Unmanned aerial vehicle for transferring photovoltaic cleaning robot

Abstract

The invention relates to the technical field of photovoltaic operation and maintenance, in particular to an unmanned aerial vehicle for transferring a photovoltaic cleaning robot. An angle adjusting mechanism is arranged at the bottom of the unmanned aerial vehicle body, the bottom of the angle adjusting mechanism is rotationally connected with two connecting triggering mechanisms, the connecting triggering mechanisms are arranged in connecting grooves of the photovoltaic cleaning robot, and a photovoltaic panel angle detection mechanism is arranged on the unmanned aerial vehicle body. According to the unmanned aerial vehicle for transferring the photovoltaic cleaning robot, the photovoltaic cleaning robot is transferred through the unmanned aerial vehicle body, the photovoltaic panel angle detection mechanism, the angle adjusting mechanism and the connection triggering mechanism are arranged, butt joint is convenient and rapid, and the transferring effect is improved.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic operation and maintenance technology, and in particular to a drone for transporting photovoltaic cleaning robots. Background Technology

[0002] Currently, photovoltaic power plants are developing rapidly. As a key component of clean energy, photovoltaic power plants are playing a crucial role. As a core component, the performance of photovoltaic panels directly affects power generation efficiency. In actual use, photovoltaic panels need to be cleaned. To improve operation and maintenance efficiency, robots are used to clean photovoltaic panels, but they still need to be transferred. Existing technologies use track laying or shuttle vehicles for robot transfer, but track laying is costly, and shuttle vehicles need to be repeatedly adjusted in angle, resulting in low docking efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a drone for transporting photovoltaic cleaning robots, thereby solving the aforementioned technical problems.

[0004] To achieve the above objectives, the present invention provides a drone for transporting a photovoltaic cleaning robot, comprising a drone body, an angle adjustment mechanism at the bottom of the drone body, two connection triggering mechanisms rotatably connected to the bottom of the angle adjustment mechanism, the connection triggering mechanisms being disposed in the connection slot of the photovoltaic cleaning robot, and a photovoltaic panel angle detection mechanism on the drone body. The photovoltaic panel angle detection mechanism, angle adjustment mechanism, and connection triggering mechanism are all electrically connected to the control terminal inside the UAV.

[0005] Preferably, the angle adjustment mechanism includes a rotating turntable installed at the bottom of the drone body, a U-shaped connecting plate installed on the rotating turntable, and angle adjustment telescopic components provided on both sides of the U-shaped connecting plate; Both the angle-adjustable telescopic assembly and the rotating turntable are electrically connected to the control terminal.

[0006] Preferably, the connecting trigger mechanism is rotatably connected to the telescopic end of the angle adjusting telescopic component. The connecting trigger mechanism includes a mounting sleeve. One end of the mounting sleeve is rotatably connected to the telescopic end of the telescopic component. A connecting trigger driving telescopic component is provided inside the mounting sleeve. The telescopic end of the connecting trigger driving telescopic component is provided with an ejector trigger. The ejector trigger is a cylinder with a conical bottom. At least two guide holes are opened on the circumferential side of the other end of the mounting sleeve. A top fastener is provided in the guide holes. A limit plate is provided at one end of the top fastener. A drive cone is provided at the other end of the top fastener through the guide holes. A return spring is sleeved on the top fastener between the drive cone and the inner side of the mounting sleeve. The connection trigger drives the telescopic component and is electrically connected to the control terminal.

[0007] Preferably, an annular groove is provided on the end face of the other end of the mounting sleeve, and a positioning electromagnet is provided in the annular groove; The positioning electromagnet is electrically connected to the control terminal.

[0008] Preferably, an annular groove is provided on the circumferential side of the connecting groove, and one end of the top fastener is positioned opposite to the annular groove.

[0009] Preferably, a trigger switch is provided at the bottom of the annular slot. The trigger switch is electrically connected to the controller of the photovoltaic cleaning robot. Drive wheels are connected to both ends of the photovoltaic cleaning robot through movable telescopic components. When the trigger switch is triggered by the push-out trigger, the controller controls the movable telescopic components to extend, and the drive wheels at both ends of the photovoltaic cleaning robot move away from each other. When the push-out trigger moves away from the trigger switch and releases the trigger switch, the controller controls the movable telescopic components to retract, and the drive wheels at both ends of the photovoltaic cleaning robot move closer to each other and fit against both ends of the photovoltaic panel.

[0010] Preferably, the photovoltaic panel angle detection mechanism includes two extension plates symmetrically installed in the middle of the U-shaped connecting plate, and the two extension plates are respectively equipped with a first distance sensor and a second distance sensor; The first and second distance sensors are electrically connected to the control terminal. The drone body is in a horizontal position, and the rotating turntable rotates. When the distance data collected by the first and second distance sensors are equal, the side of the U-shaped connecting plate is set parallel to the side of the photovoltaic cleaning robot.

