is disposed 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 disposed at the lower end of the mounting cylinder 103a, and a jet component 201b disposed within the storage cavity 201a. An air supply pipeline is disposed inside the storage cavity 201a, and a gas storage tank is disposed on the UAV body 101. The gas storage tank is connected to the air supply pipeline, which extends into the jet component 201b.

[0042] Furthermore, in this embodiment, the injection component 201b includes an injection cylinder 201b-1 connected to the storage cavity 201a, a flame injector 201b-2 disposed in the injection cylinder 201b-1, and a reverse injection component 300 disposed on the injection cylinder 201b-1. The injection cylinder 201b-1 is provided with an air intake passage, and an air supply pipeline introduces compressed air into the air intake passage. A combustion chamber is also provided in the injection cylinder 201b-1, and a turbine is also provided in the air intake passage. The compressed air enters the combustion chamber and mixes with kerosene for combustion, generating high-temperature and high-pressure gas. The gas expands and performs work to drive the turbine to rotate at high speed. A nozzle is also provided at the end of the injection cylinder 201b-1. The high-temperature and high-pressure gas is ejected outward under the action of the turbine, and after being ejected, it can provide reverse thrust to the UAV.

[0043] Furthermore, the rear end of the spray cylinder 201b-1 is connected to the universal rotating component 202. The universal rotating component 202 includes an adjusting cylinder 202a rotatably connected to the rear end of the spray cylinder 201b-1 and a rotating plate 202b disposed at the rear end of the adjusting cylinder 202a. The rotating plate 202b is connected to the spray cylinder 201b-1, and the adjusting cylinder 202a can control and adjust the direction of the spray cylinder 201b-1, while the rotating plate 202b can drive the adjusting cylinder 202a to rotate. A drive stepper motor is disposed at the rear end of the rotating plate 202b, and the drive stepper motor can drive the rotating plate 202b to rotate.

[0044] Preferably, in this embodiment, the adjusting cylinder 202a includes a first rotating cylinder 202a-1 disposed 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 spray cylinder 201b-1, and rotating gears 202a-3 disposed at the rear ends of the second rotating cylinder 202a-2 and the spray cylinder 201b-1. Both the first rotating cylinder 202a-1 and the second rotating cylinder 202a-2 are provided with drive gears 202a-4 near the rotating gears 202a-3. The drive gears 202a-4 mesh with the rotating gears 202a-3. A drive motor is provided on the drive gears 202a-4. The drive motors are respectively disposed 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 inclined. When viewed from the side, the inclination angles of the two ports are the same, and the inclination angles of the two inclined ports are complementary, at 45° and 135° respectively. Consequently, the cross-sectional shape of the two inclined ports is circular. Therefore, when the drive motor drives the drive gear 202a-4 to rotate, it will cause the second rotating cylinder 202a-2 to rotate in the circular shape of the drive gear 202a-4. The direction is rotated around the circular surface of the tilted port. After rotation, the orientation of the second rotating cylinder 202a-2 changes. When the drive motor on the second rotating cylinder 202a-2 starts, it controls the drive gear 202a-4 on the spray cylinder 201b-1 to rotate, thereby adjusting the orientation angle of the spray cylinder 201b-1. By using the multi-segment structure, the port of the final spray cylinder 201b-1 can be rotated to any angle. When the spray cylinder 201b-1 applies thrust, it will adjust the tilt direction of the UAV body 101.

[0046] Furthermore, in this embodiment, the anti-spray component 300 includes a sliding guide rail 301 disposed on the spray cylinder 201b-1, a drive rod 302 slidably connected to the sliding guide rail 301, a plurality of first drive rods 303 and second drive rods 304 rotatably connected to the sliding guide rail 301, and a baffle 305 hinged to the ends of the first drive rods 303 and second drive rods 304. A guide rod 306 is disposed on the drive rod 302. There are four first drive rods 303 and four second drive rods 304. Every two first drive rods 303 and two second drive rods 304 are connected to a baffle 305. One first drive rod 303 and one second drive rod 304 are disposed on one side of a baffle 305. The first drive rod 303 is disposed at the end near the spray cylinder 201b-1, and the second drive rod 304 is disposed at the end away from the spray cylinder 201b-1.

