WO2024022368A1

WO2024022368A1 - Cleaning unmanned aerial vehicle structure and using method

Info

Publication number: WO2024022368A1
Application number: PCT/CN2023/109233
Authority: WO
Inventors: 李少泽; 李强; 李峰; 邱乐园; 徐东华
Original assignee: 武汉稀云科技有限公司
Priority date: 2022-07-27
Filing date: 2023-07-26
Publication date: 2024-02-01
Also published as: CN115158664A

Abstract

A cleaning unmanned aerial vehicle structure and a using method. A propeller unit (2), a telescopic unit (3), and a cleaning unit (1) are sequentially connected, during flight of the propeller unit (2), the cleaning unit (1) relies on its own gravity to stretch the telescopic unit (3), and is simultaneously attached to the surface of a cleaning subject, and on this basis, the propeller unit (2) drives the cleaning unit (1) to move relative to the cleaning subject so as to complete the cleaning operation.

Description

A kind of structure and use method of cleaning drone

Technical field

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a structure and use method of a cleaning unmanned aerial vehicle.

Background technique

With the development of society, people pay more and more attention to environmental protection. As a clean energy source, solar energy will not produce waste residue, waste water, waste gas, or noise when developed and utilized, nor will it affect the ecological balance. Nowadays, most of the utilization of solar energy uses solar photovoltaic panels to convert solar energy into electrical energy and then utilize it. When it comes to cleaning photovoltaic panels, manual cleaning is usually used. However, for large photovoltaic panels, they need to be set up at an angle to align with the sun. Manual cleaning has serious safety risks. Nowadays, Nowadays, with the development of drones, it has become normal to use drones to gradually replace manual cleaning of large photovoltaic panels. Therefore, it is necessary to operate a cleaning drone with a high fault tolerance rate to operate the cleaning object.

In view of this, how to overcome the shortcomings of the existing technology and solve the above technical problems is a problem to be solved in this technical field.

Contents of the invention

The technical problem to be solved by the present invention is the lack of a cleaning drone that can perform stable operations on cleaning objects while flying.

In order to solve the above problems, the present invention adopts the following technical solutions:

A cleaning drone structure, including: cleaning unit 1, propeller unit 2 and telescopic unit 3;

Among them, the lower end of the propeller unit 2 is connected to the upper end of the telescopic unit 3, and the lower end of the telescopic unit 3 is axially connected to the upper end of the cleaning unit 1; when the cleaning drone is operating above the cleaning object, the cleaning unit 1 relies on itself Gravity stretches the telescopic unit 3 and fits the surface of the cleaning object. Through the flying movement of the propeller unit 2, the cleaning unit 1 drives the cleaning unit 1 on the premise that the cleaning unit 1 fits the surface of the cleaning object. Relative displacement with the cleaning object, thereby performing cleaning operations on the cleaning object.

Preferably, the telescopic unit 3 specifically includes: a first preset number of hollow tubes 32, reels 33 and ropes 34;

Among them, a first preset number of the hollow tubes 32 are connected in sequence from top to bottom, and at the same time, the adjacent connected hollow tubes 32 can slide relative to each other; the top of the uppermost hollow tube 32 is in contact with the hollow tube 32 . The propeller unit 2 is connected, the reel 33 is arranged at the bottom of the lowermost hollow tube 32 and is axially connected to the cleaning unit 1, and the rope 34 is located in the middle of all the first preset numbers. Inside the hollow tube 32, one end of the rope 34 is arranged on the reel 33, and the other end is connected to the inside of the uppermost hollow tube 32. The reel 33 can tighten and relax the rope 34, The relative displacement between the adjacent hollow tubes 32 is realized, thereby realizing the stretching and contraction of the telescopic unit 3 .

Preferably, the cleaning unit 1 specifically includes: a cleaning roller 11, a transmission assembly 12 and a protective shell 13;

The protective shell 13 is axially connected to the lower end of the reel 33, the cleaning roller 11 is arranged inside the protective shell 13, and both ends of the cleaning roller 11 are connected to the inner wall of the protective shell 13;

The cleaning roller 11 is axially connected to the transmission assembly 12. The transmission assembly 12 drives the cleaning roller 11 to rotate. At the same time, the cleaning roller 11 is in contact with the surface of the cleaning object, thereby cleaning the object. Wash the surface.

Preferably, the cleaning unit 1 further includes: an inertial measurement unit 14;

The inertial measurement unit 14 is disposed on the protective shell 13 for real-time monitoring of the tilt angle and position status of the cleaning unit 1 .

Preferably, the propeller unit 2 specifically includes: a connecting piece 21, a telescopic rod 22 and a propeller 23;

The lower end of the connecting member 21 is connected to the top of the uppermost hollow tube 32, and a second preset number of telescopic rods 22 are arranged around the connecting member 21 with the hollow tube 32 as the center. The propeller 23 is provided at the end of the telescopic rod 22 .

