Photovoltaic cleaning unmanned aerial vehicle

Abstract

The utility model provides a photovoltaic cleaning unmanned aerial vehicle. The photovoltaic cleaning unmanned aerial vehicle comprises an airborne cleaning unit, a recoil force calculation circuit, a main rotor wing unit, a tail rotor wing unit and a communication unit, the airborne cleaning unit is connected with the communication unit; the main rotor unit is connected with the communication unit; the communication unit is connected with an external upper computer; the tail rotor wing unit is installed in the direction opposite to the cleaning direction of the airborne cleaning unit. The airborne cleaning unit is connected with the recoil force calculation circuit; and the recoil force calculation circuit is connected with the tail rotor wing unit. By arranging the corresponding recoil force calculation circuit and the tail rotor wing unit, the corresponding recoil force is calculated by the circuit during cleaning, so that the recoil caused by cleaning water spray is counteracted by the tail rotor wing, and the stability of the unmanned aerial vehicle in the cleaning process is ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic cleaning, and in particular relates to a photovoltaic cleaning drone. Background Art

[0002] The core part of the photovoltaic power generation system is the solar photovoltaic module, which is composed of several solar cells connected in series and parallel and packaged. The deposition of dust, bird droppings and other particles on the surface of the photovoltaic module will reduce the efficiency of the photovoltaic system that has been working for a long time, affecting the normal operation of the photovoltaic power station. In severe cases, hot spots will occur, damaging photovoltaic equipment. Most photovoltaic cleaning products on the market are semi-automatic products, but they are generally applicable to small angles and can generally only complete cleaning within 20 degrees of the horizontal angle. In addition, due to the relatively scattered layout of distributed photovoltaic power stations in cities, this type of photovoltaic cleaning device still cannot meet the existing needs of high efficiency, convenience, and strong universality, and the operation is also relatively complicated.

[0003] Drones can realize intelligent cleaning of photovoltaic power stations. The host computer can monitor the cleanliness of photovoltaic modules, eliminate potential threats, and improve the stability of photovoltaic module operation. Therefore, they are used in photovoltaic cleaning, but existing cleaning drones usually simply carry cleaning components on the drone, and the poor coordination between the structures leads to poor cleaning effects. Utility Model Content

[0004] In view of this, the utility model provides a photovoltaic cleaning drone, which aims to solve the problem of poor cleaning effect caused by poor coordination between existing technical structures.

[0005] A first aspect of an embodiment of the utility model provides a photovoltaic cleaning drone, comprising:

[0006] Onboard cleaning unit, recoil calculation circuit, main rotor unit, tail rotor unit, communication unit;

[0007] The onboard cleaning unit is connected to the communication unit; the main rotor unit is connected to the communication unit; the communication unit is connected to the external host computer;

[0008] The tail rotor unit is installed in the opposite direction of the cleaning direction of the airborne cleaning unit; the airborne cleaning unit is connected to the recoil calculation circuit; and the recoil calculation circuit is connected to the tail rotor unit.

[0009] In some possible implementations, the onboard cleaning unit includes: a water storage tank, a water spray pump, and a first driver;

[0010] The water spray pump is connected to the water storage tank; the first driver is connected to the water spray pump; and the first driver is connected to the communication unit.

[0011] In some possible implementations, the recoil force calculation circuit includes a current sensor and a first multiplier; the current sensor is connected to the driver; one of the input ends of the first multiplier is connected to the current sensor, and the input value of the other input end is a first preset value; and the output end of the first multiplier is connected to the tail rotor unit.

[0012] In some possible implementations, the tail rotor unit includes a tail rotor, a second driver, and a second multiplier; the axial direction of the tail rotor is opposite to the cleaning direction; the output end of the first multiplier is connected to one of the input ends of the second multiplier, and the input value of the other input end is a second preset value; the output end of the second multiplier is connected to the second driver; and the second driver is connected to the tail rotor.

[0013] In some possible implementations, the main rotor unit includes: a main rotor and a third drive; the third drive is connected to the main rotor; and the third drive is connected to the communication unit.

[0014] In some possible implementations, the photovoltaic cleaning drone also includes a power battery and a cleaning battery; the power battery is connected to the main rotor unit and the communication unit; the cleaning battery is connected to the airborne cleaning unit, the recoil calculation circuit, and the tail rotor unit.

[0015] In some possible implementations, the recoil force calculation circuit includes: a current sensor, a voltage sensor, a first multiplier, and a third multiplier; the current sensor and the voltage sensor are both connected to a clean battery; one of the input terminals of the first multiplier is connected to the current sensor, and the input value of the other input terminal is a third preset value; the output terminal of the first multiplier is connected to one of the input terminals of the second multiplier; the other input terminal of the second multiplier is connected to the voltage sensor; and the output terminal of the second multiplier is connected to the tail rotor unit.

