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CN-122007081-A - Self-adaptive-adjustment multi-nozzle unmanned aerial vehicle cleaning system and method

CN122007081ACN 122007081 ACN122007081 ACN 122007081ACN-122007081-A

Abstract

The invention discloses a self-adaptive adjustment multi-nozzle unmanned aerial vehicle cleaning system and method, comprising a swing amplitude adjusting mechanism, an angle adjusting mechanism, a nozzle switching mechanism and a rotary driving mechanism, wherein the swing amplitude adjusting mechanism is in transmission connection with the rotary driving mechanism, the angle adjusting mechanism is fixedly connected with the swing amplitude adjusting mechanism, the nozzle switching mechanism is arranged at the execution end of the swing amplitude adjusting mechanism, the swing amplitude adjusting mechanism comprises a rotary table, an electric screw rod, a sliding block shaft and a swing arm, the electric screw rod is arranged in the rotary table, the sliding block shaft is in rotary connection with the electric screw rod and is in sliding fit with the swing arm, the electric screw rod drives the sliding block shaft to slide so as to change the distance between the sliding block shaft and the rotary table and the rotary center of the rotary table, a copper ring is arranged on the outer ring of the rotary table, the angle adjusting mechanism drives the swing arm to swing back and forth through a worm gear and worm transmission structure, the nozzle switching mechanism comprises a reversing valve, a steering engine and at least two cleaning nozzles with different angles, the steering engine is in transmission connection with a valve core of the reversing valve, and a water outlet hole for pressure relief is arranged on the reversing valve.

Inventors

  • LUO JUN

Assignees

  • 珠海市双捷科技有限公司

Dates

Publication Date
20260512
Application Date
20260402

Claims (10)