Preferably, the connecting piece 21 specifically includes: a mounting hole 211 and a connecting hole 212;

The installation hole 211 is located at the lower end of the center of the connector 21 and is used to connect to the top of the hollow tube 32 at the uppermost end. A second preset number of the connection holes 212 are connected to the connector 21 The center position of 21 is the center of the circle and is arranged around the periphery of the mounting hole 211 for connecting with a second preset number of telescopic rods 22 .

Preferably, the telescopic rod 22 can telescope a preset number of times, thereby changing the length of the telescopic rod 22, for cleaning according to the inertial measurement unit 14 when the cleaning drone is flying above the cleaning object. The tilt angle and position state of the unit 1 when it is in contact with the surface of the cleaning object can be used to determine the positional relationship between the propeller 23 and the cleaning object during the cleaning operation, thereby changing the length of the telescopic rod 22 and thereby changing the position of the propeller 23 to prevent The propeller 23 collides with the cleaning object.

Preferably, a water storage cylinder 4 is also provided in the middle of the telescopic unit 3. The water storage cylinder 4 is connected to the protective shell 13 of the cleaning unit 1 through a water conductive hose 5 and leads to the inside of the cleaning unit 1. The cleaning roller 11 is used to provide the cleaning liquid in the water storage tank 4 to the cleaning roller 11 through the water conductive hose 5, thereby assisting the cleaning operation.

In the second aspect, a method of using a cleaning drone uses the cleaning drone structure, wherein:

When the cleaning drone is operating above the cleaning object, the reel 33 loosens the rope 34, and the cleaning unit 1 relies on its own gravity to stretch the telescopic unit 3 and fit the surface of the cleaning object. The water storage cylinder 4 transmits cleaning liquid to the cleaning roller 11 through the water conductive hose 5. The motor drives the cleaning roller 11 to rotate. The cleaning roller 11 scrubs the surface of the cleaning object. The flight movement of the propeller unit 2 drives the relative displacement between the cleaning unit 1 and the cleaning object on the premise that the cleaning unit 1 is in contact with the surface of the cleaning object, thereby cleaning the cleaning object.

Preferably, the flight movement of the propeller unit 2 drives the relative displacement between the cleaning unit 1 and the cleaning object on the premise that the cleaning unit 1 is in contact with the surface of the cleaning object, and also includes:

When the cleaning unit 1 is in contact with the surface of the cleaning object, the control end of the cleaning drone obtains the width of the surface of the cleaning object, the vertical height of the cleaning drone when flying, the current length of the telescopic rod 22 and the inertial measurement unit 14 detects one or more of the tilt angles of the current cleaning unit 1 to determine whether the propeller 23 will collide with the surface of the cleaning object during the cleaning operation of the cleaning drone. By changing the telescopic rod The length of 22 further changes the position of the propeller 23 to prevent the propeller 23 from colliding with the surface of the cleaning object.

The invention provides a structure and use method of a cleaning drone. By connecting a propeller unit, a telescopic unit and a cleaning unit in sequence, when the propeller unit is displaced in flight, the cleaning unit relies on its own gravity to stretch the telescopic unit. It fits the surface of the cleaning object, and on this basis, the propeller unit drives the cleaning unit to move relative to the cleaning object to complete the cleaning operation.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings required to be used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a cleaning drone structure provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of a telescopic unit for cleaning a drone structure provided by an embodiment of the present invention;

Figure 3 is a schematic structural diagram of a telescopic unit for cleaning a drone structure provided by an embodiment of the present invention;

Figure 4 is a cleaning unit that removes part of the protective shell of a drone structure provided by an embodiment of the present invention;

Figure 5 is a schematic structural diagram of a cleaning unit for cleaning a drone structure provided by an embodiment of the present invention;

Figure 6 is a schematic structural diagram of a propeller unit of a cleaning drone structure provided by an embodiment of the present invention when connected to a telescopic unit;

Figure 7 is a schematic structural diagram of a connector of a propeller unit for cleaning a drone structure provided by an embodiment of the present invention;

Figure 8 is a schematic structural diagram of a cleaning drone structure provided by an embodiment of the present invention;

Figure 9 is a schematic structural diagram of a telescopic rod of a propeller unit for cleaning a drone structure when contracted according to an embodiment of the present invention;

Figure 10 is a flow chart of the cleaning logic of a method for cleaning a drone provided by an embodiment of the present invention.