[0011] Preferably, the formula for calculating the tilt angle of the photovoltaic panel is as follows: ; in, The tilt angle of the photovoltaic panel. To the initial rotation of the turntable The difference in vertical distance to the photovoltaic panel detected by the first or second distance sensor after the angle is adjusted. The horizontal distance from the first or second distance sensor to the center of the rotating disk.

[0012] Preferably, a ground support mechanism is also provided, which includes four support telescopic components mounted on the U-shaped connecting plate via an extension plate; The telescopic support is electrically connected to the control terminal.

[0013] Preferably, an image acquisition device is installed inside the U-shaped connecting plate, and the image acquisition device is electrically connected to the control terminal.

[0014] Therefore, the present invention employs the above-mentioned drone for transporting photovoltaic cleaning robots, which has the following advantages: the drone body is used to transport the photovoltaic cleaning robot, and a photovoltaic panel angle detection mechanism, an angle adjustment mechanism, and a connection triggering mechanism are set up, making docking convenient and quick, and improving the transport efficiency.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is an assembly diagram of a drone for transporting a photovoltaic cleaning robot and the photovoltaic cleaning robot according to the present invention; Figure 2 This is a schematic diagram of the connection triggering mechanism structure of the present invention; Figure 3 This is a bottom view of the connection triggering mechanism of the present invention; Figure 4 This is a three-dimensional structural diagram of the connection triggering mechanism of the present invention; Figure 5 Diagram showing the docking process of the connection trigger mechanism; Figure 6 This is a schematic diagram of the landing support mechanism in Embodiment 2 of the present invention.

[0017] Figure Labels 1. UAV body; 2. Angle adjustment mechanism; 21. Rotating turntable; 22. U-shaped connecting plate; 23. Angle adjustment telescopic assembly; 3. Connection trigger mechanism; 31. Mounting sleeve; 311. Guide through hole; 312. Annular groove; 313. Positioning electromagnet; 32. Connection trigger drive telescopic assembly; 33. Push-out trigger; 34. Top fastener; 341. Limiting plate; 342. Drive cone; 343. Return spring; 4. Photovoltaic cleaning robot; 41. Connecting groove; 42. Annular slot; 43. Trigger switch; 44. Drive wheel; 45. Moving telescopic assembly; 5. Photovoltaic panel angle detection mechanism; 51. Extension plate; 52. First distance sensor; 53. Second distance sensor; 6. Landing support mechanism; 61. Extension plate; 62. Support telescopic assembly. Detailed Implementation

[0018] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] Example 1 like Figure 1 As shown, a drone for transporting a photovoltaic cleaning robot 4 includes a drone body 1. An angle adjustment mechanism 2 is provided at the bottom of the drone body 1. Two connection trigger mechanisms 3 are rotatably connected to the bottom of the angle adjustment mechanism 2. The connection trigger mechanisms 3 are located in the connection slot 41 of the photovoltaic cleaning robot 4. A photovoltaic panel angle detection mechanism 5 is provided on the drone body 1. The photovoltaic panel angle detection mechanism 5, the angle adjustment mechanism 2 and the connection trigger mechanisms 3 are all electrically connected to the control terminal inside the drone body 1.

[0021] The angle adjustment mechanism 2 includes a rotating turntable 21 installed at the bottom of the UAV body 1. A U-shaped connecting plate 22 is installed on the rotating turntable 21. Angle adjustment telescopic components 23 are provided on both sides of the U-shaped connecting plate 22. Both the angle adjustment telescopic components 23 and the rotating turntable 21 are electrically connected to the control terminal.

[0022] like Figures 2-3As shown, the connecting trigger mechanism 3 is rotatably connected to the telescopic end of the angle adjusting telescopic assembly 23. The connecting trigger mechanism 3 includes a mounting sleeve 31. One end of the mounting sleeve 31 is rotatably connected to the telescopic end of the telescopic assembly. A connecting trigger drive telescopic assembly 32 is provided inside the mounting sleeve 31. An ejector trigger 33 is provided at the telescopic end of the connecting trigger drive telescopic assembly 32. The ejector trigger 33 is a cylinder with a conical bottom. At least two guide holes 311 are opened on the circumferential side of the other end of the mounting sleeve 31. A top fastener 34 is provided inside the guide holes 311. A limit plate 341 is provided at one end of the top fastener 34. A drive cone 342 is provided at the other end of the top fastener 34 through the guide holes 311. A return spring 343 is sleeved on the top fastener 34 between the drive cone 342 and the inner side of the mounting sleeve 31. The connecting trigger drive telescopic assembly 32 is electrically connected to the control terminal.