  1. 1. The self-adaptive adjustment multi-nozzle unmanned aerial vehicle cleaning system is characterized by comprising a swing amplitude adjusting mechanism, an angle adjusting mechanism, a nozzle switching mechanism and a rotary driving mechanism, wherein the swing amplitude adjusting mechanism is in transmission connection with the rotary driving mechanism, the angle adjusting mechanism is fixedly connected with the swing amplitude adjusting mechanism, and the nozzle switching mechanism is arranged at the executing end of the swing amplitude adjusting mechanism; the swing amplitude adjusting mechanism comprises a turntable, an electric screw rod, a sliding block shaft and a swing arm, wherein the electric screw rod is arranged in the turntable, the sliding block shaft is rotationally connected with the electric screw rod and is in sliding fit with the swing arm, the electric screw rod drives the sliding block shaft to slide so as to change the distance between the sliding block shaft and the rotation center of the turntable, the self-adaptive adjustment of swing amplitude of the swing arm is realized, a copper ring is arranged on the outer ring of the turntable, and a graphite carbon brush is arranged on the copper ring so as to realize the transmission of an external electric signal to the electric screw rod; the angle adjusting mechanism drives the swing arm to swing back and forth through the worm and gear transmission structure, so that the impact angle of the cleaning water flow is adjusted; The nozzle switching mechanism comprises a reversing valve, a steering engine and at least two cleaning nozzles with different angles, wherein the steering engine is in transmission connection with a valve core of the reversing valve, the water flow path is switched by driving the valve core to rotate, the water flow switching of the cleaning nozzles with different angles is realized, and the reversing valve is provided with a water outlet hole for water return and pressure relief.
  2. 2. The cleaning system of claim 1, wherein the copper rings are respectively disposed at an inner edge and an outer edge of the outer ring of the turntable, the graphite carbon brushes are fixedly connected with the carbon brush fixing ring, the copper rings at the inner and outer sides are respectively in electrical contact with the graphite carbon brushes at corresponding positions, and the graphite carbon brushes provide electrical contact support for power supply and signal transmission for the electric screw.
  3. 3. The cleaning system according to claim 1, wherein the swing amplitude adjusting mechanism further comprises a displacement detecting unit, the displacement detecting unit is matched with the sliding block shaft and used for detecting the axial displacement of the sliding block shaft in real time and feeding back a displacement detecting signal to an external controller, and the external controller controls the rotation number of turns of the electric screw rod in a closed loop mode according to the displacement detecting signal, so that accurate adjustment of the swing arm cleaning swing amplitude is achieved; the external controller is pre-stored with a plurality of groups of swing adjusting parameters, and each group of swing adjusting parameters corresponds to the combination of different nozzle types, cleaning surface materials and dirt types.
  4. 4. The cleaning system of claim 2, wherein the rotary drive mechanism comprises a first gear motor and a swing arm bearing, the first gear motor is in transmission connection with the turntable and drives the turntable to rotate, the swing arm is in rotatable connection with the carbon brush fixing ring through the swing arm bearing, and the turntable rotates to drive the swing arm to swing up and down.
  5. 5. The cleaning system of claim 2, wherein the worm and gear transmission structure comprises a second gear motor, a worm wheel shaft, a pipe clamp and a side plate, wherein the worm wheel shaft is fixedly penetrated in the pipe clamp, one end of the worm wheel shaft is fixedly connected with the worm wheel, the second gear motor drives the worm to rotate, the worm is meshed with the worm wheel to drive the worm wheel shaft to rotate, one side of the side plate is fixedly connected with the pipe clamp, the other side of the side plate is fixedly connected with the carbon brush fixing ring, and the worm wheel shaft rotates to drive the side plate, the carbon brush fixing ring and the swing arm to swing back and forth synchronously.
  6. 6. The cleaning system of claim 5, wherein the angle adjusting mechanism further comprises an angle feedback unit, the angle feedback unit is matched with the worm and gear transmission structure and is used for detecting the actual swing angle of the swing arm in real time and feeding back an angle detection signal to the external controller, and the external controller is used for controlling the start and stop and the rotation angle of the second gear motor in a closed loop mode according to the angle feedback signal, so that the closed loop accurate adjustment of the impact angle of the cleaning water flow is realized; the external controller is pre-stored with a plurality of groups of impact angle parameters, and each group of impact angle parameters corresponds to the combination of different nozzle types, cleaning surface materials and dirt types.
  7. 7. The cleaning system of claim 1, wherein the cleaning nozzle comprises a 0-degree nozzle and a 30-degree nozzle, both of which are arranged at the tail end of the swing arm through a nozzle seat, a water inlet hole, a water outlet hole, a left side hole and a right side hole are formed in the valve body base of the reversing valve, the water inlet hole is formed in the circle center of the valve body base, the water outlet hole is formed right below the water inlet hole, the left side hole is communicated with the 0-degree nozzle through a water pipe, and the right side hole is communicated with the 30-degree nozzle through a water pipe; The valve core is arranged on the valve cover, a diversion trench is formed in the valve core, the steering engine is located in the middle position when not receiving the action signal, the water inlet hole is communicated with the water outlet hole through the diversion trench, the water outlet hole is communicated with the water tank of the unmanned aerial vehicle to achieve water return pressure relief, the water inlet hole is communicated with the left hole when receiving the left action signal, and the water inlet hole is communicated with the right hole when receiving the right action signal.
  8. 8. An adaptively adjusted multi-nozzle unmanned aerial vehicle cleaning method, implemented on the basis of the cleaning system according to any one of claims 1 to 7, characterized by comprising the steps of: The external controller sends an action signal to the steering engine, the steering engine drives the valve core to rotate to switch the diversion path, and the water pump is started to supply water to the reversing valve, so that high-pressure water flow is conveyed to the cleaning nozzle with a corresponding angle; The external controller sends a first rotating instruction according to the type of the nozzle, the quality of the cleaning surface and the type of dirt which are selected currently, and the first rotating instruction is transmitted to the electric screw rod through the electric contact between the graphite carbon brush and the copper ring, the electric screw rod rotates to drive the sliding block shaft to slide, and the sliding block shaft is regulated to a target displacement amount and then stops driving; The external controller sends a second rotation instruction according to the type of the nozzle, the quality of the cleaning surface and the type of dirt which are selected currently, a worm and gear transmission structure of the angle adjusting mechanism is started, the swing arm is driven to swing back and forth, and the swing arm is regulated to a target swing angle and then is stopped; The external controller starts the rotary driving mechanism to drive the turntable to rotate, drives the swing arm to do swing type rotary water spraying, and carries out reciprocating cleaning on the surface to be cleaned; When the cleaning is suspended, the steering engine is reset to the middle position, the water inlet hole of the reversing valve is communicated with the water outlet hole, and high-pressure water flows back to the water tank, so that the excessive pressure in the reversing valve is avoided; when the nozzle type is switched, an action signal is sent to the steering engine, the steering engine drives the valve core to rotate to switch the diversion path, and meanwhile, the target displacement and the target swing angle are determined again according to the new nozzle type.
  9. 9. The cleaning method according to claim 8, wherein adjusting the slider shaft to the target displacement amount comprises: The external controller determines a target swing amplitude of the swing arm from a plurality of groups of pre-stored swing amplitude adjusting parameters according to the type of the nozzle, the cleaning surface material and the dirt type selected currently, automatically matches a corresponding target displacement of the sliding block shaft, and sends a first rotating instruction to the electric screw; the displacement detection unit detects the actual displacement of the sliding block shaft in real time and feeds back the actual displacement to the external controller; And the external controller compares the target displacement with the actual displacement, and if the deviation exists, a first compensation rotation instruction is sent to the electric screw rod until the deviation value of the actual displacement and the target displacement is in a set range, so that the accurate adjustment of the swing arm cleaning swing amplitude is completed.
  10. 10. The cleaning method according to claim 8, wherein adjusting the swing arm to the target swing angle comprises: The external controller determines a target impact angle of the swing arm from a plurality of groups of pre-stored impact angle parameters according to the type of the nozzle, the cleaning surface material and the dirt type selected currently, automatically matches the corresponding target swing angle of the swing arm, and sends a second rotation instruction to the second gear motor; The angle feedback unit detects the actual swing angle of the swing arm in real time and feeds back the actual swing angle to the external controller; and the external controller compares the target swing angle with the actual swing angle, and if deviation exists, a second compensation rotation instruction is sent to the second speed reduction motor until the deviation value of the actual swing angle and the target swing angle is positioned in a set range, so that the accurate adjustment of the impact angle of the cleaning water flow is completed.