Implementation

In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

In the description of the present invention, the terms "inside", "outer", "longitudinal", "transverse", "upper", "lower", "top", "bottom", etc. indicate an orientation or positional relationship based on the drawings. The illustrated orientation or positional relationship is only for convenience of describing the present invention and does not require that the present invention must be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

Example 1:

The embodiment of the present invention proposes a cleaning drone structure, including: cleaning unit 1, propeller unit 2 and telescopic unit 3;

As shown in Figure 1, the lower end of the propeller unit 2 is connected to the upper end of the telescopic unit 3, and the lower end of the telescopic unit 3 is axially connected to the upper end of the cleaning unit 1; when the cleaning drone is operating above the cleaning object, the The cleaning unit 1 relies on its own gravity to stretch the telescopic unit 3 and fit the surface of the cleaning object. Through the flight movement of the propeller unit 2, on the premise that the cleaning unit 1 fits the surface of the cleaning object, The relative displacement between the cleaning unit 1 and the cleaning object is driven to perform cleaning operations on the cleaning object.

The cleaning drone is used to clean the surface of photovoltaic panels or other flat devices; therefore, the bottom surface of the cleaning unit 1 is flat and is used to fit the surface of the cleaning object. At the same time, it is considered that the cleaning drone can turn in different directions or When accelerating forward, the entire cleaning drone will tilt at a certain angle. However, during the process of cleaning the cleaning object, the bottom surface of the cleaning unit 1 needs to remain in close contact with the surface of the cleaning object most of the time. Therefore, the cleaning drone The unit 1 needs to be axially connected to the telescopic unit 3 above to ensure that the cleaning unit 1 can rotate at a certain angle relative to the telescopic unit 3 when the cleaning drone is turning or accelerating.

In order to ensure that the cleaning unit 1 always fits the surface of the cleaning object during operation, the propeller unit 2 and the cleaning unit 1 are connected by a telescopic unit 3 that can change the length. At the same time, the extension of the telescopic unit 3 depends on When flying, the gravity of the cleaning unit 1 itself, with reference to the maximum length difference between the extension and shortening of the telescopic unit 3, the propeller unit 2 can move up and down within the range of the maximum length difference without affecting the relationship between the cleaning unit 1 and the cleaning unit. The adhesion to the surface of the object provides a buffer for the up and down movement of the cleaning drone during operations, and at the same time reduces the requirements for control accuracy when the cleaning drone is operating; when not in operation, the telescopic unit 3 is retracted , the upper surface of the cleaning unit 1 is contacted to prevent the cleaning unit 1 from shaking when the cleaning drone is flying.

In order to realize the telescopic function of the telescopic unit 3, the telescopic unit 3 has at least two connecting parts. At the same time, the elongation of the telescopic unit 3 is stretched by the gravity of the cleaning unit 1 itself. The contraction of the telescopic unit 3 A console is required for control.

As shown in Figures 2 and 3, the telescopic unit 3 specifically includes: a first preset number of hollow tubes 32, reels 33 and ropes 34;

The first preset number of hollow tubes 32 have different calibers, and the diameters of the first preset number of hollow tubes 32 increase or decrease sequentially from top to bottom, except for the lowermost hollow tube 32 Each hollow tube 32 is provided with a limiting device. When two adjacent hollow tubes 32 slide up and down, the lower hollow tube 32 will be resisted by the limiting device to prevent the lower hollow tube 32 from sliding up and down. will continue to rise or fall, so the first preset number of hollow tubes 32 has a maximum length and a minimum length, thereby further setting the maximum and minimum heights of the cleaning unit 1 relative to the propeller unit 2; the rope 34 One end is curled and bundled in the reel 33, and the other end is fixedly connected to the inside of the uppermost hollow tube 32. The reel 33 is controlled by its own second motor. When the second motor is turned on, The reel 33 gathers the rope 34. Since the upper end of the rope 34 is fixed to the uppermost hollow tube 32, and the reel 33 is fixedly connected to the lower end of the lowermost hollow tube 32, the lowermost center of the rope 34 is tightened. The empty tube 32, the reel 33 and the cleaning unit 1 provide upward force. The lowermost hollow tube 32, the reel 33 and the cleaning unit 1 are all lifted upward relative to the uppermost hollow tube 32. When lifted to When the required height is reached, the reel 33 stops tightening the rope 34 and maintains the length of the bundled rope 34 so that the cleaning unit 1 maintains the current height; and when the cleaning unit 1 needs to lower its height, the The second motor is turned off, the reel 33 releases the rope 34, the lowermost hollow tube 32, the reel 33 and the cleaning unit 1 descend due to their own gravity, and at the same time the reel 33 releases a certain length of rope34.

The outer layer of the first preset number of hollow tubes 32 is also provided with a layer of casing to protect the first preset number of hollow tubes 32 and prevent other factors from interfering with the first preset number. operation between the hollow tubes 32.

As shown in Figure 4, the cleaning unit 1 specifically includes: a cleaning roller 11, a transmission assembly 12 and a protective shell 13;

The protective shell 13 is axially connected to the lower end of the reel 33 . The cleaning roller 11 is disposed inside the protective shell 13 , and both ends of the cleaning roller 11 are connected to the inner wall of the protective shell 13 .

