CN212627800U - Photovoltaic board unmanned aerial vehicle cleaning system - Google Patents
Photovoltaic board unmanned aerial vehicle cleaning system Download PDFInfo
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- CN212627800U CN212627800U CN202021130814.4U CN202021130814U CN212627800U CN 212627800 U CN212627800 U CN 212627800U CN 202021130814 U CN202021130814 U CN 202021130814U CN 212627800 U CN212627800 U CN 212627800U
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- aerial vehicle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The utility model discloses a photovoltaic board unmanned aerial vehicle cleaning system, include: an unmanned aerial vehicle; the robot of sweeping the floor, the robot of sweeping the floor is connected with unmanned aerial vehicle through grabbing putting the device, it is connected with unmanned aerial vehicle electricity to grab and put the device. The problems that in the prior art, cleaning cost is high, the risk coefficient of cleaning high is high, modification cost is high, and the application range is narrow are solved.
Description
Technical Field
The utility model relates to a photovoltaic board cleans technical field, especially relates to a photovoltaic board unmanned aerial vehicle cleaning system.
Background
Photovoltaic power generation is a clean energy power generation technology, which is a technology for directly converting light energy into electric energy by utilizing the photovoltaic effect of a semiconductor interface. The solar energy power generation system mainly comprises a solar panel (assembly), a controller and an inverter, and the main components are electronic components. The solar cells are connected in series and then are packaged and protected to form a large-area solar cell module, and then the photovoltaic power generation device is formed by matching with components such as a power controller and the like. Wherein the sunshine intensity is received to the photovoltaic board is one of the leading factors that influence photovoltaic generating efficiency, if the photovoltaic board surface is stained with the dust or is covered by debris, will make the sunshine intensity of photovoltaic board receipt decline relatively to make generating efficiency reduce, consequently in order to guarantee generating efficiency, it is indispensable to carry out regular clearance to the photovoltaic board surface.
In the prior art, the following method is mainly adopted for cleaning the photovoltaic panel:
1) manual cleaning has the problems of low labor efficiency, high cleaning cost in the face of large-scale photovoltaic power stations and danger in cleaning photovoltaic panels installed at high positions by users;
2) the method has the problems that a set of device needs to be additionally arranged on the photovoltaic panel, and the additional device causes the reconstruction cost of the photovoltaic panel to be very high;
3) the cleaning brush is swept on the upper surface of the photovoltaic panel in the process of moving the vehicle by using the vehicle with the cleaning brush, so that the photovoltaic panel is cleaned.
Disclosure of Invention
In order to solve the shortcoming and the weak point of above prior art, the utility model aims at providing a photovoltaic board unmanned aerial vehicle cleaning system.
The technical scheme of the utility model is that: a photovoltaic panel unmanned aerial vehicle cleaning system, comprising:
an unmanned aerial vehicle;
the robot of sweeping the floor, the robot of sweeping the floor is connected with unmanned aerial vehicle through grabbing putting the device, it is connected with unmanned aerial vehicle electricity to grab and put the device.
Further, the holding and releasing device comprises:
the ferromagnetic plate is made of ferromagnetic materials and is connected to the lower part of the unmanned aerial vehicle;
the magnetic base is fixedly connected to the upper part of the sweeping robot, and the magnetic suction surface of the magnetic base faces upwards;
the stepping motor is fixedly connected to the upper part of the sweeping robot and is connected with the permanent magnet of the magnetic base, the stepping motor rotates to drive the permanent magnet of the stepping motor to rotate so as to switch the on-off state of the magnetic base, and the stepping motor is electrically connected with the controller;
the controller is arranged on the sweeping robot and is electrically connected with the wireless communication module;
the wireless communication module is electrically connected with the unmanned aerial vehicle.
Further, ferromagnetic plate passes through the connecting rod to be connected in the unmanned aerial vehicle below.
Further, the connecting rod includes:
the upper end of the main cylinder is fixedly connected with an unmanned aerial vehicle, and the main cylinder is vertical;
the compression spring is arranged in the main cylinder, and the upper end of the compression spring is connected to the main cylinder;
the upper end of the pull rod is fixedly connected to the lower end of the pressure spring, the outer diameter of the pull rod is smaller than the inner diameter of the main cylinder, and the distance from the upper end of the pull rod to the upper end of the pressure spring is smaller than the distance from the lower end of the main cylinder to the upper end of the pressure spring;
wherein, ferromagnetic plate fixed connection is in the pull rod lower extreme.
Further, the connecting rod further comprises:
and the upper end of the pressure spring is connected to the main cylinder through the tension sensor, and the tension sensor is electrically connected with the unmanned aerial vehicle.
