An unmanned aerial vehicle cleaning robot for photovoltaic panels

Abstract

The application discloses a kind of unmanned aerial vehicle cleaning robots for photovoltaic panel, comprising: unmanned aerial vehicle platform, unmanned aerial vehicle platform includes body and four pairs of rotors on body;Cleaning robot, cleaning robot includes shell, running mechanism, cleaning mechanism, pump water mechanism and water storage mechanism;Running mechanism is arranged on the left and right sides of shell, and running mechanism includes driving wheel, track and stepping motor, cleaning mechanism includes cylinder, bristle, roller brush shaft and roller brush support, and water storage mechanism includes water storage tank, and pump water mechanism includes water pump motor, water pump, coupling, water pipe and nozzle.The application effectively removes various types of dust, sand, bird droppings and other pollutants by the dry and wet combined cleaning method of front and rear roller brushes, and restores the power generation efficiency of photovoltaic panel.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic power generation equipment maintenance technology, and in particular to a drone cleaning robot for photovoltaic panels. Background Technology

[0002] As a core component of the clean energy industry, photovoltaic (PV) power generation has seen continuous expansion in installed capacity in recent years. The quality of daily operation and maintenance of PV modules directly determines the power generation efficiency and lifespan of the power station. In actual operation, PV modules are exposed to the outdoor environment for extended periods, and their surfaces are prone to accumulating various pollutants such as dust, sand, bird droppings, and industrial dust. These pollutants directly block incident light, reducing the photoelectric conversion efficiency of the PV modules and causing significant losses in power generation revenue. Long-term contamination can also trigger localized hot spot effects, leading to abnormal increases in local module temperature. In severe cases, this can cause module burnout, accelerated aging of encapsulation materials, and a significant reduction in module lifespan, increasing the power station's operation and maintenance costs and safety risks.

[0003] Currently, the cleaning and maintenance of photovoltaic power plants still relies primarily on manual cleaning. This method requires a significant investment of human and material resources, as cleaning operations depend on operators using handheld cleaning tools to process each section individually. This results in low overall efficiency and is unsuitable for the batch maintenance needs of large-scale photovoltaic power plants. For photovoltaic arrays deployed in mountainous areas, on water surfaces, or on high-support structures, the difficulty of manual operations increases dramatically. Working on inclined surfaces at heights poses safety hazards such as falls and electric shocks, making it difficult to effectively guarantee the personal safety of workers. Furthermore, the quality of manual cleaning is greatly affected by the operator's experience and working conditions, leading to inconsistent cleaning results and persistently high long-term maintenance costs.

[0004] Existing hovering cleaning drone solutions also have significant limitations. Due to the limitations of flight attitude control precision, the angle between the drone body and the photovoltaic panel surface is difficult to be stably matched, making it impossible to ensure uniform contact between the cleaning components and the panel surface, which can easily create cleaning dead zones and make it difficult to achieve the ideal cleaning level. In addition, drones need to continuously consume a lot of power for long-term hovering operations, resulting in high overall power loss, limited endurance, and limited coverage area per operation. Furthermore, the airflow during flight can easily stir up surrounding dust, causing secondary pollution. The cleaning efficiency and economy are difficult to meet the actual operation and maintenance needs.

[0005] To address the aforementioned technical issues, this invention provides a drone-based cleaning robot for photovoltaic panels. Summary of the Invention