[0047] Preferably, an electrically controlled cylinder 302c is provided at the rear end of the drive rod 302.

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

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

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

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

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

[0053] Operation process: When the drone is cleaning photovoltaic panels, if there is a significant impact from external wind, the following attitude compensation process will be adopted:

[0054] Current wind speed data is collected, and three-dimensional wind speed (V) is acquired at a frequency of 100Hz using a wind direction monitoring module (ultrasonic anemometer). x V y V z The system transmits the data to the information synchronization module in real time, and then the collected data is filtered by low-pass filter to remove high-frequency noise before entering the wind force level threshold determination stage.

[0055] Determine the wind force level threshold:

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

[0057] 2. Level 2 wind (8m / s < V ≤ 15m / s): If the outside 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 (V>15m / s): If a wind speed of >15m / s is detected for 10 consecutive seconds, the emergency mechanism is triggered, the cleaning component 400 prepares to shut down, and the emergency landing mechanism is 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 of the corresponding compensation mode is activated at the same time.

[0060] During the compensation action, the attitude compensation component 200 is activated. The air intake is provided on the injection tube 201b-1, and the air supply line introduces compressed air into the air intake. A combustion chamber is also provided in the injection tube 201b-1, and a turbine is also provided in the air intake. The compressed air enters the combustion chamber and mixes with kerosene for combustion, producing high-temperature and high-pressure gas. The gas expands and does work to drive the turbine to rotate at high speed. A nozzle is also provided at the end of the injection tube. The high-temperature and high-pressure gas is ejected outward under the action of the turbine. After being ejected, it can provide reverse thrust to the injection nozzle.

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

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

[0063] Based on the empirical formula of Bernoulli's 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, where ρ is the air density, S is the windward area (0.6 m²), and V is the wind speed.

[0065] Level 2 wind: F comp =1.5×F wind A 15% turbulence compensation coefficient is superimposed; the calculation results are synchronized to the jet direction solution module as input parameters for three-dimensional attitude adjustment.

[0066] Then, the three-dimensional parameters of the injection direction were calculated.

[0067] First, determine the orientation of the water nozzle 402. The orientation 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) Calculate the vertical compensation angle, with an adjustment range of -30° to +30°;

[0069] Flow rate control: The injection flow rate is determined by referring to a table based on the wind force level, and the opening of the gas flow valve is adjusted by a PWM signal.

[0070] After determining the required compensation angle and force, the drive motor inside the universal rotating component 202 drives the drive gear 202a-4 to rotate, which in turn causes the rotating gear 202a-3 on the first rotating cylinder 202a-1 or the second rotating cylinder 202a-2 to rotate. As shown in the attached drawings, the rotating gear 202a-3 is set at 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 rotation, the second rotating cylinder 202a-2 changes from being in a straight line with the first rotating cylinder 202a-1 to being perpendicular to it.

[0071] The aforementioned adjustments will change the orientation of the injection tube 201b-1, thereby causing a change in the thrust direction.

[0072] When small-angle fine-tuning or compensation in a certain direction is required, the electronically controlled cylinder 302c controls the sliding of the drive rod 302. As the drive rod 302 slides down, it drives the first drive rod 303 and the second drive rod 304 to swing outward. During the swing, the baffle 305, which was originally against the spray tube 201b-1, swings from the direction close to the spray tube 201b-1 to the position at the lower end of the spray tube 201b-1, and the two baffles 305 come together. At this time, the gas ejected from the spray tube 201b-1 will be blocked by the two baffles 305, thereby reducing the spray force of the spray tube 201b-1. Furthermore, due to the force of the gas impacting the baffles 305, the UAV will undergo a slight deflection and displacement in the opposite direction of the spray tube 201b-1.

[0073] Meanwhile, several movable angle plates 307a are also provided on the baffle 305. When the spray tube 201b-1 impacts the movable angle plate 307a, the movable angle plate 307a will rotate at a certain angle.

[0074] By utilizing the aforementioned structure and control logic, comprehensive control of the drone's airframe stability can be achieved when it is working in windy conditions. This ensures that the impact of external wind on the airframe can be reduced and flight stability can be maintained when performing tasks such as cleaning or other tasks like handling.

