Negative pressure photovoltaic panel cleaning unmanned aerial vehicle based on 3-rrr spherical mechanism design

Abstract

This invention belongs to the technical field of photovoltaic panel cleaning equipment, specifically relating to a negative pressure photovoltaic panel cleaning drone based on a 3-RRR spherical mechanism design. The drone includes a drone frame, wings, flexible suction cup tracks, a 3-RRR parallel mechanism, a gimbal camera, a negative pressure adsorption mechanism, and a high-speed brush. It integrates parallel attitude adjustment, rotor flight, negative pressure adsorption, and track walking functions, achieving multi-mode collaborative operation of "flight approach - negative pressure adsorption - track walking." The 3-RRR parallel mechanism enables multi-degree-of-freedom attitude fine-tuning, adapting to complex scenarios such as large tilt angles of 0-75° and irregular curved surfaces. A dual-mode cleaning mechanism is used to remove various types of stains in stages, and the gimbal camera integrates cleaning and inspection. This invention improves adaptability to complex scenarios and operational safety, reduces maintenance costs, and is suitable for efficient and intelligent cleaning of various photovoltaic arrays.

Description

Technical Field

[0001] This invention belongs to the field of photovoltaic panel cleaning equipment technology, specifically relating to a negative pressure photovoltaic panel cleaning drone based on a 3-RRR spherical mechanism design. Background Technology

[0002] Photovoltaic power generation is a key clean energy source for achieving the "dual carbon" goal, but panel contamination can severely reduce its power generation efficiency, with losses exceeding 30%. Therefore, efficient cleaning and maintenance are crucial. Currently, the mainstream methods for cleaning photovoltaic panels all have significant limitations: traditional manual methods are inefficient, involve high risks at heights, and are costly; ground cleaning robots are limited by terrain and tilt angles, making it difficult to stably adhere and move on steep slopes, curtain walls, or unstructured environments; while aerial cleaning drones can handle some high-altitude scenarios, they generally suffer from short battery life, weak wind resistance, and insufficient ability to adjust the cleaning mechanism's posture, resulting in uneven cleaning and water stains on high-tilt panels.

[0003] Internationally advanced automation solutions have established end-to-end operation and maintenance systems, but they are costly and lack the dynamic conformity of cleaning organizations. While domestic technology has developed rapidly, it still lags behind international levels in terms of endurance, environmental adaptability, and fully automated cluster operations. Current technologies generally face core challenges such as poor adaptability to complex terrain, difficulty in balancing cleaning coverage uniformity and efficiency, and a prominent contradiction between safety and cost in high-altitude operations.

[0004] Specifically, existing automated cleaning equipment faces the following technical challenges: it is prone to adsorption failure, movement stagnation, and cleaning blind spots when facing steep slopes, irregular curved surfaces, or floating photovoltaic arrays; its cleaning effect on special environmental stains such as desert dust and damp, sticky dirt is limited, and it may damage the panel surface; the safety risks of working at heights restrict cleaning efficiency and continuity; and the diverse specifications of photovoltaic panels make existing devices insufficiently versatile, driving up operation and maintenance costs. To address these combined technical bottlenecks of poor terrain adaptability, high risk, low efficiency, and weak versatility, developing an intelligent equipment that can adapt to various terrains, achieve stable adhesion, and provide efficient cleaning has become an urgent technical need to promote cost reduction and efficiency improvement in the photovoltaic industry. Summary of the Invention

[0005] To address the technical problems of existing photovoltaic panel cleaning equipment, such as poor terrain adaptability, high risk of high-altitude operations, low cleaning efficiency, and weak versatility, this invention provides a negative pressure photovoltaic panel cleaning drone based on a 3-RRR spherical mechanism design. Through structural innovation, it achieves safe, efficient, and intelligent cleaning across all terrains, adapting to various complex photovoltaic scenarios and reducing operation and maintenance costs.

[0006] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0007] This invention provides a negative pressure photovoltaic panel cleaning drone based on a 3-RRR spherical mechanism design, comprising:

[0008] A drone frame that provides mounting support for the various components;

[0009] The wings are mounted on the upper part of the UAV frame and are used to enable UAV flight and attitude adjustment.

[0010] Flexible suction cup track, which is installed on the lower part of the drone frame, is used for the drone to walk on the surface of the photovoltaic panel and assist in adsorption;

[0011] A 3-RRR parallel mechanism is installed on the UAV frame to drive the UAV fuselage to perform multi-degree-of-freedom attitude fine-tuning to adapt to the photovoltaic panel terrain.

