A cleaning drone

Abstract

The utility model discloses a kind of unmanned plane of cleaning, it is related to the technical field of cleaning unmanned plane, including unmanned plane body and the cleaning device of being installed on unmanned plane body, unmanned plane body includes rack, rack is symmetrically provided with multiple arms, arm end is fixedly installed with driving motor, the rotating shaft of each driving motor is fixedly installed with propeller, at least one arm end is equipped with radar, radar is set in driving motor directly below, and make the detection direction of the radar towards the rack outside.The utility model patent is by being arranged in arm end with two radars, and being installed in driving motor directly below, avoid that propeller is shielded to the electromagnetic wave emitted by radar, to increase the ranging accuracy of radar.

Description

Technical Field

[0001] This utility model relates to the field of cleaning drone technology, and in particular to a cleaning drone capable of precise distance measurement. Background Technology

[0002] As cities modernize, skyscrapers are springing up everywhere. For aesthetic reasons and to achieve better lighting, many office buildings and hotels have adopted glass curtain walls. This brings up the issue of glass cleaning. In addition, not only glass, but other building surfaces also require regular cleaning.

[0003] With the development of drone technology, cleaning drones can replace manual labor in high-risk and high-difficulty cleaning operations, such as cleaning the glass curtain walls of urban high-rise buildings and high-altitude wind turbine towers. This can effectively avoid the dangers of workers falling from heights and being electrocuted by high voltage. Cleaning drones generally consist of components such as the drone body, liquid storage device, spray pipe, and nozzle. The drone serves as a carrier to carry the nozzle and spray pipe into the air for spraying and cleaning.

[0004] However, existing cleaning drones generally install radar in the middle of the drone, at the top or bottom (such as the radar in patents CN202422627472.1, CN202310506134.X, CN202421701415.7, etc.). However, the essence of radar ranging is to calculate distance by emitting electromagnetic waves (such as millimeter waves or lasers) and receiving the reflected signals from the target. When the radar is scanning, it will scan the propeller and arm in front. As a rotating physical structure, the propeller will directly physically block the "transmission-reception path", causing the signal to be truncated or attenuated, which will affect the accuracy of ranging to a certain extent.

[0005] Additionally, mounting the radar in the middle of the drone increases the distance to the object being measured, amplifies the signal propagation time error, and increases interference factors, thus reducing ranging accuracy.

[0006] For some cleaning drones that mount radar in the middle of their arms, the radar's scanning range is conical, and the range increases with distance. However, it is also easily blocked by the propellers, affecting the ranging accuracy. Utility Model Content

[0007] In order to overcome the shortcomings of the existing technology, this utility model proposes a radar installation scheme for cleaning drones, which aims to solve the problem that radar signals are cut off or attenuated due to obstruction caused by propeller blades, thus affecting the accuracy of ranging.

[0008] To solve the above-mentioned technical problems, the basic technical solution proposed by this utility model is as follows:

[0009] A cleaning drone includes a drone body and a cleaning device mounted on the drone body. The drone body includes a frame with multiple arms symmetrically arranged on the frame. Each arm has a drive motor fixedly mounted at its end. Each drive motor has a propeller fixedly mounted on its rotation shaft. At least one arm has a radar fixedly connected directly below the drive motor, with the radar's detection direction facing outward from the frame.

[0010] Preferably, there are two radars, which are fixedly installed on any two of the robotic arms.

[0011] Preferably, each arm end is fitted with a fixing sleeve, the upper end of the fixing sleeve is provided with an upper mounting platform, the lower end of the fixing sleeve is provided with a lower mounting platform, the drive motor is fixedly mounted on the upper mounting platform, and the radar is fixedly connected to the lower mounting platform.

[0012] Preferably, the fixing sleeve has a wiring hole that extends through the arm and is used for the radar wires to pass through for wiring.

[0013] Preferably, an L-shaped connector is fixedly connected to the lower end of the lower mounting platform, one end of the L-shaped connector is fixedly connected to the lower end of the lower mounting platform, and the radar is fixedly installed on the other end of the L-shaped connector.

[0014] Preferably, the lower end of the mounting platform is provided with a plurality of adjustment holes for adjusting the position of the radar.

[0015] Preferably, the radar is mounted on the two arms near the cleaning end of the cleaning device, and the radar detection end face is perpendicular to the spraying direction of the cleaning device.

