Photovoltaic panel unmanned aerial vehicle cleaning device

Abstract

The application discloses a photovoltaic panel unmanned aerial vehicle cleaning device, which comprises an unmanned aerial vehicle main body and a spray cleaning assembly. The spray cleaning assembly is carried on the unmanned aerial vehicle main body and is moved by the unmanned aerial vehicle main body. The spray cleaning assembly is provided with cleaning liquid and is used for flushing the photovoltaic panel. The unmanned aerial vehicle main body is provided with a control unit. The unmanned aerial vehicle main body is provided with an autonomous damping holder which is connected with the control unit. The autonomous damping holder is connected with the spray cleaning assembly. The autonomous damping holder can sense the attitude change of the spray cleaning assembly and is adjusted to offset the jet reaction force vector or align the jet reaction force vector with the gravity center of the machine body.

Description

Technical Field

[0001] This utility model belongs to the field of drone cleaning, and specifically relates to a drone cleaning device for photovoltaic panels. Background Technology

[0002] Photovoltaic panel cleaning falls under the category of high-altitude operations. Traditional manual cleaning is highly dangerous and poses significant safety hazards, with frequent falls from heights constantly challenging the bottom line of safe production. With the continuous development of drone technology, its unparalleled flexibility, adaptability, and low deployment cost have made it widely recognized as the most promising direction for industrial upgrading, and it has gradually been widely applied, becoming the future development direction for high-altitude cleaning. However, high-altitude operations often face unpredictable wind shear and turbulence, placing extremely high demands on the operator's skill level and the drone's flight control system. Furthermore, the reaction force generated by the high-pressure jet when the drone is washing the photovoltaic panels can significantly affect the drone's flight attitude. Some existing technologies use the flight control system to calculate and compensate in real time, which undoubtedly further increases the requirements for the flight control system and has the problem of compensation lag, resulting in poor performance. Therefore, optimizing the reaction force of the jet water flow has become a bottleneck that urgently needs to be overcome in the industry. Utility Model Content

[0003] To address the aforementioned issues, this invention proposes a photovoltaic panel drone cleaning device. This device can autonomously adjust the spray cleaning assembly, allowing the assembly to actively adjust its attitude independently of the drone body, thereby counteracting the jet reaction force and maintaining the optimal distance and angle with the cleaning surface.

[0004] A photovoltaic panel drone cleaning device includes a drone body and a spray washing assembly. The spray washing assembly is mounted on the drone body and moved by the drone body. The spray washing assembly is supplied with cleaning liquid to rinse the photovoltaic panel. The main body of the drone is equipped with a control unit, and the main body of the drone is equipped with an autonomous shock-absorbing gimbal connected to the control unit. The autonomous shock-absorbing gimbal is connected to the spray washing assembly and can sense the attitude changes of the spray washing assembly to adjust it in order to counteract the jet reaction force vector or align it with the center of gravity of the fuselage.

[0005] Preferably, the autonomous shock-absorbing gimbal includes a fixed base connected to the main body of the UAV; a dual-axis gimbal mechanism connected to and driving the spray washing assembly to rotate; and an attitude sensing unit disposed on the spray washing assembly for detecting attitude changes of the spray washing assembly; the attitude sensing unit and the dual-axis gimbal mechanism are both connected to the control unit.

[0006] Preferably, the dual-axis gimbal mechanism includes a first adjustment frame that rotates around a first axis, a second adjustment frame that rotates around a second axis, the first axis and the second axis being perpendicular to each other; a yaw drive mechanism mounted on a fixed base and connected to the first adjustment frame, driving the first adjustment frame to rotate along the first axis; and a pitch drive mechanism mounted on the first adjustment frame and connected to the second adjustment frame, driving the second adjustment frame to rotate along the second axis; the first axis is vertically downward, and the second axis is horizontal.

[0007] The control unit receives signals from the attitude sensing unit and outputs control commands to the pitch drive mechanism and yaw drive mechanism to drive the dual-axis gimbal mechanism to counteract the attitude changes of the boom assembly.

[0008] Preferably, the attitude sensing unit is a gyroscope or an inertial measurement unit, but other sensors capable of sensing position changes may also be used.

[0009] Preferably, the center of gravity of the spray washing assembly coincides with or is close to the intersection of the first axis and the second axis, so that the torque of the spray washing assembly relative to the main body of the drone is equal, thus avoiding uneven force on the main body of the drone when the spray washing assembly moves.

