Autonomous cruise type intelligent high-altitude cleaning unmanned aerial vehicle device

Abstract

The application relates to the field of unmanned aerial vehicle technology characterized by special purposes, in particular to an autonomous cruise type intelligent high-altitude cleaning unmanned aerial vehicle device, which comprises an unmanned aerial vehicle body and a temporary storage part arranged below the unmanned aerial vehicle body, a spraying assembly is arranged at the front end of the temporary storage part, the bottom of the temporary storage part is communicated with a water pump, a buffer assembly is further arranged at the front end of the temporary storage part, and the spraying assembly is connected with the temporary storage part through the buffer assembly; a multi-axis adjusting part is arranged at the bottom of the unmanned aerial vehicle body, the temporary storage part is connected with the unmanned aerial vehicle body through the multi-axis adjusting part, and a plurality of rotors are arranged on the unmanned aerial vehicle body; through the primary buffer of the telescopic pipe and the multi-stage buffer of the buffer cylinder system, a complete external energy buffer system is constructed, the reverse impact force generated during the work of the spray gun is effectively offset by the kinetic energy provided by the ground high-pressure water pump, the limitation of the traditional high-altitude cleaning unmanned aerial vehicle depending on the adjustment of the rotor or the internal spring buffer is changed, and the endurance of the unmanned aerial vehicle is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology characterized by special applications, and more specifically, to an autonomous cruise intelligent high-altitude cleaning UAV device. Background Technology

[0002] A search revealed a multi-rotor tethered exterior wall cleaning drone disclosed in announcement number CN214729677U, comprising a fuselage, landing gear, power unit, electronic control unit, tether cable, and tether water pipe. The landing gear is located below the fuselage, and the power unit is evenly distributed around the fuselage, providing flight power for the drone. The electronic control unit is located at the center of the fuselage and is electrically connected to the power unit. One end of the tether cable is connected to the electronic control unit, and the other end is connected to a ground power source, transmitting the electrical energy required for drone flight. One end of the tether water pipe is connected to a payload water pipe on the drone, and the other end is connected to a ground water source, transmitting the water needed for the drone to clean the exterior wall.

[0003] Existing high-altitude cleaning drones typically integrate dual-base station RTK positioning, millimeter-wave radar, and visual perception systems to achieve centimeter-level high-precision positioning. They also use millimeter-wave radar and visual sensors to measure the distance to the glass curtain wall in real time, thereby precisely controlling the spraying of cleaning fluid and high-pressure water. However, regardless of their level of intelligence, the system inevitably experiences the recoil force generated by the water jet. To maintain flight stability, current mainstream solutions rely on the flight control system to adjust the rotor tilt angle, generating additional thrust to counteract this reaction force. While this strategy can maintain attitude stability in the short term, it significantly increases the load on the power system, drastically shortening endurance; long-term operation also increases the risk of fatigue damage to the motor, ESC, and rotor structure, affecting the overall lifespan of the aircraft.

[0004] While some models incorporate spring-loaded buffers to mitigate impacts, the spring stiffness is insufficient to match the high transient impact loads of water jets, resulting in limited buffering effectiveness and essentially remaining a rigid force transmission mechanism. More importantly, such passive buffering mechanisms can only reduce the peak recoil force and cannot obtain energy from the external environment for active compensation. Ultimately, the force is still primarily borne by the airframe, offering very limited contribution to improving range and reducing the burden on the power system.

[0005] Based on this, the present invention discloses an autonomous cruise intelligent high-altitude cleaning drone device. Summary of the Invention

