EP3022501A1 - Flugroboter zum bearbeiten und reinigen von glatten, gekrümmten und modularen flächen - Google Patents
Flugroboter zum bearbeiten und reinigen von glatten, gekrümmten und modularen flächenInfo
- Publication number
- EP3022501A1 EP3022501A1 EP15707258.8A EP15707258A EP3022501A1 EP 3022501 A1 EP3022501 A1 EP 3022501A1 EP 15707258 A EP15707258 A EP 15707258A EP 3022501 A1 EP3022501 A1 EP 3022501A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- cleaning module
- drone
- cleaning
- robot
- electrodes
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 238000012545 processing Methods 0.000 title description 2
- 230000006698 induction Effects 0.000 claims description 6
- 239000011521 glass Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 238000012423 maintenance Methods 0.000 abstract 1
- 239000004576 sand Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000019589 hardness Nutrition 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 239000010453 quartz Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/30—Supply or distribution of electrical power
- B64U50/31—Supply or distribution of electrical power generated by photovoltaics
-
- 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
- Y02E10/40—Solar thermal energy, e.g. solar towers
-
- 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
Definitions
- Flight robot for editing and cleaning smooth, curved and modular surfaces.
- robots or cleaning devices with wheel drive must be adjusted in hardware and software individually to the size of the solar panels used as the dimensions vary according to module or mirror type and manufacturer.
- Wheel drives are still severely limited in practice in the inclination angle of the solar panels.
- the module distance that can be overrun or overrun is also limited by the mechanics, which is why only partial automation can be realized.
- the devices For operation on another composite of solar modules, for example, within a large-scale solar power plant, the devices must be implemented manually due to the large distances between the arrangements of modules usually, which increases the labor costs.
- the advantages achieved by the invention are in particular that the surface can be processed faster with a much lower number of devices and lower energy consumption by the higher speeds of movement.
- the robots By flying, the robots can bridge both short and long distances, which increases the mobility and thus the degree of automation.
- the cleaning module and sensors can be actively tracked relative to the drone and parallel to smooth and curved surfaces or aligned with a mechanical locking. Apart from the cleaning module, no actuator acts mechanically on the surface as the feed is generated away from it.
- the distance By means of the sensors for determining the forces on the cleaning head, the distance, also in conjunction with sensors for distance measurement, can be optimized for the solar module.
- the absorption of forces on the cleaning head which is justified in the cleaning process, reduces the energy required for moving and positioning in relation to the surface.
- the development according to claim 2 makes it possible to set the cleaning module so that are loaded in parking position, the robot either by sunlight or a charging station to the electrodes on the supports or the cleaning module.
- the design of the electrodes as a coil for charging by induction also allows a Weatherproof design of the robot because these electrodes do not have to expose behind a cover. Additional exposed electrodes on such a cover continue to redundantly provide a more energy efficient energizing and charging.
- Due to the mobility of the robot can be determined in conjunction with the integrated solar cells of the cleaning head optimal alignment for taking the sun-richest parking position.
- the possibility of receiving a smartphone makes it possible to integrate the control of the flying robot, possibly taking into account its connectivity, in the smartphone.
- To provide the cleaning module with fittings for additional peripherals supports the separate purchase of the cleaning module for any existing peripherals and infrastructure.
- Fig. 1 shows the robot (1) in the view from the rear with cleaning module without employment
- Fig. 2 shows the robot in the view from the side with cleaning module under employment
- Fig. 3 shows the robot in the view from below with cleaning module without employment
- the flying robot (1) is connected to a drone (6) via a rotary drive (3) with motors on two axes (4) with a cleaning module (6).
- Drones are two, three, four, five, six, etc. rotorig before.
- a drone with four rotors is selected ( Figure 3).
- a mechanical lock (8) allows the static alignment according to the angle of the surfaces to be machined. Although this is also possible via the rotary drive, it saves energy.
- the cleaning head can be rotated towards the support frame in order to strip it there and, for example, to enable the removal of brush hair with sand.
- the ultrasonic sensors (9) measure the distance to the inclined surface and are like the recording for smartphones (13) and the drone with the control electronics (1 1) electrically connected.
- the strain gauges (7) are arranged on the cleaning module, as this, the acting forces, in particular initiated by the plug-on cleaning head (14), receives and also feed the control electronics.
- the cleaning head (14) is plugged here as last brush of the carrying device. However, this can also be done as a sponge.
- Cleaning module continues to reduce wind loads.
- the rotary actuators make it possible for the cleaning head of the cleaning module to project beyond the support frame during operation and to reach the surfaces to be processed.
- the cleaning of the cleaning head on the support frame further supports the fully autonomous and energy-efficient operation, especially on large-scale solar power plants.
- Recording a smartphone supports the connectivity of the flight robot.
- the orientation of the induction coils and the electrodes towards the bottom allows landing on an induction plate to the flying robot for a higher utilization of a
- the carrying device can for different modules, for.
- sun mirrors be suitably so that concentric mirrors can be cleaned with the flying robot.
- the lock as well as the rotary drive can be dispensed with.