The upper end of the cleaning drone is a propeller unit 2 that controls flight. The cleaning unit 1 is located at the lower end of the cleaning drone and is used to contact the cleaning object to complete the cleaning function; the protective shell 13 is a waterproof shell. , while having good sealing performance, the protective shell 13 serves as the overall frame of the cleaning unit 1 so that the various components are connected and fixed to each other; at least two cleaning rollers 11 are provided in the protective shell 13 , the cleaning roller 11 is provided with a shaft in the center, and the two ends of the shaft are connected to the inner walls of the opposite sides of the protective shell 13. The cleaning roller 11 can rotate with the shaft as the center; because When the cleaning drone is working on the cleaning object, the bottom of the cleaning unit 1 needs to fit with the surface of the cleaning object, so the bottom end of the protective shell 13 is a flat surface, and the cleaning roller 11 can Fits the surface of the cleaning object.

The transmission assembly 12 is driven by a motor. The motor is arranged inside the protective shell 13 and will not affect the rotation of the cleaning roller 11. There can be one or more than one in the protective shell 13. Each motor is connected to one or more transmission components 12, and each transmission component 12 is connected to a cleaning roller 11, ensuring that one motor can drive one or more cleaning rollers. Axis 11.

The transmission assembly 12 specifically includes: a driving wheel, a driven wheel, a transmission belt and a motor, wherein:

The driving wheel and the driven wheel are connected through the transmission belt and are arranged on the inner wall surface of the protective shell 13. The motor is axially connected with the driving wheel, and the cleaning roller 11 is connected with the driven wheel. The driving wheel is connected with the axis, and the motor drives the driving wheel to rotate, thereby linking with the driven wheel, and thereby driving the cleaning roller 11 to rotate.

In one of the transmission components 12, there is a driving wheel and at least one driven wheel. The driving wheel is directly connected to the drive shaft on the motor, is directly driven by the motor to rotate, and is connected to the drive wheel through the conveyor belt. The driven wheel establishes linkage, and the rotation of the driven wheel drives the rotation of the cleaning roller 11. The radius of the driving wheel of each transmission component 12 is the same, and the radius of the driven wheel of each transmission component 12 is the same, and they are not the same. Exceeding the vertical height of the protective shell 13 ensures that the rotation rate of each cleaning roller 11 is consistent.

When one motor is required to control the rotation of more than one cleaning roller 11, the drive shaft of the motor can be axially connected with the driving wheels in more than one transmission assembly 12 at the same time, and the driving wheels are superimposed with the driving wheels. The driving shafts of the motors are connected to each other, and at the same time, there is a certain distance between different driving wheels to ensure that the driving wheels will not contact and collide with each other. The remaining parts of the transmission assembly 12 are extended in different directions to avoid different The transmission components 12 influence each other.

A battery is also provided at the top of the inner wall of the protective shell 13 for powering the motor; a sealed waterproof shell is provided between the battery, the motor and the transmission assembly 12 and the cleaning roller 11 to prevent liquid It penetrates through the connection part between the protective shell 13 and the sealed waterproof shell, causing damage to the battery, motor and transmission assembly 12.

During the normal flight of the cleaning drone, the inertial measurement unit 14 is required to monitor the real-time status of the cleaning drone, including the tilt angle, altitude and flight speed. Therefore, the inertial measurement unit 14 needs to be set up to complete the above functions.

As shown in Figure 5, the cleaning unit 1 also includes: an inertial measurement unit 14;

Considering that the inclination angle of the surface of the cleaning object is one of the important reference standards for the cleaning drone to perform cleaning operations, and the cleaning unit 1 needs to fit in line with the surface of the cleaning object when cleaning the cleaning object, at this time the cleaning unit 1 The inclination angle is the cleaning angle of the surface of the cleaning object. Therefore, the inertial measurement unit 14 is arranged on the surface of the protective shell 13 of the cleaning unit 1. At the same time, it is necessary to ensure that the upper surface of the protective shell 13 is flat.

As shown in Figure 6, the propeller unit 2 specifically includes: a connecting piece 21, a telescopic rod 22 and a propeller 23;

As shown in Figure 7, the connector 21 specifically includes: a mounting hole 211 and a connecting hole 212;

The uppermost hollow tube 32 is inserted into the mounting hole 211 and fixed. A second predetermined number of the connecting holes 212 are arranged at equal intervals around the periphery of the mounting hole 211. Each mounting hole 211 is provided with The telescopic rods 22 are all consistent; each propeller 23 provided at the end of the telescopic rod 22 is driven to rotate by a third motor 24. The third motor 24 can be provided below the telescopic rod 22 and the propeller 23, or the third motor 24 can be installed below the telescopic rod 22 and the propeller 23. The motor 24 can be arranged above the telescopic rod 22 and the propeller 23; the second preset number is needed to ensure the normal flight and operation of the cleaning drone. When a few propellers 23 in any direction are turned off, the cleaning drone Normal flight operations can still be maintained. Under the premise that the above conditions are met, the second preset quantity can be set by those skilled in the art according to the actual situation. All second preset quantity settings that meet the conditions should be set in this paper. within the scope of protection of the invention.