[0012] A gimbal camera, which is mounted on the frame of a drone, is used for image acquisition and inspection of photovoltaic panel surfaces;

[0013] A negative pressure adsorption mechanism is installed on the drone frame to generate negative pressure to achieve stable adsorption between the drone and the photovoltaic panel surface;

[0014] A high-speed brush, mounted on the drone frame, is used for cleaning stains on the surface of photovoltaic panels.

[0015] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the drone frame includes a gimbal camera protective cover, a quadcopter mounting frame, a chassis protective cover, a track protective cover, a base plate, a chassis main shaft, a chassis connecting plate, a roller brush, and a roller brush connector; the gimbal camera protective cover is mounted on the quadcopter mounting frame, the chassis protective cover, the track protective cover, the chassis connecting plate, and the roller brush connector are all mounted on the base plate, the roller brush is mounted on the roller brush connector, and the chassis main shaft is mounted on the chassis connecting plate.

[0016] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the wing includes blades, a oscillating hinge, a wing connector, a carbon fiber wing connector frame, a wing fixing component, a high-speed brushless motor, and a flapping hinge; the two ends of the carbon fiber wing connector frame are respectively connected to the wing connector and the wing fixing component, the bottom of the high-speed brushless motor is mounted on the wing fixing component, the flapping hinge is mounted on the high-speed brushless motor, the two ends of the oscillating hinge are respectively connected to the flapping hinge and the blades, and the wing connector is fixedly connected to the quadcopter fixing frame of the drone frame.

[0017] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the flexible suction cup track includes a roller fixing component, a track main shaft, a flexible suction cup, an adaptive pulley, a track, and a track drive wheel; the track drive wheel is mounted on the track main shaft, the top of the roller fixing component is fixedly connected to the bottom of the track main shaft, four adaptive pulleys are mounted parallel to the track main shaft on the lower surface of the roller fixing component, and adaptive springs are provided on both sides of the pulleys, the track is respectively in contact with the track drive wheel and the four adaptive pulleys, flexible suction cups are evenly distributed on the track, and the track main shaft is mounted on the side of the bottom plate of the drone frame.

[0018] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the 3-RRR parallel mechanism includes a parallel gimbal, a primary parallel rod, a secondary drive motor, a primary gear, a primary drive motor, a secondary gear, a secondary drive motor, a tertiary gear, a main shaft, a base, and tertiary and secondary parallel rods. The primary, secondary, and tertiary drive motors are all fixed to the drone frame. The primary drive motor drives the primary gear to rotate the primary parallel rod, the secondary drive motor drives the secondary gear to rotate the secondary parallel rod, and the tertiary drive motor drives the tertiary gear to rotate the tertiary parallel rod. The primary, secondary, and tertiary gears are all connected to the main shaft. The bottom of the base is connected to the top of the main shaft. The parallel gimbal is controlled collaboratively by the primary, secondary, and tertiary parallel rods to achieve multi-degree-of-freedom attitude adjustment.

[0019] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the gimbal camera includes a camera, a rotating shaft, two small motors, and a gimbal; one of the small motors is mounted on the bottom of the gimbal, and the small motor is coaxial with the corresponding rotating shaft, used to control the camera's rotation in a two-dimensional plane; the other small motor is connected to and coaxial with another rotating shaft and the camera, used to control the camera's pitch on the z-axis, and the gimbal is mounted on the quadcopter mount of the drone frame.

[0020] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the negative pressure adsorption mechanism includes a bracket, a clamping block, a brushless motor, a propeller, and an airflow channel; the bracket is used to support the propeller and the clamping block, the clamping block, the brushless motor, and the propeller are coaxial, the brushless motor is connected to the propeller and the bracket respectively, the brushless motor drives the propeller to rotate to generate negative pressure, and the airflow channel is fixed on the bottom plate of the drone frame.

[0021] Furthermore, in the aforementioned negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design, the high-speed brush includes a synchronous belt, a drive wheel, a high-speed motor, multiple bevel gears, two brushes, a driven wheel, and a main shaft. The high-speed motor is coaxial with the drive wheel, and the drive wheel drives the driven wheel to rotate via the synchronous belt. The main shaft, the driven wheel, and the two bevel gears are coaxial, and the driven wheel drives the two bevel gears to rotate, thereby driving the other two bevel gears and the corresponding brushes to rotate at high speed. The high-speed motor is mounted on the base plate of the drone frame, and the connection between the bevel gears and the brushes passes through the base plate.