[0023] like Figure 4 As shown, an annular groove 312 is provided on the end face of the other end of the mounting sleeve 31. A positioning electromagnet 313 is provided in the annular groove 312 and is electrically connected to the control terminal. An annular slot 42 is provided on the circumferential side of the connecting groove 41, and one end of the top fastener 34 is positioned opposite to the annular slot 42. A trigger switch 43 is provided at the bottom of the annular slot 42. The trigger switch 43 is electrically connected to the controller of the photovoltaic cleaning robot 4. Drive wheels 44 are connected to both ends of the photovoltaic cleaning robot 4 through a movable telescopic assembly 45. When the trigger switch 43 is triggered by the push-out trigger 33, the controller controls the movable telescopic assembly 45 to extend, and the drive wheels 44 at both ends of the photovoltaic cleaning robot 4 move away from each other. When the push-out trigger 33 moves away from the trigger switch 43 and releases the trigger switch 43, the controller controls the movable telescopic assembly 45 to retract, and the drive wheels 44 at both ends of the photovoltaic cleaning robot 4 move closer to each other and fit against both ends of the photovoltaic panel.

[0024] The photovoltaic panel angle detection mechanism 5 includes two extension plates 51 symmetrically installed in the middle of the U-shaped connecting plate 22. A first distance sensor 52 and a second distance sensor 53 are respectively installed on the two extension plates 51. The first distance sensor 52 and the second distance sensor 53 are electrically connected to a control terminal. The drone body 1 is in a horizontal state, and the rotating turntable 21 rotates. When the distance data collected by the first distance sensor 52 and the second distance sensor 53 are equal, the side of the U-shaped connecting plate 22 is then parallel to the side of the photovoltaic cleaning robot 4.

[0025] The formula for calculating the tilt angle of a photovoltaic panel is as follows: ; in, The tilt angle of the photovoltaic panel. To rotate the turntable 21 from the initial stage to the start of rotation The difference in vertical distance to the photovoltaic panel detected by the first distance sensor 52 or the second distance sensor 53 after the angle is adjusted. The horizontal distance from the first distance sensor 52 or the second distance sensor 53 to the center of the rotating turntable.

[0026] The specific transfer process is as follows: The drone body 1 carries the photovoltaic cleaning robot 4 above the photovoltaic panel to be cleaned. It activates the photovoltaic panel angle detection mechanism 5 to detect the actual tilt angle of the photovoltaic panel. By adjusting the extension and retraction of the telescopic component 23, the tilt angle of the photovoltaic cleaning robot 4 is adjusted, and the robot is placed on the photovoltaic panel. The trigger drive 32 retracts, causing the ejector trigger 33 to release the trigger switch 43. The controller controls the retraction of the moving telescopic component 45, causing the drive wheels 44 at both ends of the photovoltaic cleaning robot 4 to come closer together and fit against the ends of the photovoltaic panel. The ejector trigger 33 continues to retract, and under the action of the return spring 343, the top fastener 34 retracts into the mounting sleeve 31. The top fastener 34 disengages from the annular slot 42 in the connecting groove 41, thus separating the drone body 1 from the photovoltaic cleaning robot 4. The drone body 1 flies to above the cleaned photovoltaic cleaning robot 4 and activates the photovoltaic panel angle detection mechanism 5 to detect the photovoltaic panel angle, adjusting the extension and retraction of the telescopic component 23. And when the distances collected by the first distance sensor 52 and the second distance sensor 53 are the same, the side of the U-shaped connecting plate 22 is set parallel to the side of the photovoltaic cleaning robot 4, and the drone body 1 is controlled, such as... Figure 5 As shown, the mounting sleeve 31 is inserted into the corresponding connecting slot 41, and the positioning electromagnet 313 is energized, so that the mounting sleeve 31 is vertically fixed in the connecting slot 41. The connection trigger drive extension component 32 is activated, pushing out the four top fasteners 34 and engaging with the annular slot 42. The positioning electromagnet 313 is de-energized, and the connection trigger drive extension component 32 continues to extend, pressing against the trigger switch 43. The controller controls the moving extension component 45 to extend, and the drive wheels 44 at both ends of the photovoltaic cleaning robot 4 move away from each other, realizing the separation of the photovoltaic cleaning robot 4 from the photovoltaic panel. The drone body 1 is then controlled to transfer the photovoltaic cleaning robot 4 to the next photovoltaic panel.

[0027] Example 2 The difference between this embodiment and Embodiment 1 is that a ground support mechanism 6 is also provided, such as... Figure 6 As shown, the landing support mechanism 6 includes four support telescopic components 62 mounted on the U-shaped connecting plate 22 via an extension plate 61. The support telescopic components 62 are electrically connected to the control terminal. An image acquisition device is installed inside the U-shaped connecting plate 22, which is electrically connected to the control terminal. The actual docking process and actual flight conditions are observed based on the acquired images.