[0006] The purpose of this invention is to provide a drone-based cleaning robot for photovoltaic panels to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides a drone cleaning robot for photovoltaic panels, comprising: An unmanned aerial vehicle (UAV) platform, comprising an airframe and four rotors mounted on the airframe; A cleaning robot is mounted below the drone platform. The cleaning robot includes a shell, a driving mechanism, a cleaning mechanism, a water pumping mechanism, and a water storage mechanism. The driving mechanism is located on the left and right sides of the housing. The driving mechanism includes a drive wheel, a track, and a stepper motor. The stepper motor is fixed to the bottom plate of the housing. The end of the stepper motor is provided with a flange. The flange is fixed to the bottom plate by screws. The drive wheel is connected to the output shaft of the stepper motor. The track is wrapped around the outer periphery of the drive wheel. The cleaning mechanism is disposed on the front and rear sides of the housing. The cleaning mechanism includes a roller, bristles, a roller brush shaft and a roller brush bracket. The roller brush bracket is fixed on the front and rear sides of the housing. The roller brush shaft is installed below the roller brush bracket. The roller is sleeved on the roller brush shaft and the bristles are fixed on the outer surface of the roller. The water storage mechanism is fixed at the rear of the cleaning robot. The water storage mechanism includes a water tank, which is fixed on the roller brush bracket located at the rear end. The top of the water tank is provided with a water inlet, and the bottom of the water tank is provided with a water outlet. The water pumping mechanism is located inside the cleaning robot. The water pumping mechanism includes a water pump motor, a water pump, a coupling, a water pipe, and a nozzle. The water pump motor and the water pump are fixed to the bottom plate of the housing. The water pump motor and the water pump are connected through the coupling. The driving end of the coupling is connected to the output shaft of the water pump motor, and the driven end of the coupling is connected to the input shaft of the water pump. The water inlet of the water pump is connected to the outlet of the water storage tank through the water pipe, and the water outlet of the water pump is connected to the nozzle through the water pipe. The nozzle is located at the front end of the bottom plate of the housing.

[0008] According to the photovoltaic panel cleaning robot provided by the present invention, the drone platform and the cleaning robot are connected by a universal joint structure. The universal joint is a cross-shaped universal joint, which includes a cross connecting block, a connecting shaft, two connecting block half-shafts, and two universal joint half-shafts. One end of the connecting shaft is connected to the bottom of the drone platform, and the other end of the connecting shaft is connected to the cross connecting block. The two connecting block half-shafts are symmetrically arranged on both sides of the cross connecting block, and the two universal joint half-shafts are symmetrically arranged on the other two sides of the cross connecting block. The connecting block half-shafts and the universal joint half-shafts are respectively fixedly connected to the cross connecting block by bolts, and the universal joint half-shafts are fixedly connected to the top of the cleaning robot.

[0009] According to the photovoltaic panel cleaning robot provided by the present invention, the number of drive wheels is four, each drive wheel is directly connected to the output shaft of a stepper motor, the track is a silicone rubber track, the inner surface of the track is provided with rubber protrusions, the outer surface of the drive wheel is in contact with the inner surface of the track, and the drive wheel and the track are driven by meshing through the rubber protrusions.

[0010] According to the photovoltaic panel cleaning robot provided by the present invention, the bristles are arranged in a symmetrical spiral on the outer surface of the roller.

[0011] According to the photovoltaic panel cleaning robot provided by the present invention, the water storage tank is disposed above the roller brush bracket located at the rear end, the water inlet of the water storage tank is disposed at the middle position of the top of the water storage tank, the water outlet of the water storage tank is disposed at the middle position of the bottom of the water storage tank, and the water inlet is provided with an openable and closable sealing cap.

[0012] According to the photovoltaic panel cleaning robot provided by the present invention, the water pump is a centrifugal pump, the nozzle is a gradually expanding nozzle, the cross-sectional area of ​​the nozzle gradually increases along the water flow direction, the nozzle is located at the middle of the front end of the bottom plate of the housing, the water inlet end of the nozzle is connected to the water pipe, and the water outlet end of the nozzle faces downward of the housing.

[0013] According to the photovoltaic panel cleaning robot provided by the present invention, the water pipe includes a first water pipe and a second water pipe. One end of the first water pipe is connected to the outlet of the water storage tank, and the other end of the first water pipe is connected to the inlet of the water pump. One end of the second water pipe is connected to the outlet of the water pump, and the other end of the second water pipe is connected to the inlet of the nozzle.

[0014] The photovoltaic panel cleaning robot provided by the present invention has an aluminum alloy shell, nylon bristles, and a PE water pipe.

[0015] The present invention discloses the following technical effects: This invention employs a combined wet and dry cleaning mode with front and rear dual roller brushes. The front end is sprayed with water to remove contaminants, while the rear end is dry-brushed to remove residual water stains. It is suitable for cleaning various types of contaminants such as dust, sand, and bird droppings. The symmetrically arranged bristles can avoid scratching the surface of the photovoltaic panel, ensuring uniform and thorough cleaning and effectively restoring the power generation efficiency of the photovoltaic module.