[0022] The beneficial effects of this invention are:

[0023] 1. Strong terrain adaptability: Through the 3-RRR spherical parallel mechanism and the quadcopter's composite movement and adsorption system, the parallel attitude adjustment platform, rotor flight module, gradient negative pressure suction cup array and flexible track are integrated into one, realizing multi-mode collaborative operation of "flight approach - negative pressure adsorption - track walking". It can stably adapt to a variety of complex scenarios such as 0-75° large tilt angle, irregular curved surface, high-altitude curtain wall and water floating photovoltaic, which greatly improves the equipment's working condition adaptability and operation coverage, and solves the problems of adsorption failure, movement jamming and cleaning blind spots of existing equipment.

[0024] 2. High operational safety: The design incorporates a dynamic posture compensation control system based on sensor feedback. Through a 3-RRR parallel mechanism, the tilt angle and flatness of the photovoltaic panel surface are sensed in real time, and the quadcopter system is driven to perform dynamic attitude adjustment in six degrees of freedom. Under interference such as adsorption force fluctuations, surface roughness, or external wind loads, the system can actively maintain stable contact with the fuselage, effectively preventing slippage, detachment, or falls, and significantly improving the safety, stability, and continuous operation capability of high-altitude and steep slope operations.

[0025] 3. Superior Cleaning Efficiency and Results: The dual-mode cleaning system combines a flexible scraper roller (roller brush) with a high-speed hard brush (high-speed sweeping brush) to achieve efficient and graded removal of various contaminants such as dust, snow, sticky bird droppings, and oil stains. Differentiated cleaning strategies are adopted for different stain characteristics. Compared with a single brushing method, the cleaning efficiency and thoroughness are comprehensively improved, while reducing the potential risk of damage to the photovoltaic panel surface during cleaning.

[0026] 4. High versatility and low operation and maintenance cost: It is compatible with photovoltaic panels of different specifications and installation scenarios, without the need for customized adjustments for specific photovoltaic panels. It effectively solves the problem of insufficient versatility of existing devices and significantly reduces the operation and maintenance cost of photovoltaic panel cleaning. At the same time, it realizes the integration of cleaning and inspection, reduces equipment investment, and further improves operation and maintenance efficiency.

[0027] 5. Wide scene coverage: It adopts a combined land and air amphibious mobile mode of rotor flight and tracked movement. Through intelligent and autonomous mode switching, it can seamlessly switch between flight and ground crawling according to the terrain, effectively covering complex scenes such as high altitude, mountains, and water surfaces, and solving the problem of limited scene coverage of single mobile mode equipment.

[0028] Of course, any product implementing this invention does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying 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.

[0030] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the UAV frame in this invention;

[0032] Figure 3 This is a schematic diagram of the wing structure in this invention;

[0033] Figure 4 This is a schematic diagram of the flexible suction cup track in this invention;

[0034] Figure 5 This is a schematic diagram of the 3-RRR parallel mechanism in this invention;

[0035] Figure 6 This is a schematic diagram of the gimbal camera in this invention;

[0036] Figure 7 This is a schematic diagram of the negative pressure adsorption mechanism in this invention;

[0037] Figure 8 This is a schematic diagram of the high-speed sweeping brush in this invention. Detailed Implementation

[0038] 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.

[0039] like Figures 1-8As shown, this invention provides a negative pressure photovoltaic panel cleaning drone based on a 3-RRR spherical mechanism design, including a drone frame, wings, flexible suction cup tracks, a 3-RRR parallel mechanism, a gimbal camera, a negative pressure adsorption mechanism, and a high-speed brush; the components work together to achieve all-terrain, efficient cleaning and inspection of photovoltaic panels.

[0040] The structure of each component is described in detail below:

[0041] Drone Frame: Serving as the foundation for the entire drone assembly, this includes a gimbal camera protective cover, quadcopter mount, chassis protective cover, track guard, base plate, chassis spindle, chassis connecting plate, roller brush, and roller brush connector. The gimbal camera protective cover is mounted on the quadcopter mount to protect the gimbal camera. The chassis protective cover, track guard, chassis connecting plate, and roller brush connector are all mounted on the base plate. The roller brush is mounted on the roller brush connector for initial cleaning of dust and loose contaminants from the photovoltaic panel surface. The chassis spindle is mounted on the chassis connecting plate, providing connection and support.