[0016] Preferably, during the rotation of the propeller, the farthest end is located above the intersection of the vertical line (9) passing through the farthest end and the upper end of the effective scanning range of the radar.

[0017] The beneficial effects of this utility model are:

[0018] The technical solution of this utility model places the radar at the front end of the arm and below the drive motor, setting the radar's scanning starting point directly below the drive motor. The arm isolates the radar from the drive motor, increasing the distance between the radar and the propeller. This significantly reduces the area of ​​the radar's scanning area obstructed by the propeller, and can even completely avoid obstructing the radar's detection area, reducing propeller interference with the radar's detection signal and increasing ranging accuracy. Furthermore, placing the radar at the front end of the arm shortens the distance to the object being measured, further increasing ranging accuracy. Attached Figure Description

[0019] Figure 1 This is an overall structural diagram of a cleaning drone according to the present invention;

[0020] Figure 2 This is another overall structural diagram of a cleaning drone according to the present invention;

[0021] Figure 3 This is a partial enlarged view of part A of a cleaning drone according to this utility model;

[0022] Figure 4 This is a schematic diagram showing the installation distance between the radar and propeller of a cleaning drone according to this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1. UAV body; 2. Cleaning device; 3. Fixing sleeve; 4. Drive motor; 5. Radar; 6. Propeller; 7. L-shaped connector; 8. Farthest end; 9. Vertical line; 10. Intersection point; 11. Arm; 31. Upper mounting platform; 33. Lower mounting platform. Detailed Implementation

[0025] The following will be combined with the appendix Figure 1 To be continued Figure 4 The technical solutions in the embodiments of this utility model are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0026] Currently, cleaning drones typically mount radar 5 in the middle of the drone or the middle of arm 11. Since distance measurement essentially involves emitting electromagnetic waves (such as millimeter waves or lasers) and receiving reflected signals from the target, radar 5 may encounter the propeller 6 in front of it during scanning, causing physical obstruction and signal interruption or attenuation, thus affecting the accuracy of distance measurement. In drone cleaning operations, the accuracy of radar 5's distance measurement directly impacts the drone's safety; inaccurate distance measurement can easily lead to collisions and crashes.

[0027] To address this issue, this application proposes a cleaning drone. The radar 5 is positioned at the front end of the arm 11, directly below the drive motor 4. The scanning starting point of the radar 5 is moved forward, and a certain distance is maintained between the radar 5 and the propeller 6. This reduces the area obstructed by the propeller 6 during rotation, potentially achieving complete unobstructed scanning of the radar 5, thereby increasing ranging accuracy. Furthermore, two radars 5 are used, increasing the scanning detection range. An algorithm allows for mutual verification between the two radars 5, preventing misjudgments and further enhancing ranging accuracy.

[0028] In the relevant description of this embodiment, the drone cleaning end is the front end, the drone spraying direction is the axial direction of the spray gun, and the radar 5 detection end face is the end face where the radar 5 emits electromagnetic waves.

[0029] The cleaning drone in this embodiment, such as Figures 1 to 2 As shown, the device includes a drone body 11 and a cleaning device 2 mounted on the drone body 11. The cleaning device 2 can be a commercially available drone cleaning device, generally including a spray gun, a water bottle, and a water pump. The drone body 11 includes a frame, on which multiple arms 11 are symmetrically arranged. The number of arms can be 4, 6, or 8, preferably 4, and they are fixedly mounted on the frame in a cross shape. The spray gun of the cleaning device 2 is positioned between two adjacent arms 11. A drive motor 4 is fixedly mounted at the end of each arm 11, and a propeller 6 is fixedly mounted on the shaft of the drive motor 4. At least one arm 11 near the cleaning end of the cleaning device 2 has a radar 5 fixedly mounted at its end. The radar 5 is located directly below the drive motor 4, with its detection direction facing outwards from the frame, for detecting the distance between objects and the drone.

[0030] The drive motor 4 can be fixedly installed on the upper end of the arm 11, or a mounting slot can be opened on the arm 11 to install the arm 11 in the mounting slot. Preferably, the drive motor 4 is set on the upper end of the arm 11, which can increase the distance between the propeller 6 and the radar 5, thereby reducing the area of ​​the propeller 6 blocking the scanning area of ​​the radar 5, reducing the interference of the propeller 6 on the ranging accuracy, and avoiding the problem that the radar 5 detection range needs to avoid the propeller, which would make the distance between the radar 5 and the arm 11 too large, affecting the overall aesthetics of the cleaning drone and also easily increasing the shaking amplitude of the radar 5, affecting the ranging accuracy. There are two radars 5, which are respectively set on the two adjacent arms 11 at the cleaning end of the cleaning device 2. While increasing the scanning detection range, the two radars 5 can also be mutually verified through algorithms to avoid misjudgment and further increase the ranging accuracy.