Further, step motor passes through tilting mechanism and is connected with magnetic base permanent magnet, tilting mechanism includes:
the rocker is provided with a guide groove along the length direction of the rocker, and one end of the rocker is fixedly connected to a rotating shaft of the magnetic base permanent magnet;
the crank, crank one end fixed connection is in step motor's pivot, and the crank other end fixed connection round pin, round pin and guide way match, and round pin slidable mounting is in the guide way.
The utility model has the advantages that: compared with the prior art, the method has the advantages that,
1) the utility model discloses during the use, use unmanned aerial vehicle to connect the robot of sweeping the floor through grabbing put the device, only need will sweep the floor the robot and transport photovoltaic board department, unmanned aerial vehicle control is grabbed and is put the device release and sweep the floor the robot to the photovoltaic board on, the robot of sweeping the floor will clean dust and debris on photovoltaic board surface automatically, control unmanned aerial vehicle after cleaning the completion and fly to the robot top of sweeping the floor, then grab through grabbing put the device and sweep the robot and transport next photovoltaic board on. The utility model has the advantages that the photovoltaic panel is cleaned without manpower, so that the cleaning efficiency is high, the cleaning cost is low, and the photovoltaic panel cleaning device has the advantage of safety for high-altitude operation; the utility model can be directly used on the existing photovoltaic panel without modification, and one device can clean a plurality of photovoltaic panels, so that the modification cost is low; the unmanned aerial vehicle air-conveying sweeping robot can be used for disregarding the terrain and height of the ground, and has wider application range;
2) the utility model discloses fly unmanned aerial vehicle directly over the robot of sweeping the floor earlier during use, then unmanned aerial vehicle descends, when ferromagnetic plate contact magnetic base, send magnetic base opening instruction to unmanned aerial vehicle, unmanned aerial vehicle sends magnetic base opening instruction to wireless communication module, wireless communication module sends the signal received to the controller, controller control step motor rotates certain angle and opens magnetic base, thereby make the magnetism of magnetic base produce suction to ferromagnetic plate, the magnetic base need not to consume the energy to the suction of ferromagnetic plate, compare the electro-magnet, it is more energy-conserving, and the permanent magnet in the magnetic base can not have the suction because of the scheduling problem of outage, therefore more reliable; the magnetic base is placed on the sweeping robot, and the magnetic base has heavier weight, and the ferromagnetic plate has lighter weight, so that the unmanned aerial vehicle endurance can be increased;
3) when the unmanned aerial vehicle releases or grabs the sweeping robot, the pressure spring can buffer the momentum of the unmanned aerial vehicle above the pressure spring, so that the situation that the sweeping robot and the photovoltaic panel are hard to touch and damage the photovoltaic panel or the sweeping robot due to the fact that the momentum of the unmanned aerial vehicle and the sweeping robot acts on the photovoltaic panel together when descending is avoided;
4) by using the tension sensor, the utility model can make the unmanned aerial vehicle judge whether the floor sweeping robot is successfully released or successfully grabbed according to the value of the tension sensor;
5) the utility model discloses a step motor passes through tilting mechanism and connects magnetic base permanent magnet for control step motor rotates, just can make the crank drive the certain angle of rocker swing, thereby make the certain angle of magnetic base permanent magnet upset, make the on off state of magnetic base switch over, tilting mechanism's use is compared and is directly used step motor directly to link the magnetic base permanent magnet pivot, owing to there is the limiting displacement of guide way, rocker swing angle is fixed all the time, and can not produce the accumulative error, uses more reliable and more stable.
Drawings
Fig. 1 is a schematic perspective view of an embodiment 1 of the present invention;
FIG. 2 is a partial view of FIG. 1B;
FIG. 3 is a front view of embodiment 1 of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
fig. 5 is a circuit connection block diagram of embodiment 1 of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments:
example 1: referring to fig. 1-5, a photovoltaic panel drone cleaning system includes: an unmanned aerial vehicle 1; the robot 2 of sweeping the floor, the robot 2 of sweeping the floor is connected with unmanned aerial vehicle 1 through grabbing putting device 3, grab and put device 3 and unmanned aerial vehicle 1 wireless connection. Grab and put device 3 and can make electro-magnet and iron plate, iron plate bolted connection is in unmanned aerial vehicle 1 lower part, and electro-magnet bolted connection is on 2 people upper portions of sweeping the floor machine. The drone may be a Paparazzi UAV drone or a longitude and latitude M600 Pro drone produced by the company of great Xinjiang. The sweeping robot can adopt a household sweeping robot produced by millet and other companies, and can also use a glass girl window wiping robot.