[0010] Preferably, the spray washing assembly includes a rod and at least one nozzle disposed on the rod. There may be multiple nozzles, which are evenly distributed in an array. The rod is fixedly installed on the second adjustment frame, and the extension direction of the spray washing assembly is parallel to the second axis.

[0011] Preferably, the spray washing assembly is connected to a liquid delivery pipe, which is loosely fixed to the fixed base in a ring or spiral shape before being connected to the spray washing assembly, so as to avoid the liquid delivery pipe affecting the movement of the dual-axis gimbal mechanism.

[0012] Preferably, the control unit is equipped with a signal receiving module, which is connected to a mobile terminal located on the ground to receive commands from the mobile terminal.

[0013] Preferably, the main body of the drone is equipped with a camera unit, which is connected to the control unit, and the main body of the drone determines the cleaning position based on the camera unit.

[0014] The beneficial effects of this utility model are as follows: (1) The spray washing assembly of this utility model can detect the reaction force during spraying, thereby autonomously adjusting the position angle of the spray washing assembly to weaken or offset the reaction force during cleaning, avoiding the reaction force from affecting the flight attitude of the UAV, and reducing the requirements of the UAV flight control system.

[0015] (2) This utility model can judge the cleaning effect by the feedback information of the reflectivity of the photovoltaic panel, making the cleaning effect more concrete, making the cleaning degree more standardized, improving the cleaning quality, and ensuring that the photovoltaic panel is clean. Attached Figure Description

[0016] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model; Figure 2 This is a schematic diagram showing the assembly of the self-damping gimbal and the spray washing assembly in an embodiment of this utility model; Figure 3 This is a schematic diagram of the self-damping gimbal structure according to an embodiment of the present invention; In the attached diagram: 1-UAV body, 11-Camera unit, 2-Spraying assembly, 21-Stick, 22-Nozzle, 23-Liquid delivery pipe, 3-Autonomous shock-absorbing gimbal, 31-Fixed base, 32-Dual-axis gimbal mechanism, 321-First adjustment frame, 322-Second adjustment frame, 323-Yaw drive mechanism, 324-Pitch drive mechanism. Detailed Implementation

[0018] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0019] In the description of this application, it should be understood that the terms indicating connection relationships should be interpreted broadly. In this application, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this application and simplifying the description, 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. Therefore, they should not be construed as limiting the present invention.

[0020] Example 1 In this embodiment, as Figure 1-3 As shown, a photovoltaic panel drone cleaning device includes a drone body 1 and a spray washing assembly 2. The spray washing assembly 2 is mounted on the drone body 1 and moved by the drone body 1. The spray washing assembly 2 is supplied with cleaning liquid to rinse the photovoltaic panel. The main body of the drone 1 is equipped with a control unit, and the main body of the drone 1 is equipped with an autonomous shock-absorbing gimbal 3 connected to the control unit. The autonomous shock-absorbing gimbal 3 is connected to the spray washing assembly 2 and can sense the attitude change of the spray washing assembly 2 and adjust accordingly.

[0021] The autonomous shock-absorbing gimbal 3 includes a fixed base 31 connected to the main body 1 of the UAV; a dual-axis gimbal mechanism 32 connected to and driving the spray washing assembly 2 to rotate; an attitude sensing unit disposed on the spray washing assembly 2 for detecting attitude changes of the spray washing assembly 2; the attitude sensing unit, the pitch drive mechanism 324 and the yaw drive mechanism 323 are all connected to the control unit.

[0022] The dual-axis gimbal mechanism 32 includes a first adjustment frame 321 that rotates around a first axis, a second adjustment frame 322 that rotates around a second axis, the first axis and the second axis being perpendicular to each other; a yaw drive mechanism 323 that is mounted on a fixed base 31 and connected to the first adjustment frame 321 and drives the first adjustment frame 321 to rotate along the first axis; and a pitch drive mechanism 324 that is mounted on the first adjustment frame 321 and connected to the second adjustment frame 322 and drives the second adjustment frame 322 to rotate along the second axis; the first axis is vertically downward and the second axis is horizontal.

[0023] The yaw drive mechanism 323 and the pitch drive mechanism 324 are drive motors.

[0024] The attitude sensing unit can be a gyroscope or an inertial measurement unit, or other sensors that can sense changes in position.