[0042] Wings: Used for flight, hovering, and attitude adjustment of the UAV, including propeller blades, oscillating hinges, wing connectors, carbon fiber wing connectors, wing fixtures, high-speed brushless motors, and flapping hinges. The carbon fiber wing connectors are connected to the wing connectors and wing fixtures at both ends to ensure the structural strength of the wing. The high-speed brushless motor is mounted on the wing fixture at its bottom, and the flapping hinge is mounted on the high-speed brushless motor. The oscillating hinges are connected to the flapping hinges and propeller blades at both ends. The wing connectors are fixedly connected to the quadcopter fixture. When the high-speed brushless motor rotates, it drives the flapping hinges, oscillating hinges, and propeller blades to rotate, providing power for the UAV's flight.

[0043] Flexible suction cup track: Used for stable walking and auxiliary adsorption of UAVs on photovoltaic panel surfaces, including roller fixing components, track main shaft, flexible suction cups, adaptive pulleys, track, and track drive wheels; the track drive wheels are mounted on the track main shaft, the top of the roller fixing component is fixedly connected to the bottom of the track main shaft, four adaptive pulleys are mounted parallel to the track main shaft on the lower surface of the roller fixing component, and adaptive springs are provided on both sides of the pulleys, which can adaptively adjust with the terrain to ensure the adhesion between the track and the photovoltaic panel surface; the track is respectively attached to the track drive wheels and the four adaptive pulleys, and flexible suction cups are evenly distributed on the track to enhance adsorption stability; the track main shaft is mounted on the side of the base plate to provide support for track movement.

[0044] 3-RRR Parallel Mechanism: The core attitude adjustment component, used to drive the UAV fuselage for multi-degree-of-freedom attitude fine-tuning, adapting to photovoltaic panels with different tilt angles and curvatures. It includes a parallel gimbal, a primary parallel rod, a tertiary drive motor, a primary gear, a primary drive motor, a secondary gear, a secondary drive motor, a tertiary gear, a main shaft, a base, and tertiary and secondary parallel rods. The primary, secondary, and tertiary drive motors are all fixed to the UAV frame. The primary drive motor drives the primary gear, which in turn rotates the primary parallel rod; the secondary drive motor drives the secondary gear, which in turn rotates the secondary parallel rod; and the tertiary drive motor drives the tertiary gear, which in turn rotates the tertiary parallel rod. The primary, secondary, and tertiary gears are all connected to the main shaft, and the bottom of the base connects to the top of the main shaft, enabling rotation. The parallel gimbal is controlled collaboratively by the primary, secondary, and tertiary parallel rods to achieve multi-degree-of-freedom attitude adjustments such as pitch and roll, working in conjunction with the wing flight system to ensure stable contact between the fuselage and the photovoltaic panel surface.

[0045] Gimbal camera: Used for image acquisition and inspection of photovoltaic panel surfaces, detecting defects and stains on the panel surface. It includes a camera, a rotating shaft, two small motors, and a gimbal. One of the small motors is mounted on the bottom of the gimbal and is coaxial with the corresponding rotating shaft, controlling the camera's rotation in a two-dimensional plane. The other small motor is connected to and coaxial with another rotating shaft and the camera, controlling the camera's pitch on the z-axis. The gimbal is mounted on a quadcopter mount, enabling multi-angle and omnidirectional image acquisition. The acquired images are transmitted back to the ground station in real time via wireless image transmission.

[0046] Negative pressure adsorption mechanism: Used to generate negative pressure to achieve stable adsorption between the drone and the photovoltaic panel surface, preventing detachment and fall during high-altitude operations. It includes a bracket, a clamping block, a brushless motor, a propeller, and an airflow channel. The bracket supports the propeller and the clamping block. The clamping block, brushless motor, and propeller are coaxial. The brushless motor is connected to both the propeller and the bracket. The brushless motor drives the propeller to rotate at high speed, forming a negative pressure zone through the airflow channel. Combined with the suction cups of the flexible suction cup track, it achieves a firm adsorption between the drone and the photovoltaic panel surface. The airflow channel is fixed to the base plate to ensure stable airflow.