Description

Self-adaptive-adjustment multi-nozzle unmanned aerial vehicle cleaning system and method Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a self-adaptive-adjustment multi-nozzle unmanned aerial vehicle cleaning system and method. Background Along with the rapid development of unmanned aerial vehicle technology, the unmanned aerial vehicle is widely applied in the field of high-altitude cleaning (such as building external walls, bridge structures, photovoltaic panel arrays and the like), and gradually replaces the traditional manual cleaning mode by virtue of the advantages of flexibility, high operation efficiency, no need of manual high-altitude operation and the like, so that the unmanned aerial vehicle becomes a preferable scheme of high-risk and high-altitude cleaning scenes. However, the existing unmanned aerial vehicle cleaning equipment still has a plurality of technical bottlenecks in practical application, and the cleaning effect and the improvement of the operation efficiency are seriously restricted: Firstly, nozzle angle is fixed and adjust inconvenient, washs the suitability poor. The existing unmanned aerial vehicle cleaning spray head is designed by adopting a single fixed spray angle, and the water flow impact angle cannot be adjusted according to cleaning face materials (such as glass, metal, concrete and the like) and dirt types (such as floating dust, stubborn greasy dirt, scale and the like). The impact angle of the water flow directly influences the cleaning effect, for example, when vertical spraying is carried out, dirt can be acted only by virtue of impact force, the binding force between the dirt and the surface is difficult to thoroughly destroy, and the dirt can not be "scooped up" by virtue of the reflection tangential force of the water flow without the optimized inclination angle, so that the problems of uneven cleaning effect, incomplete cleaning or damage to the cleaning surface even occur in part of scenes are caused. Meanwhile, few devices supporting angle adjustment can be manually adjusted after the unmanned aerial vehicle falls, so that the operation is complex and the operation continuity is seriously affected. Secondly, the nozzle type is single and the switching is tedious, and the operating efficiency is low. The existing equipment is usually provided with only one type of nozzle, and different cleaning requirements are difficult to meet, namely, although the high-pressure direct injection nozzle (such as a 0-degree nozzle) has strong impact force and is suitable for cleaning stubborn dirt, the coverage area is small, the operation efficiency is low, and the wide-angle scattering nozzle (such as a 30-degree nozzle) has large coverage area and high efficiency, but has insufficient impact force and cannot cope with stubborn dirt. If different dirt types need to be adapted, the nozzle needs to be manually detached and replaced, so that the operation flow is increased, the unmanned aerial vehicle needs to take off and land frequently, the operation time is greatly prolonged, and the overall working efficiency is reduced. Thirdly, the cleaning swing is not adjustable, and the coverage uniformity is poor. The swing amplitude of the existing unmanned aerial vehicle cleaning spray head is mostly of a fixed design, and the cleaning width cannot be flexibly adjusted according to the area of a cleaning area and the distribution density of dirt. For a large-area lightly polluted area, the fixed small swing causes high repetition rate of a cleaning path and low operation efficiency, and for a small-area heavily polluted area, the fixed large swing causes water flow dispersion, has insufficient impact force and is easy to cause waste of cleaning liquid. In addition, the fixed swing design is difficult to realize the accurate coverage of cleaning area, and the phenomenon of missing or repeated cleaning easily appears, further influences cleaning quality and operation economy. Fourth, the high-pressure waterway lacks pressure relief protection, and equipment loss is serious. When the cleaning operation is suspended, if the high-pressure water pump continuously works, high pressure in the waterway system acts on core components such as a reversing valve for a long time, faults such as ageing of a sealing element and cracking of a valve body are easily caused, and if the water pump is frequently started and stopped, the energy consumption and the mechanical loss of equipment are increased, the service life is shortened, and meanwhile the operation continuity is influenced. In summary, the existing unmanned aerial vehicle cleaning device has significant defects in aspects of nozzle angle adjustment, nozzle type switching, cleaning swing adaptation, waterway safety protection and the like, and cannot meet the cleaning operation requirements of diversification, high efficiency and precision. Therefore, developing an unmanned aeria