The propeller unit 2 is also provided with an inertial measurement unit for monitoring the real-time height and tilt angle of the propeller unit 2 .

As shown in Figure 9, the telescopic rod 22 can telescope a preset number of times, thereby changing the length of the telescopic rod 22, for monitoring according to the inertial measurement unit 14 when the cleaning drone is flying above the cleaning object. The inclination angle and position state of the cleaning unit 1 when it is in contact with the surface of the cleaning object are obtained, and the positional relationship between the propeller 23 and the cleaning object is judged during the cleaning operation, thereby changing the length of the telescopic rod 22 and thereby changing the position of the propeller 23 position to prevent the propeller 23 from colliding with the cleaning object.

The telescopic rod 22 is provided with a preset number plus a number of sections. The diameter of each section gradually decreases from the inside to the outside and is connected in sequence. The telescopic rod 22 with a smaller diameter on the outside can accommodate telescopic rods with a larger diameter. In the rod 22, or extending from the telescopic rod 22 with a relatively large diameter, thereby changing the length of the entire telescopic rod 22, the longest length of the telescopic rod 22 is the fully extended length, and the shortest length is the fully extended length of the telescopic rod 22. The length when contracted; the contraction of the telescopic rod 22 is controlled by the control end of the cleaning drone. The inertial measurement unit 14 monitors the height of the cleaning unit 1 and the inclination angle of the cleaning unit 1 and reports it to the cleaning drone. At the same time, the control end of the human machine and the cleaning drone control end collect the vertical height of the top of the current cleaning drone, the width of the surface of the cleaning object and the length of the current telescopic rod 22, and calculate when the cleaning drone is located on the cleaning object. When the propeller 23 at the end of the telescopic rod 22 will come into contact with the surface of the cleaning object, if the contact occurs, a certain number of the telescopic rods 22 facing the surface of the cleaning object will be shortened, thereby preventing the propeller 23 from contacting the surface of the cleaning object. Collision; at the same time, before the telescopic rod 22 is contracted, the propeller 23 at the end of the telescopic rod 22 needs to be stopped to prevent the propellers on adjacent telescopic rods from colliding with each other when the length of the telescopic rod 22 is shortened. put one's oar in.

In addition, there is also a preferred solution, the propeller 23 is axially connected to the end of the telescopic rod 22, thereby ensuring that the propeller 23 can rotate at least 180 degrees with the telescopic rod as the axis. The flipping of the propeller 23 is controlled by the control end of the cleaning drone. By adjusting the flipping angle of the propeller 23, the flying direction and speed of the cleaning drone are adjusted.

The telescopic unit 3 is also provided with a water storage cylinder 4 in the middle. The water storage cylinder 4 is connected to the protective shell 13 of the cleaning unit 1 through a water guide hose 5 and leads to the cleaning roller inside the cleaning unit 1. The shaft 11 is used to provide the cleaning liquid in the water storage tank 4 to the cleaning roller 11 through the water conductive hose 5, thereby assisting the cleaning operation.

The first preset number of hollow tubes 32 of the telescopic unit 3 penetrates the water storage cylinder 4 from top to bottom, ensuring that the water storage cylinder 4 is arranged around the first preset number of hollow tubes 32. At the same time, the center of the water storage tank 4 is free to accommodate the first preset number of hollow tubes 32, and the parts of the water storage tank 4 around the telescopic unit 3 are symmetrical and consistent, ensuring that the drone is cleaned equilibrium state during flight.

The water-conducting hose 5 is easy to deform. When the position and angle of the cleaning unit 1 relative to the telescopic unit 3 change, the water-conducting hose 5 can be deformed synchronously, thereby being stretched or bent. .

The water conductive hose 5 leads to the inside of the cleaning unit 1 and also includes:

The water-conducting hose 5 passes through the protective shell 13 and the sealed waterproof shell in sequence, and is provided with a water outlet nozzle at the end of the water-conducting hose 5 , and the water outlet nozzle is provided at the end of the cleaning roller 11 The inner wall of the sealed waterproof shell at the peripheral position is convenient for the cleaning roller 11 to receive the cleaning liquid discharged from the water outlet nozzle.

The sealed waterproof shell around the cleaning roller 11 is correspondingly provided with a water outlet nozzle. The water outlet nozzle can be provided on the sealed waterproof shell above the cleaning roller 11 , or on the side of the cleaning roller 11 On the sealed waterproof shell, one water outlet nozzle corresponds to one or more cleaning rollers 11, and the cleaning liquid output from the water outlet nozzle is sprayed on the cleaning rollers 11 accordingly.