[0025] The control unit receives the signal from the attitude sensing unit and outputs control commands to the pitch drive mechanism 324 and the yaw drive mechanism 323 to drive the dual-axis gimbal mechanism 32 to adjust the spray boom in the opposite direction of the attitude change of the spray boom assembly, so as to counteract the jet reaction force vector or align it with the fuselage center of gravity.

[0026] The center of gravity of the spray washing assembly 2 coincides with or is close to the intersection of the first axis and the second axis, so that the torque of the spray washing assembly 2 relative to the drone body 1 is equal, thus avoiding uneven force on the drone body 1 when the spray washing assembly 2 moves.

[0027] The spray washing assembly 2 includes a rod body 21 and at least one nozzle 22 disposed on the rod body 21. There may be multiple nozzles 22, which are evenly distributed in an array. The rod body 21 is fixedly installed on the second adjustment frame 322. The extension direction of the spray washing assembly 2 is parallel to the second axis.

[0028] The spray washing assembly 2 is connected to a liquid delivery pipe 23. The liquid delivery pipe 23 is loosely fixed to the fixed base 31 in a ring or spiral shape, and then connected to the spray washing assembly 2 to avoid the liquid delivery pipe 23 affecting the movement of the dual-axis gimbal mechanism 32.

[0029] The control unit is equipped with a signal receiving module, which is connected to a mobile terminal located on the ground to receive commands from the mobile terminal.

[0030] The main body of the drone 1 is equipped with a camera unit 11, which is connected to the control unit. The main body of the drone 1 determines the cleaning position based on the camera unit 11.

[0031] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0032] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0033] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A photovoltaic panel drone cleaning device, comprising a drone body and a spray cleaning assembly, characterized in that, The spraying and washing assembly is mounted on the main body of the drone and is moved by the main body of the drone. The spraying and washing assembly is supplied with cleaning liquid to rinse the photovoltaic panels. The main body of the drone is equipped with a control unit, and the main body of the drone is equipped with an autonomous shock-absorbing gimbal connected to the control unit. The autonomous shock-absorbing gimbal is connected to the spray washing assembly and can sense the attitude change of the spray washing assembly and adjust it to counteract the jet reaction force vector or align it with the center of gravity of the drone body.

2. The photovoltaic panel drone cleaning device according to claim 1, characterized in that, The autonomous shock-absorbing gimbal includes a fixed base connected to the main body of the UAV; A dual-axis gimbal mechanism is connected to the spray washing assembly and drives the spray washing assembly to rotate; An attitude sensing unit is disposed in the spray washing assembly and is used to detect attitude changes of the spray washing assembly; The attitude sensing unit and the dual-axis gimbal mechanism are both connected to the control unit.

3. The photovoltaic panel drone cleaning device according to claim 2, characterized in that, The dual-axis gimbal mechanism includes, A first adjusting frame that rotates about a first axis, and a second adjusting frame that rotates about a second axis, wherein the first axis and the second axis are perpendicular; A yaw drive mechanism is installed on the fixed base and connected to the first adjustment frame, driving the first adjustment frame to rotate along the first axis; The pitch drive mechanism is mounted on the first adjustment frame and connected to the second adjustment frame, driving the second adjustment frame to rotate along the second axis.

4. The photovoltaic panel drone cleaning device according to claim 2, characterized in that, The attitude sensing unit is a gyroscope or an inertial measurement unit.

5. A photovoltaic panel drone cleaning device according to claim 3, characterized in that, The center of gravity of the spray washing assembly coincides with the intersection of the first axis and the second axis.

6. A photovoltaic panel drone cleaning device according to claim 3, characterized in that, The spray washing assembly includes a rod and at least one nozzle disposed on the rod. The rod is fixedly mounted on the second adjustment frame, and the extension direction of the spray washing assembly is parallel to the second axis.

7. A photovoltaic panel drone cleaning device according to claim 2, characterized in that, The spray washing assembly is connected to a liquid delivery pipe, which is loosely fixed to the fixing base in a ring or spiral shape before being connected to the spray washing assembly.

8. A photovoltaic panel drone cleaning device according to claim 1, characterized in that, The control unit is equipped with a signal receiving module, which is connected to a mobile terminal located on the ground to receive commands from the mobile terminal.

9. A photovoltaic panel drone cleaning device according to claim 1, characterized in that, The main body of the drone is equipped with a camera unit, which is connected to the control unit. The main body of the drone determines the cleaning position based on the camera unit.

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