[0016] This invention adopts a combined architecture of drone and cleaning robot, which can be adapted to photovoltaic power stations with different deployment forms. The tracked walking structure has good adhesion ability and is suitable for operation on inclined photovoltaic panels. The lightweight shell structure and flexible cleaning components can avoid pressure damage and scratches to the photovoltaic panels, ensuring equipment safety during operation.

[0017] This invention replaces manual cleaning with automated cleaning operations, eliminating the need for personnel to perform high-altitude and inclined surface operations, thus eliminating the safety hazards of manual operations. At the same time, the modular design of the spliced ​​shell allows for the individual replacement of damaged parts, reducing equipment maintenance costs, significantly improving the cleaning and maintenance efficiency of large-scale photovoltaic power plants, and reducing long-term maintenance investment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in 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.

[0019] Figure 1 This is a three-dimensional structural diagram of the photovoltaic panel cleaning robot of the present invention; Figure 2 This is a three-dimensional structural diagram of the photovoltaic panel cleaning robot of the present invention; Figure 3 for Figure 1 The front view; Figure 4 for Figure 1 The left view; Figure 5 for Figure 1 Top view; Figure 6 for Figure 3 AA section view; Figure 7 for Figure 4 A magnified schematic diagram of part B.

[0020] The components are as follows: 1. Unmanned Aerial Vehicle (UAV) platform; 2. Universal joint; 3. Cleaning robot; 4. Rotor; 5. Airframe; 6. Shell; 7. Water storage mechanism; 8. Cleaning mechanism; 9. Traveling mechanism; 10. Pumping mechanism; 11. Buckle; 12. Drive wheel; 13. Track; 14. Stepper motor; 15. Roller; 16. Brush bristles; 17. Screw; 18. Roller brush shaft; 19. Roller brush bracket; 20. Water pipe; 21. Water pump; 22. Nozzle; 23. Screw; 24. Coupling; 25. Water pump motor; 26. Water storage tank; 27. Universal joint half-shaft; 28. Bolt; 29. ​​Connecting block half-shaft; 30. Cross connecting block; 31. Connecting shaft. Detailed Implementation

[0021] 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.

[0022] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Reference Figures 1-7 This invention provides a drone cleaning robot 3 for photovoltaic panels, comprising: Unmanned aerial vehicle platform 1, which includes a body 5 and four rotors 4 mounted on the body 5; The cleaning robot 3 is located below the drone platform 1. The cleaning robot 3 includes a shell 6, a driving mechanism 9, a cleaning mechanism 8, a water pumping mechanism 10, and a water storage mechanism 7. The travel mechanism 9 is located on the left and right sides of the housing 6. The travel mechanism 9 includes a drive wheel 12, a track 13 and a stepper motor 14. The stepper motor 14 is fixed on the bottom plate of the housing 6. The end of the stepper motor 14 is provided with a flange. The flange is fixed to the bottom plate by screws 23. The drive wheel 12 is connected to the output shaft of the stepper motor 14. The track 13 is wrapped around the outer periphery of the drive wheel 12. The cleaning mechanism 8 is located on the front and rear sides of the housing 6. The cleaning mechanism 8 includes a roller 15, bristles 16, a roller brush shaft 18 and a roller brush bracket 19. The roller brush bracket 19 is fixed on the front and rear sides of the housing 6. The roller brush shaft 18 is installed below the roller brush bracket 19. The roller 15 is sleeved on the roller brush shaft 18. The bristles 16 are fixed on the outer surface of the roller 15. The water storage mechanism 7 is fixed at the rear of the cleaning robot 3. The water storage mechanism 7 includes a water tank 26, which is fixed on the roller brush bracket 19 located at the rear end. The top of the water tank 26 is provided with a water inlet, and the bottom of the water tank 26 is provided with a water outlet. The water pumping mechanism 10 is installed inside the cleaning robot 3. The water pumping mechanism 10 includes a water pump motor 25, a water pump 21, a coupling 24, a water pipe 20, and a nozzle 22. The water pump motor 25 and the water pump 21 are fixed on the bottom plate of the housing 6. The water pump motor 25 and the water pump 21 are connected through the coupling 24. The driving end of the coupling 24 is connected to the output shaft of the water pump motor 25, and the driven end of the coupling 24 is connected to the input shaft of the water pump 21. The water inlet of the water pump 21 is connected to the water outlet of the water storage tank 26 through the water pipe 20. The water outlet of the water pump 21 is connected to the nozzle 22 through the water pipe 20. The nozzle 22 is located at the front end of the bottom plate of the housing 6.