The water conduit hose 5 corresponding to the water outlet nozzle passes through the sealed waterproof shell and the protective shell 13, and is connected to the water storage bucket provided on the telescopic unit 3 of the cleaning drone, wherein the upper end of the telescopic unit 3 is connected to The propeller unit 2 is connected, and the lower end of the telescopic unit 3 is connected to the cleaning unit 1. The connection between the water conductive hose 5 and the sealed waterproof shell is a sealed connection to prevent spraying at the cleaning roller 11. The cleaning liquid penetrates the connection between the water conduit hose 5 and the sealed waterproof case and enters the area between the protective case 13 and the sealed waterproof case, causing damage to the battery, motor and transmission assembly 12.

Therefore, on the basis of the cleaning roller 11 receiving the cleaning liquid, the cleaning roller 11 is also provided with absorbent cotton for absorbing the received cleaning liquid and washing the cleaning objects of the cleaning drone.

The absorbent cotton is arranged around the cleaning roller 11 to ensure that when the cleaning roller 11 rotates around its own axis, the absorbent cotton can contact the surface of the cleaning object of the cleaning drone, thereby The surface of the cleaning object is scrubbed; and the absorbent cotton can absorb most of the cleaning liquid output from the water outlet corresponding to the cleaning roller 11, preventing the cleaning liquid from being too dispersed inside the sealed waterproof shell and reducing the overall cleaning efficiency. .

Example 2:

The embodiment of the present invention proposes a method of using a cleaning drone. The foregoing embodiment focuses on describing the structure of the cleaning drone. The following is a detailed description of the method of using the cleaning drone in conjunction with the structure of the cleaning drone in Embodiment 1.

The propeller unit 2 drives the relative displacement between the cleaning unit 1 and the cleaning object. When the cleaning unit 1 is in contact with the surface of the cleaning object, the propeller unit 2 moves to the left relative to the cleaning object. Reciprocating displacement to the right, thereby cleaning the lateral area of the current cleaning object; or when the cleaning unit 1 is in contact with the surface of the cleaning object, the propeller unit 2 moves upward and downward relative to the cleaning object. The reciprocating displacement is used to clean the vertical area of the current cleaning object.

The flight movement of the propeller unit 2 drives the relative displacement between the cleaning unit 1 and the cleaning object on the premise that the cleaning unit 1 is in contact with the surface of the cleaning object, and also includes:

When the cleaning drone reaches above the cleaning object, the motor of the reel 33 is turned off, the reel 33 stops tightening the rope 34, and the cleaning unit 1 relies on gravity to descend and stick to the surface of the cleaning object. At this time, the cleaning drone control end obtains the vertical height of the propeller unit 2 and the inclination angle of the plane where the entire propeller 23 is located through the inertial measurement unit 14 on the propeller unit 2, and at the same time, through the inertial measurement unit 14 on the cleaning unit 1 Obtain the current vertical height and tilt angle of the cleaning unit 1. When the vertical height of the cleaning object is greater than the vertical length of the cleaning drone, the propeller 23 may collide with the cleaning surface when the cleaning drone is operating. Since the cleaning unit 1 fits the cleaning object, the inclination angle of the cleaning unit 1 is consistent with the inclination angle of the cleaning object; since in most cases the inclination angle of the plane where the propeller 23 is located is 0 degrees, so according to the cleaning drone The vertical height during flight includes the height of the cleaning unit 1 of the cleaning drone and the vertical height of the propeller unit 2 of the cleaning drone. The vertical length of the cleaning drone itself and the inclination angle of the cleaning object can be obtained. Calculate the horizontal distance between the center of the connector 21 of the propeller unit 2 and the surface of the cleaning object at this time; if the horizontal distance is greater than the length of the telescopic rod 22 of the propeller unit 2 during normal flight, the cleaning drone control end does not need to shorten the telescopic rod. 22; When the horizontal distance is less than the length of the telescopic rod 22 of the propeller unit 2 during normal flight, it means that when the cleaning drone is performing cleaning operations, the propeller 23 will collide with the cleaning surface. At this time, the cleaning drone control end Shorten telescopic rod 22.

As shown in Figure 10, the cleaning drone has the following cleaning logic relative to the designated cleaning object:

In step 101, after selecting the cleaning object, according to the location of the cleaning object and the location of the cleaning drone airport, plan the route between the cleaning object and the cleaning drone airport on the premise of route safety, and then proceed to step 102 Or step 103.

In step 102, a routine cleaning operation is performed on all cleaning objects every first preset time.

In step 103, routine inspection is performed on all cleaning objects every second preset time.

In step 104, if it is found that the cleaning object is contaminated, the contaminated cleaning object information is obtained.

In step 105, the cleaning drone is arranged to perform separate cleaning operations on the contaminated cleaning objects.

The first preset time is greater than the second preset time. Under this premise, the first preset time and the second preset time can be set by those skilled in the art according to actual needs.