[0006] To address the problems raised in the background art, where drones rely on rotor tilt adjustment to counteract recoil, significantly shortening their range and accelerating airframe fatigue, and where the spring-buffered structure, due to stiffness mismatch and inability to draw energy from the outside, can only attenuate impacts to a limited extent and is essentially still a rigid transmission, offering little benefit to range optimization and system protection, this invention provides an autonomous cruise intelligent high-altitude cleaning drone device. This device includes a drone body and a temporary storage section located below the drone body. A jetting assembly is located at the front end of the temporary storage section, and the bottom of the temporary storage section is connected to a water pump. A buffer assembly is also located at the front end of the temporary storage section, and the jetting assembly is connected to the temporary storage section via the buffer assembly. A multi-axis adjustment section is located at the bottom of the drone body, and the temporary storage section is connected to the drone body via the multi-axis adjustment section. Several rotors are mounted on the drone body. The spraying assembly requires the spraying of cleaning fluid during operation. This invention uses intelligent control to control the entry of the cleaning fluid, and utilizes Bernoulli's principle to add the cleaning fluid. As a further improvement to this technical solution, the temporary storage unit includes a temporary storage box, a door rotatably provided on one side of the temporary storage box, a water tank fixedly connected inside the temporary storage box, a docking nozzle connected to the bottom of the water tank, and the water tank connected to a water pump located on the ground through the docking nozzle; the spraying assembly includes a telescopic tube, one end of which is connected to the temporary storage unit, and the other end of which is connected to the spray gun, with a nozzle provided at the end of the spray gun away from the telescopic tube; the spraying assembly also includes a fixed tube, one end of which is connected to the temporary storage unit, and the other end of which is connected to the telescopic tube; Secondly, the temporary storage section also includes a cleaning fluid box, the top of which is connected to a liquid outlet pipe. The end of the liquid outlet pipe away from the cleaning fluid box is rotatably connected to a connecting pipe. One side of the fixed pipe is connected to a suction pipe. A guide pipe is provided inside the suction pipe. An electrically controlled valve is installed inside the suction pipe. The connecting pipe and the suction pipe are threaded together. Moreover, the inner diameter of the guide pipe is much smaller than the inner diameter of the suction pipe.

[0007] Based on this, the invention first designs the spray gun to avoid direct hard contact with the temporary storage unit. Instead, it connects to the fixed pipe via a telescopic tube, which is a retractable and elastic tube, and then to the water tank. This means that when the spray gun sprays water or cleaning fluid through the nozzle, the resulting reverse impact force, i.e., recoil, is not directly transmitted to the drone body. Instead, it is first buffered by the telescopic tube. As shown in the diagram, the telescopic tube is spiral-shaped, meaning that when the spray gun is subjected to a reverse impact force, it is first buffered by the elasticity of the telescopic tube, and then by the secondary buffering of the high-pressure, high-speed water flow inside the telescopic tube. This is then transmitted to the fixed pipe, and finally to the drone body. This alleviates the direct hard impact of the spray gun's reverse impact force to a certain extent. Moreover, this process also relies on the pumping capacity of the high-pressure water pump on the ground to buffer this impact force. That is, the high-pressure water flow impacts the inner wall of the telescopic tube. Because the telescopic tube is spiral-shaped, the inner wall must have several raised rings. Therefore, when these raised rings contract, they are subjected to continuous high-pressure water flow impact, thus achieving a certain buffering effect.

[0008] In another approach, to further improve the buffering effect of the spray gun's reverse impact force and address the drawback of internal transfer of the reverse impact force (i.e., relying on external forces to counteract the reverse impact force instead of internal absorption and transfer, ultimately still impacting the drone itself with little improvement in endurance), this invention uses a ground-based high-pressure water pump to provide a buffer barrier. The reverse impact force from the spray gun is buffered during the pumping process by the ground-based high-pressure water pump. Firstly, this buffering relies on external forces, specifically the kinetic energy provided by the high-pressure water flow. Secondly, the high-pressure water pump is an essential component of the entire system, requiring no additional equipment or algorithmic adjustments to the drone itself. By leveraging the high-pressure water pump's workflow, the reverse impact force from the spray gun is reduced, thereby improving the drone's endurance. As a further improvement to this technical solution, the buffer assembly includes a buffer cylinder disposed on the temporary storage section. A piston disc is slidably disposed at one end of the buffer cylinder away from the temporary storage section, and the other end of the buffer cylinder is sealed and connected to the temporary storage section. A sliding rod is disposed on the piston disc, and the spray gun is connected to the piston disc through the sliding rod. Secondly, the buffer assembly also includes a mounting box, which is fixedly connected to the temporary storage section. The buffer cylinder is fixedly connected to the mounting box, and a water inlet pipe is disposed at one end of the buffer cylinder. One end of the water inlet pipe is connected to the temporary storage section, and the other end of the water inlet pipe is connected to the buffer cylinder.

[0009] A pressure pipe is provided at one end of the buffer cylinder, which is connected to the water inlet pipe. An installation plate is fixedly connected inside the buffer cylinder, and the pressure pipe is fixedly connected to the installation plate. The pressure pipe has a tapered structure, and the inner diameter of the end of the pressure pipe away from the temporary storage part is smaller than the inner diameter of the other end.