- the hired installation of the cleaning module to the drone then supports landing in the preferred direction to align the solar panel towards the sun. In this mode, further weight and components are saved.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Photovoltaic Devices (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014001797.4A DE102014001797A1 (de) | 2014-02-12 | 2014-02-12 | Flugroboter zum Bearbeiten und Reinigen von glatten, gekrümmten und modularen Flächen |
PCT/DE2015/000057 WO2015120833A1 (de) | 2014-02-12 | 2015-02-11 | Flugroboter zum bearbeiten und reinigen von glatten, gekrümmten und modularen flächen |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3022501A1 true EP3022501A1 (de) | 2016-05-25 |
Family
ID=52596704
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15707258.8A Withdrawn EP3022501A1 (de) | 2014-02-12 | 2015-02-11 | Flugroboter zum bearbeiten und reinigen von glatten, gekrümmten und modularen flächen |
Country Status (9)
Country | Link |
---|---|
US (1) | US20170057636A1 (de) |
EP (1) | EP3022501A1 (de) |
JP (1) | JP2017509485A (de) |
KR (1) | KR20160147715A (de) |
CN (1) | CN106471318A (de) |
AU (1) | AU2015218048A1 (de) |
DE (1) | DE102014001797A1 (de) |
IL (1) | IL247269A0 (de) |
WO (1) | WO2015120833A1 (de) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105438456A (zh) * | 2015-11-30 | 2016-03-30 | 无锡觅睿恪科技有限公司 | 可刷染料的清洁无人机 |
US9963230B2 (en) * | 2016-01-11 | 2018-05-08 | The Procter & Gamble Company | Aerial drone cleaning device and method of cleaning a target surface therewith |
WO2017184898A1 (en) | 2016-04-20 | 2017-10-26 | Tamkin Sr Scott J | Surface washing drone |
JP6967764B2 (ja) * | 2017-04-21 | 2021-11-17 | 国立研究開発法人農業・食品産業技術総合研究機構 | 除草機 |
CN108814432B (zh) * | 2018-06-04 | 2021-06-29 | 张辉 | 一种自充电扫地机器人 |
CN110769728A (zh) * | 2018-10-27 | 2020-02-07 | 深圳市赫兹科技有限公司 | 基于无人机的清洁方法及系统 |
US11638939B2 (en) * | 2018-11-27 | 2023-05-02 | Steam Tech, Llc | Mobile panel cleaner |
DE102021004279B4 (de) | 2021-08-21 | 2023-06-07 | Kastriot Merlaku | Oberflächen-Reinigungs-Vorrichtung in Form einer Drohne oder die mit einer Drohne verbindbar ist |
CN114433517B (zh) * | 2021-12-22 | 2023-06-23 | 阳光智维科技股份有限公司 | 光伏组件清洁方法、装置、设备及计算机可读存储介质 |
CN115555320A (zh) * | 2022-10-28 | 2023-01-03 | 贵州电网有限责任公司 | 光伏电站用光伏板清洗无人机 |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN2388915Y (zh) * | 1999-08-11 | 2000-07-26 | 吕昌伟 | 一种电动拖把 |
US6419190B1 (en) * | 2000-10-10 | 2002-07-16 | Gino Francis Nguegang | Airborne cleaning and painting robot |
KR20030025662A (ko) * | 2001-09-22 | 2003-03-29 | 김종율 | 소형 무인 헬기를 이용한 청소장치 |
CN201617771U (zh) * | 2009-12-17 | 2010-11-03 | 昆山昆航机器人研究所有限公司 | 高层建筑外壁面清洁机器人 |
CN202699027U (zh) * | 2012-07-13 | 2013-01-30 | 长春工程学院 | 遥控自动擦窗器 |
CN203207973U (zh) * | 2013-03-18 | 2013-09-25 | 李小芳 | 一种自清洁扫把 |
WO2013076712A2 (en) * | 2013-03-19 | 2013-05-30 | Wasfi Alshdaifat | Top-wing aerobotic glass cleaner |
-
2014
- 2014-02-12 DE DE102014001797.4A patent/DE102014001797A1/de not_active Withdrawn
-
2015
- 2015-02-11 CN CN201580019467.3A patent/CN106471318A/zh active Pending
- 2015-02-11 EP EP15707258.8A patent/EP3022501A1/de not_active Withdrawn
- 2015-02-11 JP JP2016571466A patent/JP2017509485A/ja active Pending
- 2015-02-11 US US15/118,849 patent/US20170057636A1/en not_active Abandoned
- 2015-02-11 KR KR1020167025295A patent/KR20160147715A/ko not_active Application Discontinuation
- 2015-02-11 AU AU2015218048A patent/AU2015218048A1/en not_active Abandoned
- 2015-02-11 WO PCT/DE2015/000057 patent/WO2015120833A1/de active Application Filing
-
2016
- 2016-08-14 IL IL247269A patent/IL247269A0/en unknown
Non-Patent Citations (2)
Title |
---|
None * |
See also references of WO2015120833A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2015120833A1 (de) | 2015-08-20 |
JP2017509485A (ja) | 2017-04-06 |
AU2015218048A1 (en) | 2016-09-29 |
CN106471318A (zh) | 2017-03-01 |
US20170057636A1 (en) | 2017-03-02 |
IL247269A0 (en) | 2016-09-29 |
KR20160147715A (ko) | 2016-12-23 |
DE102014001797A1 (de) | 2015-08-13 |
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Ipc: A47L 1/02 20060101ALI20180424BHEP Ipc: A63H 27/00 20060101AFI20180424BHEP Ipc: B64C 39/02 20060101ALI20180424BHEP Ipc: B64C 21/04 20060101ALI20180424BHEP Ipc: A47L 3/04 20060101ALI20180424BHEP Ipc: B64C 23/00 20060101ALI20180424BHEP Ipc: B64C 3/14 20060101ALI20180424BHEP |
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