During all the above cleaning operations, the cleaning drone will automatically take off from the cleaning drone airport after receiving the cleaning instruction. When the cleaning operation is completed, the cleaning drone will automatically return to the cleaning drone airport to land. When the cleaning drone is parked in the cleaning drone airport, the cleaning drone control terminal will detect its remaining power and remaining cleaning fluid volume in real time. When the remaining power of the cleaning drone is lower than or equal to the preset power value, the cleaning drone will Automatically charge the cleaning drone at the airport, or remind the user to charge manually. The preset power value is set by those skilled in the art according to actual needs. When the remaining cleaning fluid volume of the cleaning drone is lower than or equal to the preset When the amount of cleaning liquid is set, the cleaning drone will automatically replenish the cleaning liquid at the cleaning drone airport, or remind the user to manually replenish the cleaning liquid. The preset amount of cleaning liquid is determined by those skilled in the field based on actual needs. set up.

Example 3:

The embodiment of the present invention proposes a method of using a cleaning drone. Compared with Embodiment 2, this embodiment demonstrates the method of using the present invention in a more practical scenario.

In this embodiment, the cleaning object of the cleaning drone is a photovoltaic panel with an inclination angle of 30 degrees, and the vertical height of the photovoltaic panel is 2 meters; the telescopic rod 22 of the cleaning drone is 1.8 meters long and 0.6 meters short. m; In the cleaning unit 1 of the cleaning drone, there are 2 cleaning rollers 11. The 2 cleaning rollers 11 are driven by a motor, and each cleaning roller 11 corresponds to a transmission assembly 12. The driving wheels of the two transmission assemblies 12 are superimposed and axially connected with the drive rod of the motor. The two cleaning rollers 11 are each provided with a water outlet hole. The water outlet holes are arranged in the shape of a nozzle, and are located at the respective locations. On the sealed waterproof shell above the cleaning roller 11; when the cleaning drone moves left and right, the vertical length between the propeller unit 2 of the cleaning drone and the cleaning unit 1 of the cleaning drone is 1 meters, is less than the vertical height of the photovoltaic panel shown. Therefore, when the cleaning drone cleans the photovoltaic panel, the propeller 23 may collide with the surface of the cleaning object. Calculate the required length of the telescopic rod 22 of the cleaning drone. Less than 1.73 meters.

When the cleaning drone flies to the photovoltaic panel and attaches the cleaning unit 1 to the surface of the photovoltaic panel, the battery supplies power to the motor, and the motor drives the two transmission components 12 on its drive rod. operation, the transmission assembly 12 drives the two cleaning rollers 11 to rotate at the same rate, the cleaning liquid is discharged from the water outlet through the water conduit hose 5 from the water storage tank 4, and is sprayed on the cleaning rollers 11, and It is absorbed by the absorbent cotton on the cleaning roller 11, thereby cleaning the joint surface between it and the photovoltaic panel. The cleaning drone moves up and down, driving the cleaning unit 1 to move up and down on the surface of the photovoltaic panel to clean the surface of the photovoltaic panel. The surface of the photovoltaic panel is completely cleaned. When the inertial measurement unit 14 on the cleaning drone propeller unit 2 detects that the vertical height is less than or equal to 2 meters, the telescopic rod 22 relative to one side of the photovoltaic panel needs to be shortened to less than 1.73 m to prevent the propeller 23 from colliding with the photovoltaic panels.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims

A cleaning drone structure, characterized by including: a cleaning unit (1), a propeller unit (2) and a telescopic unit (3);

Wherein, the lower end of the propeller unit (2) is connected to the upper end of the telescopic unit (3), and the lower end of the telescopic unit (3) is axially connected to the upper end of the cleaning unit (1); when the cleaning drone is operating above the cleaning object , the cleaning unit (1) relies on its own gravity to stretch the telescopic unit (3) and fit it to the surface of the cleaning object. Through the flight movement of the propeller unit (2), the cleaning unit (1) On the premise of being in contact with the surface of the cleaning object, the relative displacement between the cleaning unit (1) and the cleaning object is driven, thereby cleaning the cleaning object.
The cleaning drone structure according to claim 1, characterized in that the telescopic unit (3) specifically includes: a first preset number of hollow tubes (32), reels (33) and ropes (34) );

Among them, a first preset number of the hollow tubes (32) are connected in sequence from top to bottom, and at the same time, the adjacent connected hollow tubes (32) can slide relative to each other; the uppermost hollow tube The top of (32) is connected to the propeller unit (2), and the reel (33) is arranged at the bottom of the lowermost hollow tube (32) and is axially connected to the cleaning unit (1) , the rope (34) is located inside all the first preset number of hollow tubes (32), one end of the rope (34) is arranged on the reel (33), and the other end is connected to the middle of the uppermost end. The hollow tubes (32) are connected internally, and the reel (33) tightens and relaxes the rope (34) to realize the relative displacement between the adjacent hollow tubes (32), thereby realizing the telescopic unit ( 3) Stretching and shrinking.
The cleaning drone structure according to claim 2, characterized in that the cleaning unit (1) specifically includes: a cleaning roller (11), a transmission assembly (12) and a protective shell (13);