[0047] High-speed brush: Used to remove stubborn stains from the surface of photovoltaic panels, including a synchronous belt, drive wheel, high-speed motor, multiple bevel gears, two brushes, driven wheel, and main shaft; the high-speed motor is coaxial with the drive wheel, which drives the driven wheel to rotate via the synchronous belt. The main shaft, driven wheel, and two bevel gears are coaxial with each other, and the driven wheel drives the two bevel gears to rotate, which in turn drives the other two bevel gears and the corresponding brushes to rotate at high speed; the high-speed motor is mounted on the base plate, and the connection between the bevel gears and the brushes passes through the base plate to ensure that the brushes can contact the surface of the photovoltaic panel, achieving powerful removal of stubborn stains.

[0048] Specific embodiments of the present invention are as follows:

[0049] Example

[0050] This embodiment is a negative pressure photovoltaic panel cleaning drone based on a 3-RRR spherical mechanism design, including a drone frame 1, wings 2, flexible suction cup tracks 3, a 3-RRR parallel mechanism 4, a gimbal camera 5, a negative pressure adsorption mechanism 6, and a high-speed brush 7. The specific installation and connection relationships of each component are as follows:

[0051] The UAV frame 1 includes a gimbal camera protective cover 1001, a quadcopter mounting bracket 1002, a chassis protective cover 1003, a track protective cover 1004, a base plate 1005, a chassis main shaft 1006, a chassis connecting plate 1007, a roller brush 1008, and a roller brush connector 1009. The gimbal camera protective cover 1001 is mounted on the quadcopter mounting bracket 1002. The chassis protective cover 1003, the track protective cover 1004, the chassis connecting plate 1007, and the roller brush connector 1009 are mounted on the base plate 1005. The roller brush 1008 is mounted on the roller brush connector 1009. The chassis main shaft 1006 is mounted on the chassis connecting plate 1007.

[0052] The wing 2 includes a rotor blade 2001, a oscillating hinge 2002, a wing connector 2003, a carbon fiber wing connector 2004, a wing fixing component 2005, a high-speed brushless motor 2006, and a flapping hinge 2007. The two ends of the carbon fiber wing connector 2004 are connected to the wing connector 2003 and the wing fixing component 2005, respectively. The bottom of the high-speed brushless motor 2006 is mounted on the wing fixing component 2005. The flapping hinge 2007 is mounted on the high-speed brushless motor 2006. The two ends of the oscillating hinge 2002 are connected to the rotor blade 2001, respectively. The wing connector 2003 is then fixed to the quadcopter fixing frame 1002.

[0053] The flexible suction cup track 3 includes a roller fixing component 3001, a track main shaft 3002, a flexible suction cup 3003, an adaptive pulley 3004, a track 3005, and a track drive wheel 3006. The track drive wheel 3006 is mounted on the track main shaft 3002. The top of the roller fixing component 3001 is fixedly connected to the bottom of the track main shaft 3002. Four adaptive pulleys 3004 are mounted parallel to the track main shaft 3002 on the lower surface of the roller fixing component 3001. There are adaptive springs on both sides of the pulleys, which adapt to the terrain. The track 3005 is in contact with the track drive wheel 3006 and the four adaptive pulleys 3004 respectively. Flexible suction cups 3003 are evenly distributed on the track 3005. The track main shaft 3002 is mounted on the side of the base plate 1005.

[0054] The 3-RRR parallel mechanism 4 includes a parallel gimbal 4001, a primary parallel rod 4002, a tertiary drive motor 4003, a primary gear 4004, a primary drive motor 4005, a secondary gear 4006, a secondary drive motor 4007, a tertiary gear 4008, a main shaft 4009, a base 4010, a tertiary parallel rod 4011, and a secondary parallel rod 4012. The primary drive motor 4005 drives the primary gear 4004, which in turn rotates the primary parallel rod 4002. The secondary drive motor 4007 drives the secondary gear 4006, which in turn rotates the secondary parallel rod. Rotating 4012 drives the three-stage drive motor 4003 to drive the three-stage gear 4008, which in turn drives the three-stage parallel rod 4011 to rotate. The first-stage drive motor 4005, the second-stage drive motor 4007, and the third-stage drive motor 4003 are fixed on the frame. The first-stage gear 4004, the second-stage gear 4006, and the third-stage gear 4008 are connected to the main shaft 4009. The bottom of the base 4010 is connected to the top of the main shaft 4009, allowing the bottom to rotate. The parallel gimbal 4001 is controlled collaboratively by the first-stage parallel rod 4002, the second-stage parallel rod 4012, and the third-stage parallel rod 4011.