[0075] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0076] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0077] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much 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 it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A flight attitude compensation power output mechanism for a jet cleaning drone, characterized in that: include: The unmanned aerial vehicle (UAV) body (100) includes a UAV body (101), a flight control stick (102) mounted on the UAV body (101), and a wing assembly (103) mounted on the flight control stick (102). The UAV body (101) is equipped with a wind direction monitoring module, a level module, and a main control module. The attitude compensation component (200) includes a jet power compensation component (201) mounted on a flight control stick (102) and a universal rotating component (202) mounted on the jet power compensation component (201). The jet power compensation component (201) controls the flight maneuvers of the UAV. The jet power compensation component (201) includes a storage cavity (201a) mounted at the lower end of a mounting cylinder (103a) and a jet component (201b) mounted inside the storage cavity (201a). The jet component (201b) includes a jet cylinder (201b-1) connected to the storage cavity (201a), a flame jetting component (201b-2) mounted inside the jet cylinder (201b-1), and a reverse jetting component (300) mounted on the jet cylinder (201b-1). The rear end of the jet cylinder (201b-1) is connected to the universal rotating component (202). The universal rotating component (202) includes components rotatably connected to the jet cylinder (201b-1). The device comprises an adjusting cylinder (202a) at the rear end and a rotating plate (202b) at the rear end of the adjusting cylinder (202a); the adjusting cylinder (202a) includes a first rotating cylinder (202a-1) disposed on the rotating plate (202b), and a second rotating cylinder (202a-2) rotatably connected to the first rotating cylinder (202a-1), with the second rotating cylinder (202a-2) respectively opened at both ends to connect with the first rotating cylinder (202a-1) and the spray cylinder (201b-1). The first rotating cylinder (202a-1) and the second rotating cylinder (202a-2) are connected by an inclined port and a rotating gear (202a-3) located at the rear end of the second rotating cylinder (202a-2) and the spray cylinder (201b-1). Both the first rotating cylinder (202a-1) and the second rotating cylinder (202a-2) are equipped with drive gears (202a-4) near the rotating gears (202a-3). The drive gears (202a-4) mesh with the rotating gears (202a-3), and a drive motor is mounted on the drive gears (202a-4). The rotating plate (202b) is equipped with a driving stepper motor. The anti-spray component (300) includes a sliding guide rail (301) on the spray cylinder (201b-1), a drive rod (302) slidably connected to the sliding guide rail (301), a plurality of first drive rods (303) and second drive rods (304) rotatably connected to the sliding guide rail (301), and a baffle (305) hinged to the ends of the first drive rods (303) and second drive rods (304). A guide rod (306) is provided on the drive rod (302), and an electric control cylinder (302c) is provided at the rear end of the drive rod (302). The baffle (305) includes a main baffle (305a) and an arc-shaped baffle (305b) disposed between the main baffles (305a). The end of the main baffle (305a) is provided with a sealing port. The second drive rod (304) is longer than the first drive rod (303). The second drive rod (304) includes a stop rod (304a) hinged to the sliding guide rail (301), an extension rod (304b) slidably connected to the stop rod (304a), a rotating rod (304c) disposed on the stop rod (304a), and a rotating rod (304c) disposed on the extension rod (304b). The main control module is equipped with an information synchronization module and a feedback module. The information synchronization module is used to synchronously calculate the current wind speed, liquid jet flow rate and jet intensity of the jet tube (201b-1), and feed the results back to the driving stepper motor and the driving motor through the feedback module.

2. The flight attitude compensation power output mechanism for the UAV using jet cleaning as described in claim 1, characterized in that: The wing assembly (103) includes a mounting cylinder (103a) at the end of the flight control stick (102), a drive motor on the mounting cylinder (103a), and a drive fan blade (103b) on the drive motor. The jet power compensation component (201) is located at the lower end of the mounting cylinder (103a).

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

4. The flight attitude compensation power output mechanism for the jet cleaning UAV as described in claim 3, characterized in that: The cleaning assembly (400) includes a water tank (401) located at the lower end of the drone body (101) and a water nozzle (402) located on the water tank (401). The water nozzle (402) is equipped with a flow rate control valve, and the flow rate control valve is equipped with a flow rate control module.

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