[0024] During operation, the drone platform 1 generates lift through its four rotors 4, carrying the cleaning robot 3 to the area above the photovoltaic panel to be cleaned. After adjusting its flight attitude, it smoothly places the cleaning robot 3 on the surface of the photovoltaic panel. Subsequently, the stepper motor 14 installed on the bottom plate inside the housing 6 starts. The stepper motor 14 is locked to the bottom plate through the end flange to ensure operational stability. Its output shaft drives the drive wheel 12 to rotate synchronously. The drive wheel 12 meshes with the track 13 surrounding the outer perimeter for transmission. Relying on the large contact area between the track 13 and the surface of the photovoltaic panel to form sufficient adhesion, the cleaning robot 3 moves at a constant speed along the surface of the photovoltaic panel without slipping, which can adapt to the walking needs of photovoltaic panels with different tilt angles. During the movement, the water pump motor 25 operates synchronously, driving the water pump 21 through the coupling 24. The water stored in the water tank 26, fixed on the rear roller brush bracket 19, flows out through the bottom outlet and is sucked into the water pump 21 through the water pipe 20 and pressurized. The pressurized water is then transported through another water pipe 20 to the nozzle 22 at the bottom front of the housing 6, where it is evenly sprayed onto the surface of the photovoltaic panel to achieve thorough wetting. At the same time, the rollers 15, supported by the roller brush bracket 19 on both the front and rear sides, rotate around the roller brush shaft 18. The bristles 16 on the outer surface of the rollers 15 rotate synchronously with the rollers 15. The bristles 16 at the front end, in conjunction with the sprayed water, perform a wet brushing operation on the surface of the photovoltaic panel, removing attached dust, sand, and various pollutants. The bristles 16 at the rear end perform a dry brushing operation to remove the water stains and floating dust remaining after the wet brushing. The cleaning robot 3 continues to move forward to complete the cleaning operation of the entire photovoltaic panel. After the cleaning operation is completed, the drone platform 1 docks with the cleaning robot 3 again, lifting the cleaning robot 3 to fly away from the photovoltaic panel and move to the next work area.

[0025] In a further optimized design, the drone platform 1 and the cleaning robot 3 are connected by a universal joint 2 structure. The universal joint 2 is a cross-shaped universal joint 2, which includes a cross connecting block 30, a connecting shaft 31, two connecting block half shafts 29, and two universal joint half shafts 27. One end of the connecting shaft 31 is connected to the bottom of the drone platform 1, and the other end of the connecting shaft 31 is connected to the cross connecting block 30. The two connecting block half shafts 29 are symmetrically arranged on both sides of the cross connecting block 30, and the two universal joint half shafts 27 are symmetrically arranged on the other two sides of the cross connecting block 30. The connecting block half shafts 29 and the universal joint half shafts 27 are fixedly connected to the cross connecting block 30 by bolts 28, and the universal joint half shafts 27 are fixedly connected to the top of the cleaning robot 3.

[0026] The cross-shaped universal joint 2 is a hinged component with the cross-shaped connecting block 30 as the center. The upper end of the connecting shaft 31 is fixed to the bottom of the UAV platform 1, and the lower end is connected to a set of axes of the cross-shaped connecting block 30. The two connecting block half-shafts 29 and the two universal joint half-shafts 27 are symmetrically arranged along two sets of orthogonal axes, respectively, and are hinged to the cross-shaped connecting block 30 by bolts 28. The lower end of the universal joint half-shaft 27 is fixed to the top of the cleaning robot 3. During operation, when the UAV platform 1 tilts due to flight attitude adjustment, or when the photovoltaic panel itself has a tilt angle, the cross-shaped connecting block 30 can be relatively deflected along the two sets of orthogonal axes, allowing an angular deviation between the UAV platform 1 and the cleaning robot 3. While transmitting the suspended load, it automatically adapts to the contact angle between the cleaning robot 3 and the photovoltaic panel surface, preventing the cleaning robot 3 from tilting or detaching from the panel due to UAV attitude fluctuations, and ensuring stable contact between the walking and cleaning mechanism 8.