[0016] In some possible implementations, the tail rotor unit includes a tail rotor, a second driver, a second multiplier, and a third multiplier; the axial direction of the tail rotor is opposite to the cleaning direction; the output end of the first multiplier is connected to one of the input ends of the second multiplier, and the input value of the other input end is a fourth preset value; the output end of the second multiplier is connected to one input end of the third multiplier; the other input end of the third multiplier is connected to the voltage sensor through an inverter; the output end of the third multiplier is connected to the second driver; and the second driver is connected to the tail rotor.

[0017] The photovoltaic cleaning drone provided by the embodiment of the utility model includes an airborne cleaning unit, a recoil calculation circuit, a main rotor unit, a tail rotor unit, and a communication unit; the airborne cleaning unit is connected to the communication unit; the main rotor unit is connected to the communication unit; the communication unit is connected to an external host computer; the tail rotor unit is installed in the opposite direction of the cleaning direction of the airborne cleaning unit; the airborne cleaning unit is connected to the recoil calculation circuit; the recoil calculation circuit is connected to the tail rotor unit. By setting the corresponding recoil calculation circuit and the tail rotor unit, the circuit calculates the corresponding recoil during cleaning, so that the tail rotor offsets the recoil caused by the cleaning water spray, thereby ensuring the stability of the drone during the cleaning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 It is a structural schematic diagram of a photovoltaic cleaning drone provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0020] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details.

[0021] Figure 1 This is a flowchart of the implementation of the photovoltaic cleaning drone provided by the embodiment of the utility model. Figure 1 As shown, an airborne cleaning unit 11, a recoil force calculation circuit 12, a main rotor unit 13, a tail rotor unit 14, and a communication unit 15; the airborne cleaning unit 11 is connected to the communication unit 15; the main rotor unit 13 is connected to the communication unit 15; the communication unit 15 is connected to an external host computer; the tail rotor unit 14 is installed in the opposite direction of the cleaning direction of the airborne cleaning unit 11; the airborne cleaning unit 11 is connected to the recoil force calculation circuit 12; the recoil force calculation circuit 12 is connected to the tail rotor unit 14.

[0022] In the embodiment of the utility model, the host computer of the external drone control platform receives the data reported by the sensor or camera on the drone through the communication unit 15, analyzes and processes it, and gives corresponding control instructions to control the main rotor unit 13 and the airborne cleaning unit 11 to work. When the airborne cleaning unit 11 is working, the recoil calculation circuit 12 starts to work.

[0023] In some embodiments, the onboard cleaning unit 11 includes: a water tank, a water spray pump, and a first driver; the water spray pump is connected to the water tank; the first driver is connected to the water spray pump; and the first driver is connected to the communication unit 15 .

[0024] In some embodiments, the recoil force calculation circuit 12 includes a current sensor and a first multiplier; the current sensor is connected to the driver; one of the input ends of the first multiplier is connected to the current sensor, and the input value of the other input end is a first preset value; the output end of the first multiplier is connected to the tail rotor unit 14.

[0025] In an embodiment of the utility model, the current sensor collects the current of the first driver and performs analog-to-digital conversion, and the digital value of the current is multiplied by the first preset value through the first multiplier. The first preset value is the product of the driving efficiency of the first driver, the driving voltage of the first driver, the inverse of the mass of the cleaning fluid per unit volume, and the density of the cleaning fluid. After the first multiplier completes the calculation, the recoil force caused by the first driver can be output. Among them, the driving efficiency, the mass of the cleaning fluid per unit volume, and the density of the cleaning fluid are all preset fixed values, and the driving voltage defaults to the rated voltage of the power supply.

[0026] In some embodiments, the tail rotor unit 14 includes a tail rotor, a second driver, and a second multiplier; the axial direction of the tail rotor is opposite to the cleaning direction; the output end of the first multiplier is connected to one of the input ends of the second multiplier, and the input value of the other input end is a second preset value; the output end of the second multiplier is connected to the second driver; and the second driver is connected to the tail rotor.

[0027] In the embodiment of the utility model, the recoil force multiplied by the second preset value is the working current of the second driver. The second preset value is the product of the rated linear velocity of the tail rotor, the inverse of the driving efficiency of the first driver, and the inverse of the driving voltage of the second driver. Among them, the rated linear velocity of the tail rotor and the driving efficiency of the first driver are both preset fixed values, and the driving voltage of the second driver is the rated voltage.

[0028] In some embodiments, the main rotor unit 13 includes: a main rotor and a third driver; the third driver is connected to the main rotor; and the third driver is connected to the communication unit 15 .

[0029] In some embodiments, the photovoltaic cleaning drone also includes a power battery and a cleaning battery; the power battery is connected to the main rotor unit 13 and the communication unit 15; the cleaning battery is connected to the onboard cleaning unit 11, the recoil force calculation circuit 12, and the tail rotor unit 14.