Further, the pick-and-place device 3 comprises: the ferromagnetic plate 301, the ferromagnetic plate 301 is made of ferromagnetic material, and the ferromagnetic plate 301 is connected to the lower part of the unmanned aerial vehicle 1; the magnetic base 302 is connected to the upper part of the sweeping robot 2 through bolts, and the magnetic suction surface of the magnetic base 302 faces upwards; the stepping motor 303 is connected to the upper part of the sweeping robot 2 through bolts, the stepping motor 303 is connected with the permanent magnet of the magnetic base 302, the stepping motor 303 rotates to drive the permanent magnet of the stepping motor 303 to rotate so as to switch the on-off state of the magnetic base 302, and the stepping motor 303 is electrically connected with the controller 5; the controller 5 is arranged on the sweeping robot 2, and the controller 5 is electrically connected with the wireless communication module 6; and the wireless communication module 6 is electrically connected with the unmanned aerial vehicle 1. The controller 5 here may be a controller with peripheral circuits such as arduino, and the wireless communication module 6 here may be a wifi module, a bluetooth module, or a 4G module.
Further, the ferromagnetic plate 301 is connected below the drone 1 through a connecting rod 304.
Further, the connecting rod 304 includes: the upper end of the main cylinder 3041 is bolted with the unmanned aerial vehicle 1, and the main cylinder 3041 is vertical; a pressure spring 3043, the pressure spring 3043 is arranged in the main cylinder 3041, and the upper end of the pressure spring 3043 is connected to the main cylinder 3041; a pull rod 3044, the upper end of the pull rod 3044 is connected with the lower end of the pressure spring 3043 by bolts or welding, the outer diameter of the pull rod 3044 is smaller than the inner diameter of the main cylinder 3041, and the distance from the upper end of the pull rod 3044 to the upper end of the pressure spring 3043 is smaller than the distance from the lower end of the main cylinder 3041 to the upper end of the pressure spring 3043; wherein the ferromagnetic plate 301 is bolted or welded to the lower end of the tie bar 3044.
Further, the connecting rod 304 further comprises: the tension sensor 3042, the upper end of the pressure spring 3043 is connected to the main cylinder 3041 through the tension sensor 3042, and the tension sensor 3042 is electrically connected to the unmanned aerial vehicle 1. The tension sensor 3042 herein may employ a JLBS-MD kino S-type weighing cell.
Further, the step motor 303 is connected with the permanent magnet of the magnetic base 302 through the turnover mechanism 4, and the turnover mechanism 4 includes: a rocker 401, wherein a guide groove 4011 along the length direction of the rocker 401 is formed on the rocker 401, and one end of the rocker 401 is welded on a rotating shaft of the permanent magnet of the magnetic base 302; one end of the crank 402 is connected to a rotating shaft of the stepping motor 303 in a welding mode, the other end of the crank 402 is connected with a round pin 4021 in a welding mode, the round pin 4021 is matched with the guide groove 4011, and the round pin 4021 is installed in the guide groove 4011 in a sliding mode. The round pin 4021 has a diameter much smaller than the length of the guide slot 4011.
Further, the turnover mechanism 4 satisfies the following formula:
wherein y is the farthest distance from the guide groove 4011 to the rotating shaft of the permanent magnet of the magnetic base 302, x is the distance from the round pin 4021 to the rotating shaft of the stepping motor 303, l is the distance from the rotating shaft of the stepping motor 303 to the rotating shaft of the magnetic base 302, and z is the length of the guide groove 4011.
A release control method of a photovoltaic panel drone cleaning system, the method comprising the steps of:
s11, controlling the unmanned aerial vehicle 1 to convey the sweeping robot 2 to the position above the photovoltaic panel;
s12, controlling the unmanned aerial vehicle 1 to descend until the tension value detected by the tension sensor 3042 is smaller than a preset release value M1 stored in the unmanned aerial vehicle 1, wherein M1 is smaller than the sum of the weights of the sweeping robot 2 and the grabbing and releasing device 3;
s13, the unmanned aerial vehicle 1 sends a closing instruction of the magnetic base 302 to the wireless communication module 6, and the controller 5 controls the stepping motor 303 to rotate clockwise or anticlockwise by 90 degrees after receiving the closing instruction of the magnetic base 302 sent by the wireless communication module 6, so that the magnetic base 302 is closed.