[0027] In a further optimized design, the number of drive wheels 12 is four, and each drive wheel 12 is directly connected to the output shaft of a stepper motor 14. The track 13 is a silicone rubber track 13, and the inner surface of the track 13 is provided with rubber protrusions. The outer surface of the drive wheel 12 contacts the inner surface of the track 13, and the drive wheel 12 and the track 13 are driven by the meshing of the rubber protrusions.

[0028] Four drive wheels 12 are directly connected to the output shafts of four stepper motors 14, forming an independent drive layout with two wheels on each side. The cleaning robot 3 can turn by the speed difference between the two motors, eliminating the need for an additional steering mechanism. The transmission adopts a rubber-tooth meshing method, where the outer teeth of the drive wheels 12 engage with the rubber protrusions on the inner surface of the track 13. The torque output by the stepper motors 14 is directly transmitted to the track 13 through the tooth meshing, which avoids slippage compared to friction transmission and ensures traction on the inclined photovoltaic panel surface. The silicone rubber track 13 itself has a high coefficient of friction and flexible deformation capability, which can increase the contact area with the photovoltaic glass surface, reduce the pressure per unit area, and at the same time, the flexible contact surface will not scratch the photovoltaic panel surface, ensuring adhesion stability and operational safety.

[0029] The design was further optimized so that the bristles 16 are arranged in a symmetrical spiral pattern on the outer surface of the roller 15.

[0030] The bristles 16 are arranged in a symmetrical spiral pattern along the outer surface of the roller 15. When the roller 15 rotates around the roller brush shaft 18, the spiral bristles 16 make progressive contact with the photovoltaic panel surface, rather than making perpendicular impact contact, which can reduce the rigid scratching force of the bristles 16 on the panel surface. At the same time, during the rotation, the spiral bristles 16 will generate a thrust on the dust along the axial direction of the roller 15. The symmetrical double spiral structure will gradually push the dust on both sides to the middle area of ​​the roller 15, so that the contaminants accumulate at the center of the bottom of the cleaning robot 3. With the rinsing water flow of the front nozzle 22, the accumulated dust can be concentratedly rinsed away, improving cleaning efficiency. The spiral arrangement can also disperse the wear of the bristles 16, avoid local concentrated wear, and extend the service life of the bristles 16.

[0031] In a further optimized design, the water storage tank 26 is positioned above the roller brush bracket 19 at the rear end. The water inlet of the water storage tank 26 is located at the top center of the water storage tank 26, and the water outlet of the water storage tank 26 is located at the bottom center of the water storage tank 26. The water inlet is equipped with an openable and closable sealing cap.

[0032] The water storage tank 26 is mounted above the rear roller brush support 19, making full use of the rear space of the cleaning robot 3. This shifts the center of gravity of the entire machine rearward, creating a front-to-back balance with the weight of the front water pump mechanism 10 and nozzles 22, ensuring the stability of the machine during movement. A water inlet located in the center of the top facilitates water replenishment, and a matching openable and closable sealing cap can seal the inlet during robot flight and movement, preventing water spillage and leakage. A water outlet located in the center of the bottom utilizes gravity to naturally draw water from the storage tank 26 towards the outlet, ensuring sufficient water supply to the water pump 21 inlet and preventing water accumulation in the tank. Simultaneously, the flow direction of the water at the bottom outlet is consistent with the suction direction of the water pump 21, reducing the suction resistance of the pump 21 and lowering the risk of cavitation.

[0033] Further optimization of the design: the water pump 21 is a centrifugal pump, the nozzle 22 is a gradually expanding nozzle 22, the cross-sectional area of ​​the nozzle 22 gradually increases along the water flow direction, the nozzle 22 is set at the middle of the front end of the bottom plate of the housing 6, the water inlet end of the nozzle 22 is connected to the water pipe 20, and the water outlet end of the nozzle 22 faces downward of the housing 6.