[0010] In another embodiment, the present invention also employs a hollow tube with a spring-like structure inside the buffer cylinder. This hollow tube not only serves to continuously impact the piston disc with jets, but also functions as a spring itself. Finally, due to the hollow and spiral structure, there is static pressure water flow inside, which further improves the soft buffering effect and reduces the hard buffering and force transmission of traditional springs. As a further improvement to this technical solution, a buffer tube is provided inside the buffer cylinder. One end of the buffer tube is connected to the end of the pressurizing tube with a smaller inner diameter, and the other end of the buffer tube is connected to a pressure reducing tube. The pressure reducing tube has a tapered structure, and the inner diameter of the end of the pressure reducing tube away from the temporary storage part is larger than the inner diameter of the other end. The buffer tube has a helical spring structure and a hollow structure inside. The end of the pressure reducing tube with a larger inner diameter is in contact with the piston disc. The top of the buffer cylinder is provided with a sliding groove, and the sliding rod is slidably connected in the sliding groove; A capillary tube is provided on the end of the piston disc away from the temporary storage section. One end of the capillary tube is connected to the inside of the buffer cylinder, and the other end of the capillary tube is connected to the spray gun.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this autonomous cruise intelligent high-altitude cleaning drone device, a multi-stage buffering system with a spiral-shaped telescopic tube and a buffer cylinder is used. The reverse impact force generated by the spray gun is first initially buffered by the elastic deformation of the telescopic tube and the internal high-pressure water flow. Subsequently, a four-stage progressive buffering is achieved through the interaction between the piston disc and the static pressure water in the buffer cylinder, the impact kinetic energy of the water flow at the end of the pressure reducing tube, the structural toughness of the spiral buffer tube, and the static pressure kinetic energy of the water flow inside the tube. This method of using external kinetic energy provided by a ground high-pressure water pump for buffering effectively avoids the problem of the recoil force being directly transmitted to the drone body in traditional solutions. It significantly reduces the extra energy consumption of the rotor system to offset the recoil force, thereby greatly extending the drone's single-operation endurance time and reducing fatigue damage to the airframe structure.

[0012] 2. In this autonomous cruise intelligent high-altitude cleaning drone device, a fluid control mechanism based on Bernoulli's principle is integrated into the buffer system. When the high-pressure water flows at high speed in the fixed pipe, a negative pressure is formed at the suction pipe, which automatically draws the cleaning fluid into the mixing pipeline. With the intelligent switch of the electronically controlled valve, the cleaning fluid can be accurately added and switched. This adaptive fluid control system, which does not require an additional power source, not only simplifies the drone's payload configuration, but also achieves dynamic pressure balance in the buffer chamber and water circulation through the capillary tube set in the buffer cylinder connected to the inside of the spray gun. This effectively prevents the risk of leakage caused by a sudden increase in internal pressure of the buffer system and improves the operational stability and reliability of the entire cleaning system.

[0013] 3. In this autonomous cruise intelligent high-altitude cleaning drone device, by using a sliding connection between the spray gun and the temporary storage unit instead of rigid fixation, combined with the helical spring structure of the buffer tube and the dual buffering characteristics of the hollow water flow channel, the impact load generated by the spray gun during operation can be decomposed into multiple buffering links and gradually absorbed. In particular, during the elastic contraction of the buffer tube, the high-pressure water flow spiraling inside generates a reaction force opposite to the impact direction. This active buffering mechanism, which utilizes the principle of fluid dynamics, is not only more gentle and continuous in buffering effect than the traditional passive buffering method that relies solely on mechanical springs, but also converts some of the impact energy into the internal circulating kinetic energy of the buffering system, achieving an innovative breakthrough in obtaining energy from the outside for buffering. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the multi-axis adjustment part of the present invention; Figure 3 This is a schematic diagram of the temporary storage box of the present invention; Figure 4 This is a cross-sectional view of the temporary storage box of the present invention; Figure 5 This is a schematic diagram of the cleaning fluid box of the present invention; Figure 6 This is a cross-sectional view of the suction tube of the present invention; Figure 7 This is a schematic diagram of the installation box of the present invention; Figure 8 This is a cross-sectional view of the mounting box of the present invention; Figure 9 This is a cross-sectional view of the buffer cylinder of the present invention; Figure 10 This is a schematic diagram of the state of the buffer tube of the present invention; Figure 11 This is a cross-sectional view of the buffer tube of the present invention.

[0015] The meanings of the labels in the diagram are as follows: 1. Unmanned aerial vehicle (UAV) body; 2. Rotor; 3. Multi-axis adjustment unit; 4. Temporary storage unit; 5. Jet assembly; 6. Buffer assembly; 41. Temporary storage box; 42. Box door; 43. Water tank; 44. Connecting nozzle; 45. Cleaning fluid box; 46. Discharge pipe; 47. Connecting pipe; 48. Suction pipe; 49. Guide pipe; 410. Electrically controlled valve; 51. Fixed pipe; 52. Telescopic pipe; 53. Spray gun; 54. Nozzle; 61. Mounting box; 62. Buffer cylinder; 63. Water inlet pipe; 64. Pressurizing pipe; 65. Buffer pipe; 66. Mounting plate; 67. Piston plate; 68. Pressure reducing pipe; 69. Capillary tube; 610. Slide groove; 611. Slide rod. Detailed Implementation

[0016] 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.