A grabbing control method of a photovoltaic panel unmanned aerial vehicle sweeping system comprises the following steps:
s21, controlling the unmanned aerial vehicle 1 to move right above the sweeping robot 2;
s22, controlling the unmanned aerial vehicle 1 to descend until the tension value detected by the tension sensor 3042 is smaller than a first preset gripping value M2 stored in the unmanned aerial vehicle 1, wherein M2 is smaller than the sum of the weights of the ferromagnetic plate 301, the pull rod 3044 and the spring;
s23, controlling the unmanned aerial vehicle 1 to vertically ascend until the tension value detected by the tension sensor 3042 is larger than or equal to a second preset grabbing value M3 stored in the unmanned aerial vehicle 1, wherein M3 is smaller than the sum of the weights of the sweeping robot 2 and the grabbing and releasing device 3;
s24, the unmanned aerial vehicle 1 sends an opening instruction of the magnetic base 302 to the wireless communication module 6, and the controller 5 controls the stepping motor 303 to rotate clockwise or anticlockwise by 90 degrees after receiving the opening instruction of the magnetic base 302 sent by the wireless communication module 6, so that the magnetic base 302 is opened.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (6)
1. The utility model provides a photovoltaic board unmanned aerial vehicle scavenging system which characterized in that includes:
an unmanned aerial vehicle (1);
the robot (2) of sweeping the floor, the robot (2) of sweeping the floor is connected with unmanned aerial vehicle (1) through grabbing put device (3), grab put device (3) and unmanned aerial vehicle (1) electricity and be connected.
2. The photovoltaic panel unmanned aerial vehicle sweeping system of claim 1, wherein the pick-and-place device (3) comprises:
the ferromagnetic plate (301), the ferromagnetic plate (301) is made of ferromagnetic materials, and the ferromagnetic plate (301) is connected to the lower part of the unmanned aerial vehicle (1);
the magnetic base (302) is fixedly connected to the upper part of the sweeping robot (2), and the magnetic suction surface of the magnetic base (302) faces upwards;
the stepping motor (303), the stepping motor (303) is fixedly connected to the upper part of the sweeping robot (2), the stepping motor (303) is connected with the permanent magnet of the magnetic base (302), the stepping motor (303) rotates to drive the permanent magnet of the stepping motor (303) to rotate so as to switch the on-off state of the magnetic base (302), and the stepping motor (303) is electrically connected with the controller (5);
the controller (5) is arranged on the sweeping robot (2), and the controller (5) is electrically connected with the wireless communication module (6);
wireless communication module (6), wireless communication module (6) are connected with unmanned aerial vehicle (1) electricity.
3. The photovoltaic panel drone cleaning system according to claim 2, characterized in that the ferromagnetic panels (301) are connected below the drone (1) by connecting rods (304).
4. The photovoltaic panel drone sweeping system of claim 3, wherein the connecting rod (304) includes:
the unmanned aerial vehicle (1) is fixedly connected to the upper end of the main cylinder (3041), and the main cylinder (3041) is vertical;
the compression spring (3043), the said compression spring (3043) is set up in the main cylinder (3041), the upper end of the compression spring (3043) is connected to main cylinder (3041);
the upper end of the pull rod (3044) is fixedly connected to the lower end of the pressure spring (3043), the outer diameter of the pull rod (3044) is smaller than the inner diameter of the main cylinder (3041), and the distance from the upper end of the pull rod (3044) to the upper end of the pressure spring (3043) is smaller than the distance from the lower end of the main cylinder (3041) to the upper end of the pressure spring (3043);
wherein the ferromagnetic plate (301) is fixedly connected with the lower end of the pull rod (3044).
5. The photovoltaic panel drone sweeping system of claim 4, wherein the connecting rod (304) further includes:
the upper end of the pressure spring (3043) is connected to the main cylinder (3041) through the tension sensor (3042), and the tension sensor (3042) is electrically connected with the unmanned aerial vehicle (1).
6. The photovoltaic panel unmanned aerial vehicle sweeping system of any one of claims 2 to 5, wherein the stepping motor (303) is connected with the magnetic base (302) through a turnover mechanism (4) and a permanent magnet, the turnover mechanism (4) comprises:
the magnetic force sensor comprises a rocker (401), wherein a guide groove (4011) along the length direction of the rocker (401) is formed in the rocker (401), and one end of the rocker (401) is fixedly connected to a rotating shaft of a permanent magnet of a magnetic base (302);
the crank (402), crank (402) one end fixed connection is in step motor (303)'s pivot, and crank (402) other end fixed connection round pin (4021), round pin (4021) and guide way (4011) phase-match, and round pin (4021) slidable mounting is in guide way (4011).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021130814.4U CN212627800U (en) | 2020-06-18 | 2020-06-18 | Photovoltaic board unmanned aerial vehicle cleaning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021130814.4U CN212627800U (en) | 2020-06-18 | 2020-06-18 | Photovoltaic board unmanned aerial vehicle cleaning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212627800U true CN212627800U (en) | 2021-02-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021130814.4U Active CN212627800U (en) | 2020-06-18 | 2020-06-18 | Photovoltaic board unmanned aerial vehicle cleaning system |
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| Country | Link |
|---|---|
| CN (1) | CN212627800U (en) |
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2020
- 2020-06-18 CN CN202021130814.4U patent/CN212627800U/en active Active
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