[0030] In some embodiments, the recoil force calculation circuit 12 includes: a current sensor, a voltage sensor, a first multiplier, and a third multiplier; the current sensor and the voltage sensor are both connected to the clean battery; one of the input terminals of the first multiplier is connected to the current sensor, and the input value of the other input terminal is a third preset value; the output terminal of the first multiplier is connected to one of the input terminals of the second multiplier; the other input terminal of the second multiplier is connected to the voltage sensor; the output terminal of the second multiplier is connected to the tail rotor unit 14.

[0031] In the embodiment of the utility model, the current sensor and the voltage sensor collect the current and voltage of the first driver and perform analog-to-digital conversion. The digital value of the current is multiplied by the third preset value by the first multiplier, and then multiplied by the digital value of the voltage to obtain the recoil force caused by the first driver. The third preset value is the product of the driving efficiency of the first driver, the inverse of the mass of the cleaning fluid per unit volume, and the density of the cleaning fluid. Among them, the driving efficiency, the mass of the cleaning fluid per unit volume, and the density of the cleaning fluid are all preset fixed values.

[0032] In some embodiments, the tail rotor unit 14 includes a tail rotor, a second driver, a second multiplier, and a third multiplier; the axial direction of the tail rotor is opposite to the cleaning direction; the output end of the first multiplier is connected to one of the input ends of the second multiplier, and the input value of the other input end is a fourth preset value; the output end of the second multiplier is connected to one input end of the third multiplier; the other input end of the third multiplier is connected to the voltage sensor through an inverter; the output end of the third multiplier is connected to the second driver; and the second driver is connected to the tail rotor.

[0033] In the embodiment of the utility model, the recoil force multiplied by the fourth preset value and then multiplied by the inverse of the digital value of the voltage is the working current of the second driver. The fourth preset value is the product of the rated linear velocity of the tail rotor and the inverse of the driving efficiency of the first driver. The rated linear velocity of the tail rotor and the driving efficiency of the first driver are both preset fixed values.

[0034] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the utility model.

[0035] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention.

Claims

1. A photovoltaic cleaning drone, It is characterized in that include: Onboard cleaning unit, recoil calculation circuit, main rotor unit, tail rotor unit, communication unit; The onboard cleaning unit is connected to the communication unit; the main rotor unit is connected to the communication unit; the communication unit is connected to an external host computer; The tail rotor unit is installed in the opposite direction of the cleaning direction of the airborne cleaning unit; the airborne cleaning unit is connected to the recoil force calculation circuit; the recoil force calculation circuit is connected to the tail rotor unit.

2. The photovoltaic cleaning drone according to claim 1, It is characterized in that The onboard cleaning unit comprises: a water storage tank, a water spray pump, and a first driver; The water spray pump is connected to the water storage tank; the first driver is connected to the water spray pump; and the first driver is connected to the communication unit.

3. The photovoltaic cleaning drone according to claim 2, It is characterized in that The recoil force calculation circuit includes a current sensor and a first multiplier; the current sensor is connected to the driver; one of the input ends of the first multiplier is connected to the current sensor, and the input value of the other input end is a first preset value; the output end of the first multiplier is connected to the tail rotor unit.

4. The photovoltaic cleaning drone according to claim 3, It is characterized in that The tail rotor unit includes a tail rotor, a second driver, and a second multiplier; the axial direction of the tail rotor is opposite to the cleaning direction; the output end of the first multiplier is connected to one of the input ends of the second multiplier, and the input value of the other input end is a second preset value; the output end of the second multiplier is connected to the second driver; and the second driver is connected to the tail rotor.

5. The photovoltaic cleaning drone according to claim 4, It is characterized in that The main rotor unit includes: a main rotor and a third driver; the third driver is connected to the main rotor; and the third driver is connected to the communication unit.

6. The photovoltaic cleaning drone according to claim 4, It is characterized in that The photovoltaic cleaning drone also includes a power battery and a cleaning battery; the power battery is connected to the main rotor unit and the communication unit; the cleaning battery is connected to the airborne cleaning unit, the recoil force calculation circuit, and the tail rotor unit.

7. The photovoltaic cleaning drone according to claim 6, It is characterized in that The recoil force calculation circuit includes: a current sensor, a voltage sensor, a first multiplier, and a third multiplier; the current sensor and the voltage sensor are both connected to the cleaning battery; one of the input ends of the first multiplier is connected to the current sensor, and the input value of the other input end is a third preset value; the output end of the first multiplier is connected to one of the input ends of the second multiplier; the other input end of the second multiplier is connected to the voltage sensor; and the output end of the second multiplier is connected to the tail rotor unit.

8. The photovoltaic cleaning drone according to claim 7, It is characterized in that The tail rotor unit includes a tail rotor, a second driver, a second multiplier, and a third multiplier; the axial direction of the tail rotor is opposite to the cleaning direction; the output end of the first multiplier is connected to one of the input ends of the second multiplier, and the input value of the other input end is a fourth preset value; the output end of the second multiplier is connected to one input end of the third multiplier; the other input end of the third multiplier is connected to the voltage sensor through an inverter; the output end of the third multiplier is connected to the second driver; and the second driver is connected to the tail rotor.

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