WO2024022368A1 - Structure de véhicule aérien sans pilote de nettoyage et procédé d'utilisation - Google Patents

Structure de véhicule aérien sans pilote de nettoyage et procédé d'utilisation Download PDF

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Publication number
WO2024022368A1
WO2024022368A1 PCT/CN2023/109233 CN2023109233W WO2024022368A1 WO 2024022368 A1 WO2024022368 A1 WO 2024022368A1 CN 2023109233 W CN2023109233 W CN 2023109233W WO 2024022368 A1 WO2024022368 A1 WO 2024022368A1
Authority
WO
WIPO (PCT)
Prior art keywords
cleaning
unit
drone
propeller
telescopic
Prior art date
Application number
PCT/CN2023/109233
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 武汉稀云科技有限公司 filed Critical 武汉稀云科技有限公司
Publication of WO2024022368A1 publication Critical patent/WO2024022368A1/fr

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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
    • B08B1/30—
    • B08B1/32—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B08B3/02—Cleaning by the force of jets or sprays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • 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
    • 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

  • 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.
  • 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.
  • the present invention adopts the following technical solutions:
  • a cleaning drone structure including: cleaning unit 1, propeller unit 2 and telescopic unit 3;
  • 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.
  • the telescopic unit 3 specifically includes: a first preset number of hollow tubes 32, reels 33 and ropes 34;
  • 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.
  • 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 .
  • 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.
  • the cleaning roller 11 is in contact with the surface of the cleaning object, thereby cleaning the object. Wash the surface.
  • 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 .
  • 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 .
  • 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 .
  • 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.
  • 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.
  • a method of using a cleaning drone uses the cleaning drone structure, wherein:
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the embodiment of the present invention proposes a cleaning drone structure, including: cleaning unit 1, propeller unit 2 and telescopic unit 3;
  • 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.
  • 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.
  • the propeller unit 2 and the cleaning unit 1 are connected by a telescopic unit 3 that can change the length.
  • 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.
  • 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.
  • the telescopic unit 3 specifically includes: a first preset number of hollow tubes 32, reels 33 and ropes 34;
  • 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.
  • 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 .
  • 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.
  • the reel 33 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.
  • 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 cleaning roller 11 is axially connected to the transmission assembly 12.
  • the transmission assembly 12 drives the cleaning roller 11 to rotate.
  • the cleaning roller 11 is in contact with the surface of the cleaning object, thereby cleaning the object. Wash the surface.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the cleaning unit 1 also 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 .
  • 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.
  • 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 .
  • the connector 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 .
  • 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.
  • the cleaning drone Normal flight operations can still be maintained.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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. .
  • 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 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.
  • the propeller unit 2 drives the relative displacement between the cleaning unit 1 and the cleaning object.
  • the propeller unit 2 moves to the left 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:
  • 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.
  • 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 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.
  • the propeller 23 may collide with the cleaning surface when the cleaning drone is operating.
  • 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.
  • the cleaning drone has the following cleaning logic relative to the designated cleaning object:
  • 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.
  • step 102 a routine cleaning operation is performed on all cleaning objects every first preset time.
  • step 103 routine inspection is performed on all cleaning objects every second preset time.
  • step 104 if it is found that the cleaning object is contaminated, the contaminated cleaning object information is obtained.
  • 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.
  • the first preset time and the second preset time can be set by those skilled in the art according to actual needs.
  • the cleaning drone will automatically take off from the cleaning drone airport after receiving the cleaning instruction.
  • the cleaning drone will automatically return to the cleaning drone airport to land.
  • the cleaning drone control terminal will detect its remaining power and remaining cleaning fluid volume in real time.
  • 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.
  • the cleaning drone 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • the battery supplies power to the motor, and the motor drives the two transmission components 12 on its drive rod.
  • 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.
  • 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.

Abstract

L'invention concerne une structure de véhicule aérien sans pilote de nettoyage et un procédé d'utilisation. Une unité d'hélice (2), une unité télescopique (3) et une unité de nettoyage (1) sont reliées séquentiellement, pendant le vol de l'unité d'hélice (2), l'unité de nettoyage (1) repose sur sa propre gravité pour étirer l'unité télescopique (3) et est simultanément fixée à la surface d'un sujet de nettoyage et, sur cette base, l'unité d'hélice (2) entraîne l'unité de nettoyage (1) à se déplacer par rapport au sujet de nettoyage de façon à achever l'opération de nettoyage.
PCT/CN2023/109233 2022-07-27 2023-07-26 Structure de véhicule aérien sans pilote de nettoyage et procédé d'utilisation WO2024022368A1 (fr)

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CN202210890714.9 2022-07-27

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CN115158664A (zh) * 2022-07-27 2022-10-11 武汉稀云科技有限公司 一种清洗无人机结构与使用方法

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CN214216145U (zh) * 2020-10-15 2021-09-17 张妃林 一种清洗无人机
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CN114465572A (zh) * 2022-01-28 2022-05-10 华能大理风力发电有限公司洱源分公司 一种重力锁式光伏电站大载荷清洗无人机的清洗系统
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CN108937704A (zh) * 2018-07-17 2018-12-07 杨俊杰 一种电力载波通信基础上的无人操作大楼外擦窗机器人
KR101984202B1 (ko) * 2018-08-13 2019-05-30 남영훈 드론을 이용한 태양광 패널 클리닝 시스템
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