[0017] Existing drones rely on rotor tilt adjustment to counteract recoil, which significantly shortens flight time and accelerates airframe fatigue. The spring-buffered structure used, due to stiffness mismatch and inability to obtain energy from the outside, can only attenuate impact to a limited extent. Essentially, it is still a rigid transmission and has little effect on flight time optimization and system protection.

[0018] Therefore, this invention provides an autonomous cruise intelligent high-altitude cleaning drone device, see [link / reference]. Figures 1-2 As shown, it includes a drone body 1 and a temporary storage section 4 located below the drone body 1. The front end of the temporary storage section 4 is provided with a jet assembly 5, and the bottom of the temporary storage section 4 is connected to a water pump. The front end of the temporary storage section 4 is also provided with a buffer assembly 6. The jet assembly 5 is connected to the temporary storage section 4 through the buffer assembly 6. The bottom of the drone body 1 is provided with a multi-axis adjustment section 3, and the temporary storage section 4 is connected to the drone body 1 through the multi-axis adjustment section 3. Several rotors 2 are provided on the drone body 1.

[0019] It should be noted that this solution integrates a complex system of flight control, fluid dynamics, and machine vision working together. Its core working principle can be broken down into four main modules: 1. Perception and Localization RTK + millimeter-wave radar + vision: Centimeter-level positioning is achieved through dual RTK, while millimeter-wave radar and vision sensors detect the safe distance from the curtain wall in real time.

[0020] 3D modeling and route planning: Before the operation, the building is modeled in 3D to plan a full-coverage, non-repetitive grid cleaning route; when encountering corners or grooves, the system automatically slows down and adjusts its attitude.

[0021] 2. Flight and wind-resistant platform It adopts a heavy-duty multi-rotor platform. Due to the large wind load at high altitudes and the recoil from water jets, the flight control system fine-tunes the rotation speed and angle of each rotor to counteract external forces and maintain attitude.

[0022] 3. High-pressure jet and foam: The ground high-pressure pump provides water pressure of over 8 MPa, which is delivered to the onboard nozzle through a tethered water pipe; it is used in conjunction with a special cleaning agent to dissolve stains.

[0023] 4. Intelligent feedback closed loop The wide-angle lens captures residual stains in real time, and the system automatically generates a supplementary cleaning path for rewashing, achieving integrated washing and rinsing and automatic acceptance.

[0024] Specifically, a high-pressure water pump on the ground is connected to the temporary storage unit 4 to deliver high-pressure water to the temporary storage unit 4, and then sprays it out through the spray assembly 5 to clean the curtain wall. During the cleaning process, the angle of the rotor 2 on the drone body 1 is adjusted to control the reverse impact force of the water flow and the position of the drone body 1. Secondly, the angle of the temporary storage unit 4 is adjusted by the multi-axis adjustment unit 3 to cover the spray angle of the spray assembly 5.

[0025] For details, see Figures 3-6 As shown, the spray assembly 5 requires the spraying of cleaning fluid during operation. This invention uses intelligent control to control the entry of the cleaning fluid and utilizes Bernoulli's principle to add the cleaning fluid. Specifically, the storage section 4 includes a storage tank 41 with a door 42 rotatably mounted on one side. A water tank 43 is fixedly connected inside the storage tank 41, and a docking nozzle 44 is connected to the bottom of the water tank 43. The water tank 43 is connected to a water pump located on the ground through the docking nozzle 44. The spray assembly 5 includes a telescopic tube 52, one end of which is connected to the storage section 4, and the other end of which is connected to the spray gun 53. A nozzle 54 is provided at the end of the spray gun 53 away from the telescopic tube 52. The spray assembly 5 also includes a fixed tube 51, one end of which is connected to the storage section 4, and the other end of which is connected to the telescopic tube 52. Secondly, the temporary storage section 4 also includes a cleaning fluid box 45. The top of the cleaning fluid box 45 is connected to a liquid outlet pipe 46. The end of the liquid outlet pipe 46 away from the cleaning fluid box 45 is rotatably connected to a connecting pipe 47. One side of the fixed pipe 51 is connected to a suction pipe 48. A guide pipe 49 is opened in the suction pipe 48. An electric control valve 410 is installed in the suction pipe 48. The connecting pipe 47 and the suction pipe 48 are threadedly connected. Moreover, the inner diameter of the guide pipe 49 is much smaller than the inner diameter of the suction pipe 48.