[0034] The centrifugal pump relies on the pump motor 25 to drive the internal impeller to rotate at high speed, pressurizing the water through centrifugal force. It has a simple structure, low operating vibration, and is suitable for the low-pressure, high-flow water supply requirements of cleaning operations. The cross-section of the gradually expanding nozzle 22 gradually increases along the water flow direction. According to the principle of fluid continuity, the water velocity decreases and the diffusion angle increases as the water flows through the expanding section, allowing the pressurized water flow to be evenly spread into a larger water curtain. This covers a wider area of ​​the photovoltaic panel with the same water volume, improving wetting uniformity, avoiding excessive local water volume that could cause water stains, saving water consumption, and extending the operating time per cycle. The nozzle 22 is positioned in the middle of the front end of the base plate, with the outlet facing directly downwards, ensuring that the water flow contacts the panel surface before the front roller brush, achieving a wet-then-wash operation sequence.

[0035] Further optimization of the scheme: the water pipe 20 includes a first water pipe 20 and a second water pipe 20. One end of the first water pipe 20 is connected to the outlet of the water storage tank 26, and the other end of the first water pipe 20 is connected to the inlet of the water pump 21. One end of the second water pipe 20 is connected to the outlet of the water pump 21, and the other end of the second water pipe 20 is connected to the inlet of the nozzle 22.

[0036] The water pipe 20 is divided into two independent sections: the first water pipe 20 and the second water pipe 20. The first water pipe 20 is the suction pipe 20, connecting the outlet of the water storage tank 26 and the inlet of the water pump 21. It is responsible for transporting the normal-pressure water in the water storage tank 26 to the water pump 21 under the negative pressure of the water pump 21. The second water pipe 20 is the pressure pipe 20, connecting the outlet of the water pump 21 and the inlet of the nozzle 22. It is responsible for transporting the high-pressure water after being pressurized by the water pump 21 to the nozzle 22 for spraying. The two sections of the pipe have clear functions and independent routes. The water inlet and outlet do not interfere with each other, which can avoid water pressure fluctuations caused by water flow turbulence in the same pipe and ensure stable water pressure at the nozzle 22. At the same time, the split pipe design makes it easy to distribute and lay out inside the housing 6, reducing the difficulty of assembly and subsequent maintenance.

[0037] The design has been further optimized. The housing 6 is made of aluminum alloy, the bristles 16 are made of nylon, and the water pipe 20 is made of PE material.

[0038] The aluminum alloy shell 6 achieves overall lightweighting due to its low density, reducing the load on the drone platform 1. It also possesses sufficient structural strength and heat dissipation capacity to withstand the loads of internal mechanisms and dissipate the heat generated by the generator and water pump 21, thus improving equipment reliability. The nylon bristles 16 combine wear resistance and flexibility, effectively removing dust from the panel surface through physical friction while preventing scratches on the photovoltaic glass surface through deformation, thus meeting the cleaning and protection requirements of photovoltaic modules. The PE material water pipe 20 has a smooth inner wall, reducing water flow resistance and pressure loss. Furthermore, the material is lightweight, corrosion-resistant, and low-cost, meeting the long-term usage requirements of the cleaning equipment's water system.

[0039] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0040] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A drone-based cleaning robot for photovoltaic panels (3), characterized in that, include: The unmanned aerial vehicle platform (1) includes a body (5) and four rotors (4) mounted on the body (5). Cleaning robot (3) is located below the drone platform (1). The cleaning robot (3) includes a shell (6), a driving mechanism (9), a cleaning mechanism (8), a water pumping mechanism (10), and a water storage mechanism (7). The driving mechanism (9) is located on the left and right sides of the housing (6). The driving mechanism (9) includes a drive wheel (12), a track (13) and a stepper motor (14). The stepper motor (14) is fixed on the bottom plate of the housing (6). The end of the stepper motor (14) is provided with a flange. The flange is fixed to the bottom plate by screws (23). The drive wheel (12) is connected to the output shaft of the stepper motor (14). The track (13) is wrapped around the outer periphery of the drive wheel (12). The cleaning mechanism (8) is disposed on the front and rear sides of the housing (6). The cleaning mechanism (8) includes a roller (15), bristles (16), a roller brush shaft (18) and a roller brush bracket (19). The roller brush bracket (19) is fixed on the front and rear sides of the housing (6). The roller brush shaft (18) is installed below the roller brush bracket (19). The roller (15) is sleeved on the roller brush shaft (18). The bristles (16) are fixed on the outer surface of the roller (15). The water storage mechanism (7) is fixed at the rear of the cleaning robot (3). The water storage mechanism (7) includes a water tank (26). The water tank (26) is fixed on the roller brush bracket (19) located at the rear end. The top of the water tank (26) is provided with a water inlet, and the bottom of the water tank (26) is provided with a water outlet. The water pumping mechanism (10) is located inside the cleaning robot (3). The water pumping mechanism (10) includes a water pump motor (25), a water pump (21), a coupling (24), a water pipe (20), and a nozzle (22). The water pump motor (25) and the water pump (21) are fixed on the bottom plate of the housing (6). The water pump motor (25) and the water pump (21) are connected through the coupling (24). The driving end of the coupling (24) is connected to the output shaft of the water pump motor (25), and the driven end of the coupling (24) is connected to the input shaft of the water pump (21). The inlet of the water pump (21) is connected to the outlet of the water storage tank (26) through the water pipe (20). The outlet of the water pump (21) is connected to the nozzle (22) through the water pipe (20). The nozzle (22) is located at the front end of the bottom plate of the housing (6).