[0055] The gimbal camera 5 includes a camera 5001, a pivot 5002, a small motor 5003, a gimbal 5004, a small motor 5005, and a pivot 5006. The bottom of the small motor 5003 is mounted on the gimbal 5004. The pivot 5002, the small motor 5003, and the gimbal 5003 are coaxial. The small motor 5003 controls the rotation of the pivot 5002, which in turn drives the camera to rotate in a two-dimensional plane. The pivot 5006 and the small motor 5005 are coaxial. The small motor 5005 is connected to the pivot 5006 and the camera 5001 respectively, controlling the pitch of the camera 5001 on the z-axis. The gimbal 5004 is mounted on the quadcopter mount 1002.

[0056] The negative pressure adsorption mechanism 6 includes a bracket 6001, a pressing block 6002, a brushless motor 6003, a propeller 6004, and an airflow channel 6005. The bracket 6001 supports the propeller 6004 and the pressing block 6002. The pressing block 6002, the brushless motor 6003, and the propeller 6004 are coaxial. The brushless motor 6003 is connected to both the propeller 6004 and the bracket 6001. The brushless motor 6003 drives the propeller 6004 to rotate and generate negative pressure. The airflow channel 6005 is fixed on the base plate 1005.

[0057] The high-speed sweeping brush 7 includes a timing belt 7001, a drive pulley 7002, a high-speed motor 7003, a bevel gear 7004, a brush 7005, a bevel gear 7006, a driven pulley 7007, a bevel gear 7008, a bevel gear 7009, a brush 7010, and a main shaft 7011. The high-speed motor 7003 is coaxial with the drive pulley 7002. The drive pulley 7002 drives the timing belt 7001, which in turn drives the driven pulley 7007 to rotate. The main shaft 701... 1. Driven wheel 7007, bevel gear 7006, and bevel gear 7008 are coaxial. Driven wheel 7007 drives bevel gear 7006 and bevel gear 7008 to rotate, which in turn drives bevel gear 7004 and bevel gear 7009 to rotate at high speed, causing brush 7005 and brush 7010 to rotate at high speed. High-speed motor 7003 is mounted on base plate 1005, and the connection part between bevel gear 7004 and brush 7005 passes through base plate 1005.

[0058] In this embodiment, when cleaning operations are required for a large-tilt-angle photovoltaic array, the specific operation procedure is as follows:

[0059] Path planning and takeoff: First, based on the mission area information, the overall operation path of the cleaning drone is planned through the ground control station or cloud digital twin system; the high-speed brushless motor 2006 of the drone rotates, driving the flapping hinge 2007 and the propeller 2001 to rotate, enabling the drone to take off autonomously from the ground takeoff platform or mobile carrier and fly towards the target photovoltaic panel area; during the flight, the drone relies on the flight system of the wing 2 for stable flight, and uses onboard sensors and GPS module for autonomous navigation and precise positioning, finally hovering at a safe approach position above the photovoltaic panel to be cleaned.

[0060] Attitude Adjustment and Negative Pressure Adsorption: The UAV adjusts its attitude and slowly descends to approach the photovoltaic panel surface. When the flexible suction cup track 3 at the bottom approaches the photovoltaic panel, the high-speed brushless motor 6003 in the negative pressure adsorption mechanism 6 starts, driving the propeller 6004 to rotate at high speed, forming a negative pressure zone through the airflow channel 6005. At the same time, the flexible suction cup 3003 on the track contacts the photovoltaic panel surface, achieving initial adsorption under the action of the negative pressure adsorption mechanism 6. Immediately afterwards, the 3-RRR parallel mechanism 4 starts to work. Its control system calculates the inverse kinematics based on the data fed back by the panel tilt angle sensor, driving the first-stage drive motor 4005, the second-stage drive motor 4007, and the third-stage drive motor. 4003, through the transmission of primary gear 4004, secondary gear 4006, and tertiary gear 4008, controls the precise movement of primary parallel rod 4002, secondary parallel rod 4012, and tertiary parallel rod 4011 respectively, thereby driving the parallel gimbal 4001 and the wings 2, quadcopter mounting frame 1002, gimbal camera 5, etc. above it to perform real-time pitch, roll, and other multi-degree-of-freedom attitude fine adjustments; this process, in coordination with the power output of the wing 2 flight system, achieves dynamic, precise, and full adhesion between the UAV fuselage and the surface of the photovoltaic panel with a large tilt angle of 0° to 75°, ensuring uniform and stable adsorption force on rough surfaces or in the presence of gaps or dust interference, effectively preventing sideslip and desorption.

