Cleaning unmanned aerial vehicle

Abstract

The invention discloses a cleaning unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the cleaning unmanned aerial vehicle comprises a flying platform, a control device, a liquid supply device, a multi-degree-of-freedom mechanical arm and a cleaning device, the liquid supply device is fixedly connected to the bottom of the flying platform, and the liquid supply device is fixedly connected with the multi-degree-of-freedom mechanical arm; the multi-degree-of-freedom mechanical arm is fixedly connected with the cleaning device, the liquid supply device is connected with the cleaning device through a pipeline, and the control device is in communication connection with the multi-degree-of-freedom mechanical arm and the liquid supply device. The defects that an existing unmanned aerial vehicle cleaning mode is low in efficiency, poor in cleaning effect and weak in adaptability to the operation surface are overcome, and efficient, high-quality, automatic and safe aerial cleaning operation is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a cleaning unmanned aerial vehicle. BACKGROUND

[0002] With the development of unmanned aerial vehicle technology, its application field has been expanded from aerial photography, surveying and mapping to industrial detection, agricultural plant protection and cleaning operation. In the cleaning field, such as cleaning work of high-rise building glass curtain wall, large photovoltaic power station panel and wind turbine blade, the traditional cleaning method has problems of low efficiency, high cost and poor safety, for example: the rigid fixed cleaning module cannot effectively fit the complex surface with curvature or unevenness (such as photovoltaic panel frame and curved outer wall), resulting in cleaning dead angle or uneven pressure, and poor cleaning effect. Therefore, a cleaning unmanned aerial vehicle is needed to solve the above technical problems. SUMMARY

[0003] Therefore, the present application provides a cleaning unmanned aerial vehicle, which solves the problems of low efficiency, poor cleaning effect and weak adaptability to the working surface of the existing unmanned aerial vehicle cleaning method, and realizes efficient, high-quality, automatic and safe aerial cleaning operation.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0005] A cleaning unmanned aerial vehicle comprises a flight platform, a control device, a liquid supply device, a multi-degree-of-freedom manipulator and a cleaning device. The liquid supply device is fixedly connected to the bottom of the flight platform. The liquid supply device is fixedly connected with the multi-degree-of-freedom manipulator. The multi-degree-of-freedom manipulator is fixedly connected with the cleaning device. The liquid supply device is connected with the cleaning device through a pipeline. The control device is communicatively connected with the multi-degree-of-freedom manipulator and the liquid supply device respectively.

[0006] Further, the liquid supply device comprises a liquid tank, a liquid pump, a liquid inlet, a pipeline and a flow control valve. The liquid tank is fixedly connected to the bottom of the flight platform. A liquid inlet is formed on one side of the liquid tank. A filter screen is arranged at the liquid inlet. A liquid pump is arranged at the bottom of the liquid tank. One end of each of a plurality of pipelines is fixedly connected with the liquid pump, and the other end is fixedly connected with the cleaning device. A flow control valve is arranged on each of the plurality of pipelines. The flow control valve is communicatively connected with the control device.

[0007] Further, the multi-degree-of-freedom mechanical arm comprises a base, a motor one is fixedly installed on the base, an output end of the motor one is connected with a rotating disc, a motor two is fixedly installed on the rotating disc, an output end of the motor two is connected with an arm body one, a motor three is fixedly installed on the other end of the arm body one, an output end of the motor three is connected with an arm body two, a motor four is fixedly installed on the other end of the arm body two, an output end of the motor four is fixedly connected with the cleaning device, and the control device is electrically connected with the motor one, the motor two, the motor three and the motor four respectively.

[0008] Further, the cleaning device comprises a driving motor and a rotating brush disc, the driving motor is fixedly connected with the multi-degree-of-freedom mechanical arm, an output end of the driving motor is fixedly connected with the rotating brush disc, one side of the rotating brush disc is provided with a nozzle, and the other side is provided with a plurality of bearings, and the liquid supply device is connected to the internal cavity of the rotating brush disc through the bearings.

[0009] Further, the material of the rotating brush disc is superfine fiber velvet or silica gel, the nozzles are uniformly embedded in the interior of the rotating brush disc, and the jet direction is perpendicular to the surface to be cleaned.

[0010] Further, the flight platform is provided with a visual positioning module, the visual positioning module comprises a binocular camera and a laser range finder, the binocular camera and the laser range finder are electrically connected with the control device, are used for identifying the outline, distance and stain degree of the surface to be cleaned, and are in communication connection with the control device, and are used for providing navigation and positioning information.