2. An unmanned aerial cleaning robot (3) for photovoltaic panels according to claim 1, characterized in that, The drone platform (1) and the cleaning robot (3) are connected by a universal joint (2). The universal joint (2) is a cross-shaped universal joint (2). The universal joint (2) includes a cross connecting block (30), a connecting shaft (31), two connecting block half shafts (29) and two universal joint half shafts (27). One end of the connecting shaft (31) is connected to the bottom of the drone platform (1), and the other end of the connecting shaft (31) is connected to the cross connecting block (30). The two connecting block half shafts (29) are symmetrically arranged on both sides of the cross connecting block (30), and the two universal joint half shafts (27) are symmetrically arranged on the other two sides of the cross connecting block (30). The connecting block half shafts (29) and the universal joint half shafts (27) are fixedly connected to the cross connecting block (30) by bolts (28), and the universal joint half shafts (27) are fixedly connected to the top of the cleaning robot (3).

3. An unmanned aerial cleaning robot (3) for photovoltaic panels according to claim 1, characterized in that, The number of drive wheels (12) is four. Each drive wheel (12) is directly connected to the output shaft of a stepper motor (14). The track (13) is a silicone rubber track (13). The inner surface of the track (13) is provided with rubber protrusions. The outer surface of the drive wheel (12) is in contact with the inner surface of the track (13). The drive wheel (12) and the track (13) are driven by meshing through the rubber protrusions.

4. An unmanned aerial cleaning robot (3) for photovoltaic panels according to claim 1, characterized in that, The bristles (16) are arranged in a symmetrical spiral pattern on the outer surface of the roller (15).

5. An unmanned aerial cleaning robot (3) for photovoltaic panels according to claim 1, characterized in that, The water storage tank (26) is located above the roller brush bracket (19) at the rear end. The water inlet of the water storage tank (26) is located at the middle of the top of the water storage tank (26), and the water outlet of the water storage tank (26) is located at the middle of the bottom of the water storage tank (26). The water inlet is provided with an openable and closable sealing cap.

6. An unmanned aerial cleaning robot (3) for photovoltaic panels according to claim 1, characterized in that, The water pump (21) is a centrifugal pump, and the nozzle (22) is a gradually expanding nozzle (22). The cross-sectional area of ​​the nozzle (22) gradually increases along the water flow direction. The nozzle (22) is located at the middle of the front end of the bottom plate of the housing (6). The water inlet end of the nozzle (22) is connected to the water pipe (20), and the water outlet end of the nozzle (22) faces downwards from the housing (6).

7. The photovoltaic panel cleaning robot (3) according to claim 1, characterized in that, The water pipe (20) includes a first water pipe (20) and a second water pipe (20). One end of the first water pipe (20) is connected to the outlet of the water storage tank (26), and the other end of the first water pipe (20) is connected to the inlet of the water pump (21). One end of the second water pipe (20) is connected to the outlet of the water pump (21), and the other end of the second water pipe (20) is connected to the inlet of the nozzle (22).

8. An unmanned aerial cleaning robot (3) for photovoltaic panels according to claim 1, characterized in that, The housing (6) is an aluminum alloy housing (6), the bristles (16) are nylon bristles (16), and the water pipe (20) is a PE material water pipe (20).

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