[0026] During operation, the cleaning fluid box 45 is replaced by opening and closing the door 42. The cleaning fluid box 45 contains cleaning fluid. During installation and disassembly, the connecting pipe 47 is rotated to connect the connecting pipe 47 to the suction pipe 48. After the connecting nozzle 44 is connected to the high-pressure water pump on the ground, water is pumped into the water tank 43 by the high-pressure water pump. Then, the high-pressure water flows through the fixed pipe 51 to the spray gun 53 and is sprayed out through the nozzle 54. During this process, due to the small diameter of the guide pipe 49 and the extremely high flow velocity in the fixed pipe 51, according to Bernoulli's principle, the cleaning fluid in the cleaning fluid box 45 will be sucked into the fixed pipe 51 and then sprayed out through the nozzle 54. If only clean water is needed and cleaning fluid is not required, the electronic control in the UAV body 1 only needs to transmit a signal to the electronic control valve 410 to close the channel of the guide pipe 49.

[0027] Further, see Figure 3 and Figure 4 As shown, the present invention is designed so that the spray gun 53 does not directly contact the temporary storage part 4, but is connected to the fixed tube 51 through a telescopic tube 52, which is a telescopic elastic tube, and then connected to the water tank 43. This means that when the spray gun 53 sprays water or cleaning fluid through the nozzle 54, the resulting reverse impact force, i.e., recoil force, will not be directly transmitted to the drone body 1 through a hard connection, but will first be buffered by the telescopic tube 52. As shown in the figure, the telescopic tube 52 is spiral-shaped, which means that when the spray gun 53 is subjected to reverse impact force, it will first be affected by the elasticity of the telescopic tube 52. The impact is first buffered by the high-pressure, high-speed water flow inside the telescopic tube 52, and then transmitted to the fixed tube 51, and finally to the UAV body 1. This mitigates the direct hard impact of the reverse impact force of the spray gun 53 to a certain extent. Moreover, the pumping capacity of the high-pressure water pump on the ground also helps to buffer this impact force. That is, the high-pressure water flow impacts the inner wall of the telescopic tube 52. Since the telescopic tube 52 is spiral-shaped, there must be several rings of protrusions on the inner wall. Therefore, when these protrusions contract, they will be impacted by the continuous high-pressure water flow, thus achieving a certain buffering effect.

[0028] Furthermore, see Figures 7-11As shown, in order to further improve the buffering effect of the reverse impact force of the spray gun 53 and solve the drawback of the internal transfer of the reverse impact force, that is, the reverse impact force is ultimately offset by external force instead of being absorbed and transferred internally, and will eventually fall onto the drone body 1, which does not significantly improve the endurance, this invention uses the high-pressure water flow of a ground high-pressure water pump to provide a buffer barrier. The reverse impact force of the spray gun 53 is buffered by the ground high-pressure water pump during the pumping process. First, this buffering relies on the external force, that is, the kinetic energy provided by the water flow of the high-pressure water pump; second, the high-pressure water pump is an essential device of the entire system, without adding extra equipment or making additional algorithm adjustments to the drone body 1. Relying on the working process of the high-pressure water pump, the reverse impact force of the spray gun 53 is reduced in a coordinated manner, thereby improving the endurance of the drone body 1.

[0029] Specifically, the buffer assembly 6 includes a buffer cylinder 62 disposed on the temporary storage section 4. A piston disc 67 is slidably disposed at one end of the buffer cylinder 62 away from the temporary storage section 4. The other end of the buffer cylinder 62 is sealed and connected to the temporary storage section 4. A slide rod 611 is disposed on the piston disc 67. The spray gun 53 is connected to the piston disc 67 through the slide rod 611. Secondly, the buffer assembly 6 also includes a mounting box 61. The mounting box 61 is fixedly connected to the temporary storage section 4. The buffer cylinder 62 is fixedly connected to the mounting box 61. A water inlet pipe 63 is disposed at one end of the buffer cylinder 62. One end of the water inlet pipe 63 is connected to the temporary storage section 4, and the other end of the water inlet pipe 63 is connected to the buffer cylinder 62.