[0011] The beneficial effects of the present application are that:

[0012] The present application is convenient to use and has high practicability, the cleaning head has the flexibility of human hands through the multi-degree-of-freedom mechanical arm, can be self-adapted to complex surfaces such as photovoltaic panels, curved glass and special-shaped building outer walls, has no cleaning dead angle, the pressure is uniform, the cleaning effect is significantly improved, the rotating brush washing and precise spraying of the cleaning device are cooperated, the utilization rate of the cleaning liquid is high, the ideal effect can be achieved through single cleaning, and the operation efficiency is several times higher than that of the traditional mode, the visual positioning module can realize full-automatic path planning, constant-pressure cleaning and active posture stabilization, greatly reduces the manual intervention, and realizes the truly intelligent cleaning operation. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work on the basis of the provided drawings.

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 This is a partial top view of the present invention;

[0016] Figure 3 This is a schematic diagram of the structure of the back of the rotating brush disk;

[0017] Figure 4 This is a schematic diagram of a multi-degree-of-freedom robotic arm;

[0018] In the figure:

[0019] 1-Flight platform; 2-Liquid tank; 3-Liquid inlet; 4-Liquid pump; 5-Pipeline; 6-Multi-degree-of-freedom robotic arm; 7-Vision positioning module; 8-Rotating brush; 9-Nozzle; 10-Bearing; 11-Turntable; 12-Motor 2; 13-Arm body 1; 14-Motor 3; 15-Arm body 2; 16-Motor 4. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figures 1-4 This invention provides a cleaning drone, including a flight platform 1, a control device, a liquid supply device, a multi-degree-of-freedom robotic arm 6, and a cleaning device. The liquid supply device is fixedly connected to the bottom of the flight platform 1 and is fixedly connected to the multi-degree-of-freedom robotic arm 6. The multi-degree-of-freedom robotic arm 6 is fixedly connected to the cleaning device. The liquid supply device and the cleaning device are connected through pipelines. The control device is communicatively connected to the multi-degree-of-freedom robotic arm 6 and the liquid supply device respectively. The flight platform 1 has an independent control system and can also be controlled remotely via an app. It is also equipped with a Beidou navigation device for positioning.

[0022] Preferably, the liquid supply device includes a liquid tank 2, a liquid pump 4, a liquid inlet 3, pipelines 5, and flow control valves. The liquid tank 2 is fixedly connected to the bottom of the flight platform 1. A liquid inlet 3 is provided on one side of the liquid tank 2, and a filter screen is provided at the liquid inlet 3. A liquid pump 4 is provided at the bottom of the liquid tank 2. One end of each of the multiple pipelines 5 is fixedly connected to the liquid pump 4, and the other end is fixedly connected to the cleaning device. A flow control valve is provided on each of the multiple pipelines 5. The flow control valve is communicatively connected to the control device. The flow control valve can accurately spray liquid as needed according to factors such as flight speed and degree of dirt, which greatly saves cleaning liquid and improves cleaning quality, avoiding over-spraying or under-spraying.

[0023] Preferably, the multi-degree-of-freedom robotic arm 6 includes a base, on which a first motor is fixedly mounted. The output end of the first motor is connected to a turntable 11, and a second motor 12 is fixedly mounted on the turntable 11. The output end of the second motor 12 is connected to an arm body 13, and the other end of the arm body 13 is fixedly mounted with a third motor 14. The output end of the third motor 14 is connected to an arm body 15, and the other end of the arm body 15 is fixedly mounted with a fourth motor 16. The output end of the fourth motor 16 is fixedly connected to a cleaning device. The control device is electrically connected to the first motor, the second motor 12, the third motor 14, and the fourth motor 16, respectively. The multi-degree-of-freedom robotic arm 6 provides unlimited and flexible motion capabilities, not just a limited number of fixed degrees of freedom. It is installed at the bottom of the flight platform 1 through a quick-release interface, ensuring symmetrical load and optimal stability, and enabling quick disassembly and maintenance, thus solving the common problems of low integration and inconvenient modification of existing equipment.

[0024] Preferably, the cleaning device includes a drive motor and a rotating brush disc 8. The drive motor is fixedly connected to a multi-degree-of-freedom robotic arm 6. The output end of the drive motor is fixedly connected to the rotating brush disc 8. One side of the rotating brush disc 8 is provided with a nozzle 9, and the other side is provided with multiple bearings 10. The liquid supply device is connected to the internal cavity of the rotating brush disc 8 through a pipeline 5 passing through the bearings 10.

[0025] Preferably, the rotating brush disk 8 is made of microfiber or silicone, and the nozzle 9 is uniformly embedded inside the rotating brush disk 8, with the spray direction perpendicular to the surface to be cleaned. The built-in brush disk and vertical spray can realize the instantaneous release and efficient utilization of the cleaning liquid at the contact point between the rotating brush disk 8 and the surface, avoiding liquid splashing and waste.