[0031] To accommodate the mounting positions of drive motor 4 and radar 5, and to allow for quick installation of drive motor 4 and radar 5, such as... Figure 3 As shown, a fixing sleeve 3 is fitted at the end of the arm 11 where the radar 5 needs to be installed, and is fixed to the arm 11 by screws. The upper end of the fixing sleeve 3 is provided with an upper mounting platform 31, and the lower end of the fixing sleeve 3 is provided with a lower mounting platform 33. The drive motor 4 is fixedly installed on the upper mounting platform 31 by screws, and the radar 5 is fixedly installed on the lower mounting platform 33 by screws.

[0032] The drive motor 4 and radar 5 can be removed from the arm 11 at the same time using the fixing sleeve 3, or the drive motor 4 and radar 5 can be installed on the arm 11 at the same time for easy replacement.

[0033] Preferably, a fixing sleeve 3 is fitted at the end of all the arms 11, which facilitates the installation of the drive motor 4 and allows for the addition of radar 5 as needed, thereby enabling accurate detection of object distance information in multiple directions of the UAV.

[0034] Among them, the fixing sleeve 3, the upper mounting platform 31 and the lower mounting platform 33 are all preferably made of plastic and are integrally injection molded to reduce production costs. A strip hole is opened on one side of the fixing sleeve 3, and fastening plates are integrally formed on both sides of the strip hole. The fastening plates are provided with threaded holes. After the fixing sleeve 3 is put into the end of the machine arm 11, the fixing sleeve 3 is tightened by screwing screws into the threaded holes of the two fastening plates, so that it is fixed to the machine arm 11. The fixing sleeve 3 can be quickly disassembled and installed by tightening or loosening the fastening plates, so that the radar 5 and the drive motor 4 can be quickly installed or disassembled together.

[0035] When installing radars 5 on the two arms 11 near the cleaning end of the cleaning device 2, the two radars 5 are set parallel to each other, and their detection end faces are set perpendicular to the spraying direction of the cleaning device 2. This makes the installation reference uniform, reduces the risk of angle deviation, and only requires aligning the center axis of the nozzle during installation. There is no need to make additional complex angle adjustments (such as calibrating the included angle of the intersecting radars 5), which facilitates installation and maintenance.

[0036] Furthermore, such as Figure 4 As shown, during the rotation of propeller 6, the farthest end 8 is positioned above the intersection point 10 of the vertical line 9 passing through the farthest end 8 and the upper end of the effective scanning range of radar 6. Specifically, during propeller 6 rotation, the farthest end 8 is the end closest to the scanning area of ​​radar 5, and the vertical line 9 is a vertical line. This design prevents propeller 6 from entering the scanning area of ​​radar 5 during rotation, thus completely avoiding the problem of propeller 6 obstructing the scanning area of ​​radar 5 and affecting the ranging accuracy of radar 5, further increasing the ranging accuracy of radar 5.

[0037] Accordingly, an L-shaped connector 7 is fixedly connected to the lower end of the lower mounting platform 33 to facilitate the installation of the radar 5 with the detection end facing the cleaning direction, while increasing the distance between the radar 5 and the propeller 6. One end of the L-shaped connector 7 is fixedly connected to the lower end of the lower mounting plate by screws, and the radar 5 is fixedly installed on the other end of the L-shaped connector 7 by screws.

[0038] Furthermore, multiple adjustment holes are provided at the lower end of the lower mounting platform 33. The adjustment holes are threaded holes and are arranged in a square pattern along the length of the arm 11. The L-shaped connector 7 is fixed to the lower mounting platform 33 by screwing into the adjustment holes. The distance between the radar 5 and the end of the arm 11 can be adjusted through the adjustment holes, as well as the angle of the radar 5, for installation and adjustment.

[0039] To facilitate wiring of the radar 5 and keep the wiring neat and tidy, a wiring hole is provided at the lower end of the fixed sleeve 3, and a corresponding opening is also provided at the end of the corresponding arm 11. The wiring hole and the opening are set in a corresponding manner. The power wire of the radar 5 passes through the wiring hole and the opening to connect to the flight control electrically. The excess wires are hidden in the wiring hole and the opening, making the overall structure of the cleaning drone neater and increasing the overall aesthetics of the cleaning drone to a certain extent. At the same time, it can prevent the wires from being hit by the propeller 6.