[0030] A pressure pipe 64 is provided in one end of the buffer cylinder 62. The pressure pipe 64 is connected to the water inlet pipe 63. An installation plate 66 is fixedly connected in the buffer cylinder 62. The pressure pipe 64 is fixedly connected to the installation plate 66. The pressure pipe 64 has a tapered structure. The inner diameter of the end of the pressure pipe 64 away from the temporary storage part 4 is smaller than the inner diameter of the other end. It should be noted that the entire combination of the buffer cylinder 62 and the piston disc 67 is a set of solutions. Secondly, the present invention also adopts a hollow tube with a spring-like structure inside the buffer cylinder 62. This hollow tube not only plays the role of continuously spraying and impacting the piston disc 67, but also plays the role of the spring itself. Finally, due to the hollow and spiral structure, there is static pressure water flow inside, which further improves the soft buffering effect and reduces the hard buffering and force transmission of traditional springs.

[0031] Specifically, a buffer tube 65 is provided inside the buffer cylinder 62. One end of the buffer tube 65 is connected to the end of the pressurizing tube 64 with a smaller inner diameter. The other end of the buffer tube 65 is connected to a pressure reducing tube 68. The pressure reducing tube 68 has a tapered structure. The inner diameter of the end of the pressure reducing tube 68 away from the temporary storage part 4 is larger than the inner diameter of the other end. Furthermore, the buffer tube 65 has a helical spring structure and a hollow interior. The larger diameter end of the pressure-reducing tube 68 fits against the piston disc 67. It should be noted that the buffer tube 65 is primarily made of 316L stainless steel, which contains molybdenum and has stronger corrosion resistance than ordinary 304 stainless steel. This effectively resists the erosion of chemical components in the cleaning solution and maintains structural stability under long-term high-pressure water flow. Its excellent elastic modulus and fatigue strength ensure that the helical structure will not undergo permanent deformation during repeated expansion and contraction, and can withstand water pressure impacts exceeding 8 MPa. In addition, the biocompatibility and chemical inertness of 316L stainless steel make it compatible with various cleaning agents without causing harmful reactions or contaminating the cleaning solution.

[0032] In addition, in order to reduce the excessive pressure in the buffer cylinder 62 and prevent the problem of excessive water leakage, while improving the soft buffering effect, the present invention opens a tiny hole in the piston disc 67 to connect it to the inside of the spray gun 53, that is, a groove 610 is opened at the top of the buffer cylinder 62, and the slide rod 611 is slidably connected in the groove 610. A capillary tube 69 is provided on the end of the piston disc 67 away from the temporary storage section 4. One end of the capillary tube 69 is connected to the inside of the buffer cylinder 62, and the other end of the capillary tube 69 is connected to the spray gun 53. In this way, when the reverse impact force changes, the pressure inside the buffer cylinder 62 will not suddenly become too large. Moreover, during long-term operation, the spray gun 53 can absorb the water in the buffer cylinder 62 according to Bernoulli's principle, preventing excessive static pressure in the buffer cylinder 62 from causing a large amount of water leakage.

[0033] First of all, it should be clear that the spray gun 53 achieves partial buffering through the telescopic tube 52, and is connected to the piston plate 67 through the slide rod 611. This means that the spray gun 53 is slidably connected to the buffer cylinder 62, and is not in direct hard contact with the temporary storage box 41. In specific work, refer to Figure 10 The diagram shows that the high-pressure water entering the water tank 43 is partly sprayed out through the fixed pipe 51 via the spray gun 53 and nozzle 54, and partly introduced into the buffer pipe 65 by the smaller diameter inlet pipe 63. In this process, firstly, the diameter of the inlet pipe 63 is smaller than that of the fixed pipe 51, so the water flow velocity inside it will be higher than that of the fixed pipe 51. Secondly, the flow velocity is further increased by the design that the inner diameter of the end of the pressurizing pipe 64 is smaller than that of the front end. Thus, the water flow velocity entering the buffer pipe 65 will be extremely high, which means that the static pressure in the buffer pipe 65 and at the contact end between the pressure reducing pipe 68 and the piston disc 67 will be very high. Secondly, because the inner diameter of the end of the pressure-reducing pipe 68 is larger than that of the front end, and the pressure-reducing pipe 68 is designed to only fit against the piston disc 67, rather than being fixedly connected to it, the piston disc 67 will continuously receive the output kinetic energy from the pressure-reducing pipe 68. Furthermore, the buffer cylinder 62 will also be filled with high-pressure water, meaning the piston disc 67 will also be affected by the static pressure water flow inside the buffer cylinder 62. And the piston disc 67 is located... Figure 10 When in the middle position, there is a limiting structure to ensure that the piston disc 67 will not fall off, and a sealing design is made around the piston disc 67; When the spray gun 53 is working, the resulting reverse impact force is first transmitted to the piston disc 67 via the slide rod 611. Then, when the piston disc 67 moves in the reverse direction, for the entire buffer assembly 6: The primary buffer originates from the static pressure inside the piston disc 67 and the buffer cylinder 62; The secondary buffer originates from the impact kinetic energy of the water flow at the end of the pressure reducing pipe 68 and part of the static pressure. Since the water in the buffer cylinder 62 is connected to the spray gun 53 through the capillary tube 69, the water flow in the buffer cylinder 62 is to some extent circulating. The three-level buffer comes from the inherent toughness and rigidity of the 65 spiral spring structure in the buffer tube; The fourth-level buffer comes from the static pressure and kinetic energy of the water flow inside the hollow structure of the buffer tube 65. That is, when the buffer tube 65 elastically contracts, in addition to its own toughness and rigidity acting as a buffer, the internal water flow will impact the buffer tube 65 itself due to its spiral structure, thus achieving a buffering effect. Thus, through the two-stage buffering of the telescopic tube 52 and the four-stage buffering of the buffer assembly 6, the reverse impact force of the spray gun 53 is buffered and offset. Moreover, the buffering mainly comes from the kinetic energy of the ground high-pressure water pump, which is external. This greatly improves the endurance of the UAV body 1, without having to rely on the rotor 2 to adjust the angle for offsetting, or relying solely on the internal spring structure for buffering, which ultimately still relies on the conversion of internal energy.