[0026] Preferably, the flight platform 1 is equipped with a visual positioning module 7, which includes a binocular camera and a laser rangefinder. Both the binocular camera and the laser rangefinder are electrically connected to the control device and are used to identify the contour, distance, and degree of dirt on the surface to be cleaned. Both the binocular camera and the laser rangefinder are communicatively connected to the control device and are used to provide navigation and positioning information. The visual positioning module 7 can not only measure distances but also identify contours and the degree of dirt, providing a perception basis for the fully automatic path planning and intelligent operation of the entire system.

[0027] The specific usage of this invention is as follows:

[0028] Liquid is injected into the liquid tank 2 through the liquid inlet 3. After the liquid injection is completed, the liquid inlet 3 is sealed. The surface to be cleaned is scanned by the vision positioning module 7 to generate a three-dimensional operation path. The drone is controlled to fly to the starting point of the operation and hover. Then, the multi-degree-of-freedom robotic arm 6 is controlled to move so that the rotating brush 8 contacts the surface to be cleaned. The movement of the multi-degree-of-freedom robotic arm 6 is dynamically adjusted, and the drive motor is started to drive the rotating brush 8 to rotate at high speed. At the same time, the liquid pump 4 is started and the flow control valve is opened to spray cleaning liquid and perform brushing. After the cleaning operation is completed along the predetermined path, the multi-degree-of-freedom robotic arm 6 is retracted, the rotating brush 8 is removed from the surface, and the drone returns to home, completing the cleaning operation.

[0029] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on these embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still combine, add, delete, or otherwise adjust the features of the various embodiments of the present invention according to the circumstances without conflict or creative effort, thereby obtaining different technical solutions that do not fundamentally depart from the concept of the present invention. These technical solutions also fall within the scope of protection of the present invention.

Claims

1. A cleaning drone, characterized in that, The system includes a flight platform (1), a control device, a liquid supply device, a multi-degree-of-freedom robotic arm (6), and a cleaning device. The liquid supply device is fixedly connected to the bottom of the flight platform (1), and the liquid supply device is fixedly connected to the multi-degree-of-freedom robotic arm (6). The multi-degree-of-freedom robotic arm (6) is fixedly connected to the cleaning device. The liquid supply device and the cleaning device are connected through pipelines. The control device is communicatively connected to the multi-degree-of-freedom robotic arm (6) and the liquid supply device, respectively.

2. The cleaning drone according to claim 1, characterized in that, The liquid supply device includes a liquid tank (2), a liquid pump (4), a liquid inlet (3), pipelines (5), and a flow control valve. The liquid tank (2) is fixedly connected to the bottom of the flight platform (1). A liquid inlet (3) is provided on one side of the liquid tank (2). A filter screen is provided at the liquid inlet (3). A liquid pump (4) is provided at the bottom of the liquid tank (2). One end of each of the multiple pipelines (5) is fixedly connected to the liquid pump (4), and the other end is fixedly connected to the cleaning device. A flow control valve is provided on each of the multiple pipelines (5). The flow control valve is communicatively connected to the control device.

3. The cleaning drone according to claim 1, characterized in that, The multi-degree-of-freedom robotic arm (6) includes a base, on which a motor is fixedly mounted. The output end of the motor is connected to a turntable (11). A motor is fixedly mounted on the turntable (11). The output end of the motor is connected to an arm body (13). The other end of the arm body (13) is fixedly mounted to a motor (14). The output end of the motor (14) is connected to an arm body (15). The other end of the arm body (15) is fixedly mounted to a motor (16). The output end of the motor (16) is fixedly connected to a cleaning device. The control device is electrically connected to the motors 1, 2 (12), 3 (14), and 4 (16) respectively.

4. The cleaning drone according to claim 1, characterized in that, The cleaning device includes a drive motor and a rotating brush disc (8). The drive motor is fixedly connected to a multi-degree-of-freedom robotic arm (6). The output end of the drive motor is fixedly connected to the rotating brush disc (8). One side of the rotating brush disc (8) is provided with a nozzle (9), and the other side is provided with multiple bearings (10). The liquid supply device is connected to the internal cavity of the rotating brush disc (8) through a pipeline (5) through the bearings (10).

5. The cleaning drone according to claim 4, characterized in that, The rotating brush disc (8) is made of microfiber or silicone. The nozzle (9) is evenly embedded inside the rotating brush disc (8) and the spray direction is perpendicular to the surface to be cleaned.

6. The cleaning drone according to claim 1, characterized in that, The flight platform (1) is equipped with a visual positioning module (7), which includes a binocular camera and a laser rangefinder. Both the binocular camera and the laser rangefinder are electrically connected to the control device and are used to identify the outline, distance and degree of dirt on the surface to be cleaned. Both the binocular camera and the laser rangefinder are communicatively connected to the control device and are used to provide navigation and positioning information.

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