[0061] Tracked Movement and Cleaning Operation: After stable adsorption is completed, the drone switches to tracked movement mode; the track drive wheel 3006 of the flexible suction cup track 3 is driven by a motor, driving the entire track 3005 and the flexible suction cups 3003 on it to move slowly along the surface of the photovoltaic panel; while moving, the cleaning operation is started, the front roller brush 1008 first contacts the panel surface to sweep away surface dust and loose contaminants, and the high-speed brush 7 works simultaneously; the high-speed motor 7003 drives the driven wheel 7007 and the main shaft through the synchronous belt 7001. As 7011 rotates, the bevel gears 7006 and 7008 at both ends of the main shaft 7011 transmit power to the bevel gears 7004 and 7009 at both ends, which in turn drive the brushes 7010 and 7005 to rotate at high speed, powerfully removing stubborn stains such as bird droppings and oil stains. Throughout the cleaning process, the drone uses the method of "track 3005 moving + roller brush 1008 plus brush 7005 cleaning" to clean the entire photovoltaic panel in a planned Z-shaped or reciprocating path, ensuring full coverage and no blind spots.

[0062] Inspection function: The inspection function can be activated during or after cleaning; driven by small motors 5003 and 5005, the PTZ camera 5 can rotate with two degrees of freedom in horizontal and vertical directions, enabling the PTZ camera 5 to acquire images of the photovoltaic panel surface from multiple angles and in all directions; the acquired images are transmitted back to the ground station in real time via wireless image transmission; through image recognition algorithms, defects such as cracks, hot spots, hidden cracks or stains on the photovoltaic panel surface can be automatically detected, and inspection reports and fault location information can be automatically generated.

[0063] Mode switching and cross-panel operation: After cleaning a photovoltaic panel, if it needs to move to an adjacent panel in the same array, or encounter situations such as crossing gaps or transitioning between panels with different tilt angles, the UAV can control the negative pressure adsorption mechanism 6 to reduce the adsorption force for adjacent panels in the same array, briefly switching from tracked walking mode to low-altitude flight mode, using the wings 2 to fly across the gaps between panels, and then using the negative pressure adsorption mechanism 6 to complete the cleaning process again after reaching the next panel; for extreme scenarios such as floating photovoltaic panels on water, the UAV can rely entirely on the wing 2 flight system to achieve aerial approach and hovering positioning, and rely on the strong attitude compensation capability of the 3-RRR parallel mechanism 4, in conjunction with the negative pressure adsorption mechanism 6, to achieve stable adsorption and operation on vertical or swaying surfaces.

[0064] Return: After completing the cleaning and inspection tasks of all planned areas, the drone controls the negative pressure adsorption mechanism 6 to stop completely, and the adsorption force disappears; then it switches to full flight mode, takes off smoothly from the surface of the photovoltaic panel, and autonomously returns to the take-off and landing point or charging dock according to the preset route to prepare for the next mission.

[0065] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A negative pressure photovoltaic panel cleaning drone based on 3-RRR spherical mechanism design, characterized in that, include: A drone frame that provides mounting support for the various components; The wings are mounted on the upper part of the UAV frame and are used to enable UAV flight and attitude adjustment. Flexible suction cup track, which is installed on the lower part of the drone frame, is used for the drone to walk on the surface of the photovoltaic panel and assist in adsorption; A 3-RRR parallel mechanism is installed on the UAV frame to drive the UAV fuselage to perform multi-degree-of-freedom attitude fine-tuning to adapt to the photovoltaic panel terrain. A gimbal camera, which is mounted on the frame of a drone, is used for image acquisition and inspection of photovoltaic panel surfaces; A negative pressure adsorption mechanism is installed on the drone frame to generate negative pressure to achieve stable adsorption between the drone and the photovoltaic panel surface; A high-speed brush, mounted on the drone frame, is used for cleaning stains on the surface of photovoltaic panels.