[0034] It should be noted that regarding the energy transfer issue, the water pump can be understood as a power bank, simultaneously charging two mobile phones. That is, part of the energy is transferred to the spray gun 53, and part of the energy is transferred to the buffer component 6. The kinetic energy of the high-pressure water pump is generally redundant, and diverting part of it does not affect the overall performance. As for the drone body 1, traditionally, it mainly relies on the adjustment of the angle of its rotor 2 to counteract the reaction force. This invention relies on the energy diversion of the water pump, that is, the kinetic energy of the water pump is divided into two parts. One part is mainly used for cleaning through the spray gun 53, and the other part is used to reduce and counteract the reaction force. The energy used for buffering and counteracting the reaction force comes from the diversion of the water pump. Therefore, it shares the additional electrical energy consumed by the drone body 1's rotor 2 adjusting its angle, which is traditionally entirely dependent on the conversion of the drone's own electrical energy. This is because if the rotor 2 of the drone body 1 adjusts its angle, it cannot convert all the electrical energy into resisting its own gravity, naturally reducing the flight range. This invention solves this drawback by diverting the energy of the water pump itself, which naturally optimizes the use of the drone body 1's electrical energy and improves the flight range. Secondly, the entire jet assembly 5 does not directly contact the temporary storage section 4. Instead, it is elastically buffered by the buffer assembly 6 and the telescopic tube 52. Referring to the design of the Barrett heavy sniper rifle stock, even without the design of the buffer assembly 6 relying on the water pump to divide the kinetic energy, it can still effectively buffer the instantaneous reaction force. As for the continuous reaction force, the piston disc 67 and the pressure reducing tube 68 are designed to fit together. This ensures that there is always hydrostatic pressure on the piston disc 67. In addition, the design of the capillary tube 69 provides an additional buffering effect from the impact of the fluid kinetic energy. Therefore, there is a corresponding pressure to buffer both the instantaneous and continuous reaction forces.

[0035] Finally, the key point of this invention is to reduce the additional waste of electrical energy in the drone body 1. The principle of using a water pump to divert the main force and buffer the reaction force is feasible. Even if some of the reaction force will eventually be transmitted to the drone body 1, the energy diverted by the water pump will inevitably participate in it and cannot be ignored, thus naturally improving the buffering effect. In summary, this invention constructs a complete external energy buffering system through the primary buffering of the telescopic tube and the multi-stage buffering synergy of the buffer cylinder system. This effectively counteracts the reverse impact force generated during the spray gun's operation using kinetic energy provided by a ground-based high-pressure water pump. This overcomes the limitations of traditional high-altitude cleaning drones that rely on rotor adjustment or internal spring buffering, significantly improving the drone's endurance and effectively extending the lifespan of the airframe structure. It provides a more efficient and reliable intelligent solution for high-altitude curtain wall cleaning operations. Furthermore, it effectively addresses the problems of existing drones that rely on rotor tilt adjustment to counteract recoil force, which significantly shortens endurance and accelerates airframe fatigue. Additionally, the spring buffering structure, due to stiffness mismatch and inability to obtain energy from the outside, can only attenuate impact to a limited extent, essentially remaining a rigid transmission with minimal effect on endurance optimization and system protection.