The protective shell (13) is axially connected to the lower end of the spool (33), the cleaning roller (11) is arranged inside the protective shell (13), and the cleaning roller (11) has two sides. The end is connected to the inner wall of the protective shell (13);

The cleaning roller (11) is axially connected to the transmission assembly (12). The transmission assembly (12) drives the cleaning roller (11) to rotate. At the same time, the cleaning roller (11) is connected to the cleaning roller (11). The surfaces of the objects are in contact with each other, thereby cleaning the surface of the object to be cleaned.
The cleaning drone structure according to claim 3, characterized in that the cleaning unit (1) further includes: an inertial measurement unit (14);

Wherein, the inertial measurement unit (14) is provided on the protective shell (13) for real-time monitoring of the tilt angle and position status of the cleaning unit (1).
The cleaning drone structure according to claim 4, characterized in that the propeller unit (2) specifically includes: a connecting piece (21), a telescopic rod (22) and a propeller (23);

The lower end of the connecting piece (21) is connected to the top of the uppermost hollow tube (32), and a second preset number of telescopic rods (22) are arranged around the hollow tube (32) with the hollow tube (32) as the center. On the connecting piece (21), the propeller (23) is provided at the end of the telescopic rod (22).
The cleaning drone structure according to claim 5, characterized in that the connecting piece (21) specifically includes: a mounting hole (211) and a connecting hole (212);

Wherein, the mounting hole (211) is located at the lower end of the center position of the connecting piece (21) for connecting to the top of the uppermost hollow tube (32), and a second preset number of connecting holes (212) Set around the periphery of the mounting hole (211) with the central position of the connecting piece (21) as the center of the circle, for connecting with a second preset number of telescopic rods (22).
The cleaning drone structure according to claim 6, characterized in that the telescopic rod (22) can telescope a preset number of times, thereby changing the length of the telescopic rod (22), for use when the cleaning drone is in When flying above the cleaning object, according to the inclination angle and position state of the cleaning unit (1) when the cleaning unit (1) is in contact with the surface of the cleaning object monitored by the inertial measurement unit (14), it is judged whether the propeller (23) is in contact with the surface of the cleaning object during the cleaning operation. The positional relationship between the cleaning object and the propeller (23) is changed by changing the length of the telescopic rod (22) to prevent the propeller (23) from colliding with the cleaning object.
The cleaning drone structure according to claim 1, characterized in that a water storage cylinder (4) is also provided in the middle of the telescopic unit (3), and the water storage cylinder (4) passes through a water guide hose (5 ) is connected to the protective shell (13) of the cleaning unit (1) and leads to the cleaning roller (11) inside the cleaning unit (1) for cleaning the water in the water storage cylinder (4). Liquid is provided to the cleaning roller (11) through the water conductive hose (5) to assist the cleaning operation.
A method of using a cleaning drone, characterized by using the cleaning drone structure as described in any one of claims 1-8, wherein:

When the cleaning drone is operating above the cleaning object, the reel (33) loosens the rope (34), and the cleaning unit (1) relies on its own gravity to stretch the telescopic unit (3) and interacts with the cleaning unit. The surface of the object is in contact with each other, the water storage tube (4) transmits cleaning fluid to the cleaning roller (11) through the water conductive hose (5), and the motor drives the cleaning roller (11). Rotate, the cleaning roller (11) washes the surface of the cleaning object, and through the flight movement of the propeller unit (2), on the premise that the cleaning unit (1) is in contact with the surface of the cleaning object, the cleaning roller (11) drives the The relative displacement between the cleaning unit (1) and the cleaning object is performed to perform cleaning operations on the cleaning object.
The method of using a cleaning drone according to claim 9, characterized in that the flight movement of the propeller unit (2) is based on the premise that the cleaning unit (1) is in contact with the surface of the cleaning object. Driving the relative displacement between the cleaning unit (1) and the cleaning object also includes:

When the cleaning unit (1) is in contact with the surface of the cleaning object, the control end of the cleaning drone obtains the width of the surface of the cleaning object, the vertical height of the cleaning drone when flying, the current length of the telescopic rod (22), and the current length of the telescopic rod (22). One or more of the tilt angles of the current cleaning unit (1) detected by the inertial measurement unit (14) are used to determine whether the propeller (23) will interact with the cleaning drone during the cleaning operation of the cleaning object. The surface of the cleaning object collides with each other, and the position of the propeller (23) is changed by changing the length of the telescopic rod (22) to prevent the propeller (23) from colliding with the surface of the cleaning object.