2. The negative pressure photovoltaic panel cleaning drone based on 3-RRR spherical mechanism design according to claim 1, characterized in that, The drone frame includes a gimbal camera protective cover, a quadcopter mounting frame, a chassis protective cover, a track protective cover, a base plate, a chassis main shaft, a chassis connecting plate, a roller brush, and a roller brush connector. The gimbal camera protective cover is mounted on the quadcopter mounting frame. The chassis protective cover, track protective cover, chassis connecting plate, and roller brush connector are all mounted on the base plate. The roller brush is mounted on the roller brush connector, and the chassis main shaft is mounted on the chassis connecting plate.

3. The negative pressure photovoltaic panel cleaning drone based on 3-RRR spherical mechanism design according to claim 1, characterized in that, The wing includes blades, a oscillating hinge, a wing connector, a carbon fiber wing connector frame, a wing fixing component, a high-speed brushless motor, and a flapping hinge. The two ends of the carbon fiber wing connector frame are connected to the wing connector and the wing fixing component, respectively. The bottom of the high-speed brushless motor is mounted on the wing fixing component. The flapping hinge is mounted on the high-speed brushless motor. The two ends of the oscillating hinge are connected to the flapping hinge and the blades, respectively. The wing connector is fixedly connected to the quadcopter fixing frame of the UAV frame.

4. The negative pressure photovoltaic panel cleaning drone based on 3-RRR spherical mechanism design according to claim 1, characterized in that, The flexible suction cup track includes a roller fixing component, a track main shaft, flexible suction cups, adaptive pulleys, a track, and a track drive wheel. The track drive wheel is mounted on the track main shaft. The top of the roller fixing component is fixedly connected to the bottom of the track main shaft. Four adaptive pulleys are mounted parallel to the track main shaft on the lower surface of the roller fixing component, and adaptive springs are provided on both sides of the pulleys. The track is in contact with the track drive wheel and the four adaptive pulleys respectively. Flexible suction cups are evenly distributed on the track. The track main shaft is mounted on the side of the bottom plate of the UAV frame.

5. The negative pressure photovoltaic panel cleaning drone based on 3-RRR spherical mechanism design according to claim 1, characterized in that, The 3-RRR parallel mechanism includes a parallel gimbal, a primary parallel rod, a secondary drive motor, a primary gear, a primary drive motor, a secondary gear, a secondary drive motor, a tertiary gear, a main shaft, a base, and secondary and tertiary parallel rods. The primary, secondary, and tertiary drive motors are all fixed to the UAV frame. The primary drive motor drives the primary gear to rotate the primary parallel rod; the secondary drive motor drives the secondary gear to rotate the secondary parallel rod; and the tertiary drive motor drives the tertiary gear to rotate the tertiary parallel rod. The primary, secondary, and tertiary gears are all connected to the main shaft. The bottom of the base is connected to the top of the main shaft. The parallel gimbal is controlled collaboratively by the primary, secondary, and tertiary parallel rods to achieve multi-degree-of-freedom attitude adjustment.

6. The negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design according to claim 1, characterized in that, The gimbal camera includes a camera, a rotating shaft, two small motors, and a gimbal; one of the small motors is mounted on the bottom of the gimbal and is coaxial with the corresponding rotating shaft, used to control the camera's rotation in a two-dimensional plane; the other small motor is connected to and coaxial with another rotating shaft and the camera, used to control the camera's pitch on the z-axis, and the gimbal is mounted on the quadcopter mount of the UAV frame.

7. The negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design according to claim 1, characterized in that, The negative pressure adsorption mechanism includes a bracket, a pressing block, a brushless motor, a propeller, and an airflow channel. The bracket supports the propeller and the pressing block. The pressing block, the brushless motor, and the propeller are coaxial. The brushless motor is connected to the propeller and the bracket respectively. The brushless motor drives the propeller to rotate and generate negative pressure. The airflow channel is fixed to the bottom plate of the UAV frame.

8. The negative pressure photovoltaic panel cleaning drone based on the 3-RRR spherical mechanism design according to claim 1, characterized in that, The high-speed brush includes a timing belt, a drive wheel, a high-speed motor, multiple bevel gears, two brushes, a driven wheel, and a main shaft. The high-speed motor is coaxial with the drive wheel, and the drive wheel drives the driven wheel to rotate via the timing belt. The main shaft, the driven wheel, and the two bevel gears are coaxial with each other. The driven wheel drives the two bevel gears to rotate, thereby driving the other two bevel gears and the corresponding brushes to rotate at high speed. The high-speed motor is mounted on the base plate of the drone frame, and the connection between the bevel gears and the brushes passes through the base plate.

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