[0036] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An autonomous cruise-type intelligent high-altitude cleaning drone device, comprising a drone body (1) and a temporary storage section (4) disposed below the drone body (1), wherein a spray assembly (5) is disposed at the front end of the temporary storage section (4), and the bottom of the temporary storage section (4) is connected to a water pump, characterized in that: The front end of the temporary storage section (4) is also provided with a buffer assembly (6), and the spray assembly (5) is connected to the temporary storage section (4) through the buffer assembly (6); The spraying assembly (5) includes a telescopic tube (52), one end of which is connected to the temporary storage section (4), and the other end of which is connected to the spray gun (53). The buffer assembly (6) includes a buffer cylinder (62) disposed on the temporary storage section (4). A piston disc (67) is slidably disposed at one end of the buffer cylinder (62) away from the temporary storage section (4). The other end of the buffer cylinder (62) is sealed and connected to the temporary storage section (4). A slide rod (611) is disposed on the piston disc (67). The spray gun (53) is connected to the piston disc (67) through the slide rod (611).

2. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 1, characterized in that: The drone body (1) has a multi-axis adjustment section (3) at the bottom, and the temporary storage section (4) is connected to the drone body (1) through the multi-axis adjustment section (3). The drone body (1) has several rotors (2).

3. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 1, characterized in that: The temporary storage unit (4) includes a temporary storage box (41), a box door (42) is rotatably provided on one side of the temporary storage box (41), a water tank (43) is fixedly connected inside the temporary storage box (41), a docking nozzle (44) is connected to the bottom of the water tank (43), and the water tank (43) is connected to a water pump located on the ground through the docking nozzle (44).

4. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 1, characterized in that: The spray assembly (5) also includes a fixed tube (51), one end of which is connected to the temporary storage part (4), and the other end of which is connected to the telescopic tube (52). The temporary storage section (4) also includes a cleaning fluid box (45), the top of which is connected to a liquid outlet pipe (46). The end of the liquid outlet pipe (46) away from the cleaning fluid box (45) is rotatably connected to a connecting pipe (47). One side of the fixed pipe (51) is connected to a suction pipe (48). A guide pipe (49) is provided inside the suction pipe (48). An electric control valve (410) is provided inside the suction pipe (48). The connecting pipe (47) and the suction pipe (48) are threaded together.

5. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 4, characterized in that: The inner diameter of the guide tube (49) is much smaller than the inner diameter of the suction tube (48).

6. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 1, characterized in that: The nozzle (54) is provided at the end of the spray gun (53) away from the telescopic tube (52).

7. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 1, characterized in that: The buffer assembly (6) also includes a mounting box (61), which is fixedly connected to the temporary storage part (4). The buffer cylinder (62) is fixedly connected inside the mounting box (61). A water inlet pipe (63) is provided at one end of the buffer cylinder (62). One end of the water inlet pipe (63) is connected to the temporary storage part (4), and the other end of the water inlet pipe (63) is connected to the buffer cylinder (62).

8. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 7, characterized in that: A pressure pipe (64) is provided inside one end of the buffer cylinder (62). The pressure pipe (64) is connected to the water inlet pipe (63). An installation plate (66) is fixedly connected inside the buffer cylinder (62). The pressure pipe (64) is fixedly connected to the installation plate (66). The pressure pipe (64) has a conical structure. The inner diameter of the end of the pressure pipe (64) away from the temporary storage part (4) is smaller than the inner diameter of the other end.

9. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 8, characterized in that: The buffer cylinder (62) is provided with a buffer tube (65). One end of the buffer tube (65) is connected to the end of the pressurizing tube (64) with a smaller inner diameter. The other end of the buffer tube (65) is connected to a pressure reducing tube (68). The pressure reducing tube (68) has a tapered structure. The inner diameter of the end of the pressure reducing tube (68) away from the temporary storage part (4) is larger than the inner diameter of the other end. The buffer tube (65) has a spiral spring structure and a hollow structure inside. The end of the pressure reducing tube (68) with a larger inner diameter is in contact with the piston disc (67).

10. The autonomous cruise intelligent high-altitude cleaning drone device according to claim 9, characterized in that: The top of the buffer cylinder (62) is provided with a sliding groove (610), and the sliding rod (611) is slidably connected in the sliding groove (610); A capillary tube (69) is provided on one end of the piston disc (67) away from the temporary storage section (4). One end of the capillary tube (69) is connected to the buffer cylinder (62), and the other end of the capillary tube (69) is connected to the spray gun (53).

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