[0028] When completing the cleaning task, the extension and retraction of the angle adjustment telescopic component 23 remains the same, so that both the drone body 1 and the photovoltaic cleaning robot 4 are set horizontally. Before landing, the four support telescopic components 62 extend to prevent the photovoltaic cleaning robot 4 from touching the ground.

[0029] The telescopic components in Examples 1 and 2 both use electric push rods, which are purchased according to the specific installation location dimensions and actual stroke requirements.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. 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 still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A drone for transporting photovoltaic cleaning robots, comprising a drone body, characterized in that: The drone body has an angle adjustment mechanism at its bottom. Two connection trigger mechanisms are rotatably connected to the bottom of this mechanism. These trigger mechanisms are located within the connection slot of the photovoltaic cleaning robot and are rotatably connected to the telescopic end of the angle adjustment telescopic assembly. Each trigger mechanism includes a mounting sleeve, one end of which is rotatably connected to the telescopic end of the telescopic assembly. A connection trigger drive telescopic assembly is located inside the mounting sleeve. The telescopic end of this assembly has an ejector trigger, which is a cylindrical object with a conical bottom. At least two guide holes are opened on the circumferential side of the other end of the mounting sleeve. A top component is installed within each guide hole. One end of the top component has a limit plate, and the other end, passing through the guide holes, has a drive cone. A return spring is fitted onto the top component between the drive cone and the inner side of the mounting sleeve. The connection trigger drive telescopic assembly is electrically connected to a control terminal. A photovoltaic panel angle detection mechanism is also installed on the drone body. The photovoltaic panel angle detection mechanism, angle adjustment mechanism, and connection triggering mechanism are all electrically connected to the control terminal inside the UAV.

2. The drone for transporting a photovoltaic cleaning robot according to claim 1, characterized in that: The angle adjustment mechanism includes a rotating turntable installed at the bottom of the drone body, a U-shaped connecting plate installed on the rotating turntable, and angle adjustment telescopic components on both sides of the U-shaped connecting plate; Both the angle-adjustable telescopic assembly and the rotating turntable are electrically connected to the control terminal.

3. The drone for transporting a photovoltaic cleaning robot according to claim 2, characterized in that: An annular groove is provided on the end face of the other end of the mounting sleeve, and a positioning electromagnet is installed in the annular groove. The positioning electromagnet is electrically connected to the control terminal.

4. The drone for transporting a photovoltaic cleaning robot according to claim 3, characterized in that: An annular slot is provided on the circumferential side of the connecting groove, and one end of the top fastener is positioned opposite to the annular slot.

5. The drone for transporting a photovoltaic cleaning robot according to claim 4, characterized in that: A trigger switch is installed at the bottom of the annular slot. The trigger switch is electrically connected to the controller of the photovoltaic cleaning robot. Drive wheels are connected to both ends of the photovoltaic cleaning robot through a movable telescopic component. When the trigger switch is triggered by the push-out trigger, the controller controls the movable telescopic component to extend, and the drive wheels at both ends of the photovoltaic cleaning robot move away from each other. When the push-out trigger moves away from the trigger switch and releases the trigger switch, the controller controls the movable telescopic component to retract, and the drive wheels at both ends of the photovoltaic cleaning robot move closer to each other and fit against both ends of the photovoltaic panel.

6. The drone for transporting a photovoltaic cleaning robot according to claim 5, characterized in that: The photovoltaic panel angle detection mechanism includes two extension plates symmetrically installed in the middle of the U-shaped connecting plate, and the two extension plates are respectively equipped with a first distance sensor and a second distance sensor; The first and second distance sensors are electrically connected to the control terminal. The drone body is in a horizontal position, and the rotating turntable rotates. When the distance data collected by the first and second distance sensors are equal, the side of the U-shaped connecting plate is set parallel to the side of the photovoltaic cleaning robot.

7. The drone for transporting a photovoltaic cleaning robot according to claim 6, characterized in that: The formula for calculating the tilt angle of a photovoltaic panel is as follows: ； in, The tilt angle of the photovoltaic panel. To the initial rotation of the turntable The difference in vertical distance to the photovoltaic panel detected by the first or second distance sensor after the angle is adjusted. The horizontal distance from the first or second distance sensor to the center of the rotating disk.

8. The drone for transporting a photovoltaic cleaning robot according to claim 7, characterized in that: It is also equipped with a ground support mechanism, which includes four support telescopic components that are installed on the U-shaped connecting plate via extension plates; The telescopic support is electrically connected to the control terminal.

9. The drone for transporting a photovoltaic cleaning robot according to claim 8, characterized in that: An image acquisition device is installed inside the U-shaped connecting plate, and the image acquisition device is electrically connected to the control terminal.

Images