[0040] The beneficial effects of this utility model are:

[0041] The technical solution of this utility model sets the radar 5 at the front end of the robotic arm 11 and below the drive motor 4, that is, the scanning starting point of the radar 5 is set directly below the drive motor 4. The robotic arm 11 isolates the radar 5 and the drive motor 4, increasing the distance between the radar 5 and the propeller 6. This greatly reduces the area of ​​the radar 5's scanning area obstructed by the propeller 6, and can even completely avoid obstructing the radar 5's detection area, reducing the interference of the propeller 6 on the radar 5's detection signal and increasing the accuracy of ranging. In addition, setting the radar 5 at the front end of the robotic arm 11 shortens the distance to the object being measured, further increasing the accuracy of ranging.

[0042] Furthermore, the use of two radars (5) provides redundancy and backup. If one radar (5) experiences abnormal data (such as a sudden change in distance or no output), the flight control system can immediately switch to the normal data from the other radar (5), ensuring uninterrupted ranging. It also enables a cross-verification mode, where both radars (5) simultaneously detect the same target. The flight control system compares the ranging results; if the error is within a threshold, the average is used; if the error exceeds the threshold, one radar (5) is identified as abnormal and removed, preventing misjudgments due to "false data." Additionally, the radars (5) provide complementary field of view, significantly increasing the detection range. The collaborative operation of the two radars (5) further enhances ranging accuracy.

[0043] In addition, placing the radar 5 below the drive motor 4 can increase the overall space utilization of the cleaning drone, while the propeller 6 provides some protection for the radar 5 and reduces the risk of the radar 5 being hit.

[0044] Based on the disclosure and teachings of the above specification, those skilled in the art can make changes and modifications to the above embodiments. Therefore, this utility model is not limited to the specific embodiments disclosed and described above, and some modifications and changes to this utility model should also fall within the protection scope of the claims of this utility model. Furthermore, although some specific terms are used in this specification, these terms are only for convenience of explanation and do not constitute any limitation on this utility model.

Claims

1. A cleaning drone, comprising a drone body (1) and a cleaning device (2) mounted on the drone body (1), characterized in that, The UAV body (1) includes a frame, and the frame is symmetrically provided with multiple arms (11). Each arm (11) is fixedly equipped with a drive motor (4) at its end. Each drive motor (4) has a propeller (6) fixedly installed on its rotation shaft. At least one arm (11) is fixedly connected to a radar (5) at its end. The radar (5) is located directly below the drive motor (4) and the detection direction of the radar (5) is facing outward from the frame.

2. The cleaning drone according to claim 1, characterized in that, Two radars (5) are provided, and each is fixedly installed on any two of the arms (11).

3. A cleaning drone according to claim 1, characterized in that, The end of each arm (11) is fitted with a fixing sleeve (3). The upper end of the fixing sleeve (3) is provided with an upper mounting platform (31), and the lower end of the fixing sleeve (3) is provided with a lower mounting platform (33). The drive motor (4) is fixedly installed on the upper mounting platform (31), and the radar (5) is fixedly connected to the lower mounting platform (33).

4. A cleaning drone according to claim 3, characterized in that, The fixed sleeve (3) has a wiring hole that passes through the arm (11) and is used for the wiring wires of the radar (5) to pass through for wiring.

5. A cleaning drone according to claim 3, characterized in that, The lower end of the lower mounting platform (33) is fixedly connected to an L-shaped connector (7). One end of the L-shaped connector (7) is fixedly connected to the lower end of the lower mounting platform (33), and the radar (5) is fixedly installed on the other end of the L-shaped connector (7).

6. A cleaning drone according to claim 5, characterized in that, The lower mounting platform (33) is provided with several adjustment holes at its lower end for adjusting the position of the radar (5).

7. A cleaning drone according to claim 2, characterized in that, The radar (5) is mounted on the two arms (11) near the cleaning end of the cleaning device (2), and the end face of the radar (5) is perpendicular to the spraying direction of the cleaning device (2).

8. A cleaning drone according to claim 1, characterized in that, During the rotation of the propeller (6), the farthest end (8) is located above the intersection (10) of the vertical line (9) passing through the farthest end (8) and the upper end of the effective scanning range of the radar (5).

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