CN108248842B - High-altitude ultrasonic dust removal cleaning machine system - Google Patents
High-altitude ultrasonic dust removal cleaning machine system Download PDFInfo
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- CN108248842B CN108248842B CN201810071208.0A CN201810071208A CN108248842B CN 108248842 B CN108248842 B CN 108248842B CN 201810071208 A CN201810071208 A CN 201810071208A CN 108248842 B CN108248842 B CN 108248842B
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- 239000000428 dust Substances 0.000 title claims abstract description 55
- 238000004140 cleaning Methods 0.000 title abstract description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 27
- 238000005507 spraying Methods 0.000 claims description 25
- 239000007921 spray Substances 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 6
- 230000001915 proofreading effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000006641 stabilisation Effects 0.000 claims description 2
- 238000011105 stabilization Methods 0.000 claims description 2
- 238000004506 ultrasonic cleaning Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 239000002245 particle Substances 0.000 description 3
- 238000011010 flushing procedure Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D80/00—Details, components or accessories not provided for in groups F03D1/00 - F03D17/00
- F03D80/50—Maintenance or repair
- F03D80/55—Cleaning
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Pest Control & Pesticides (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the field of high-altitude cleaning equipment, in particular to a high-altitude ultrasonic dust removal cleaning machine system, which mainly comprises: the center fixed-point unmanned aerial vehicle transmits a picture to a picture checking module of the intelligent terminal through a picture acquisition module of a shooting device, and intelligent terminal installation software can be compared with an original picture and analyze the part of the wind driven generator needing to be cleaned, then the distance and the position of the other two unmanned aerial vehicles are controlled through other components, and then the output power and the working time of ultrasonic waves are set for carrying out a dust removal task.
Description
Technical Field
The invention relates to the field of high-altitude cleaning equipment, in particular to a high-altitude ultrasonic dust removal cleaning machine system.
Background
With the rapid development of science and technology, people are deeply researching aircrafts, and various aircrafts are applied to more and more occasions. Compared with other aircrafts, the unmanned aircraft has the advantages of simple and compact mechanical structure, more flexible action, lower requirements on the taking-off and landing environment, good operation performance and capability of realizing taking-off, hovering and landing in a small range. Due to the characteristics, the unmanned aircraft is widely applied to the fields of aerial photography, monitoring, investigation, search and rescue, agricultural pest control and the like.
At present, the work of dust removal at high altitude can only be completed by the direct work of an operator at high altitude through a matching device of the work at high altitude, and the work has high risk to the operator and seriously pollutes the health of the operator at high altitude. There are problems of low operation efficiency and instability. For example, the wind power generator is mostly built in the dangerous environment of Bohai, peak top and waist, which brings certain difficulty and risk to the dust removal work.
Disclosure of Invention
The invention aims to provide a high-altitude ultrasonic dust removal cleaning machine system aiming at the prior technical situation.
In order to achieve the purpose, the invention adopts the following technical scheme: be applicable to high altitude ultrasonic cleaning cleaner system, mainly include: unmanned aircraft, ultrasonic dedusting unmanned aircraft in center, spray unmanned aircraft and intelligent terminal, its characterized in that: the center fixed-point unmanned aerial vehicle is internally provided with a high-frequency processor A, the high-frequency processor A is electrically connected with an infrared distance measuring sensor A, an air pressure sensor A, a shooting device, a wireless transmitting and receiving module A and a motor starting module A, the shooting device is electrically connected with a picture acquisition module, a high-frequency processor B is arranged in the ultrasonic dust removal unmanned aerial vehicle, the high-frequency processor B is electrically connected with the infrared distance measuring sensor B, the air pressure sensor B, an ultrasonic dust removal device, the wireless transmitting and receiving module B and the motor starting module B, an ultrasonic transducer and a frequency power generator are arranged on a mechanical sucker device of the ultrasonic dust removal device, the high-frequency processor C and a backseat motor stabilizing module, the air pressure sensor C, a spraying device, the wireless transmitting and receiving module C, the motor starting module C, a power generator and a power generator are sprayed in, The mutual electric connection of infrared ray distance measuring sensor C, intelligent terminal's data processing terminal D electric connection is in control module, wireless transceiver module D, ultrasonic control module, picture proofreading module and display, on the display screen of picture and image transmission to intelligent terminal through the shooting device that unmanned aerial vehicle shot.
High-altitude fixed-point mode: the intelligent terminal controls the center fixed-point unmanned aerial vehicle to fly to a pointing position through the control module, the center fixed-point unmanned aerial vehicle positions the dust removal target through the infrared distance measuring sensor A, and the center fixed-point unmanned aerial vehicle sends the picture collected by the shooting device to the picture proofreading module of the intelligent terminal through the wireless transceiving module A.
An ultrasonic dust removal mode: the intelligent terminal starts a motor starting module B of the ultrasonic dedusting unmanned aircraft through a wireless transmitting and receiving module D, the ultrasonic dedusting unmanned aircraft is positioned at high altitude through a pressure sensor B, the ultrasonic dedusting unmanned aircraft is matched with a central fixed-point unmanned aircraft through an infrared distance measuring sensor, the position of the central fixed-point unmanned aircraft is detected through a zigbee transmitting module, and a position signal is fed back, so that the ultrasonic dedusting unmanned aircraft is controlled to fly to a position needing dedusting, the ultrasonic dedusting unmanned aircraft is fixed at the dedusting position through a mechanical sucker device, and then dedusting is performed by an ultrasonic dedusting device.
Spray and rinse modes: the intelligent terminal starts a motor starting module C of the spraying unmanned aerial vehicle through a wireless transmitting and receiving module D, the motor starting module C is positioned at high altitude through an air pressure sensor C, the spraying unmanned aerial vehicle is matched with a central fixed-point unmanned aerial vehicle through an infrared distance measuring sensor, the position of the central fixed-point unmanned aerial vehicle is detected through a zigbee transmitting module and position signals are fed back, the spraying unmanned aerial vehicle starts a spraying device and a backseat motor stabilizing module through a high-frequency processor C, and a water pump and water receiver is sprayed at the position needing dust removal through the spraying device.
Specifically, high frequency processor A and high frequency processor B, high frequency processor C all adopt STM32F103RGT6 main control chip, high frequency processor A, high frequency processor B, the equal electric connection of high frequency processor C in electron compass module and six gyro instruments, the electron compass all adopts LSM303DLHC, three unmanned aerial vehicle can carry out direction identification through the electron compass, its digital signal can directly be sent to the autopilot, be convenient for control unmanned aerial vehicle's manipulation.
Specifically, six axle gyroscope instruments mainly constitute by six sensors and counter two parts, six sensors pass through the counter and connect in high frequency processor A and high frequency processor B, high frequency processor C, wireless transceiver module A, wireless transceiver module B, wireless transceiver module D and wireless transceiver module D all adopt RTC6705 transmitting chip, will transmit the picture to intelligent terminal's picture proof module through the picture collection module of shooting device, the controller mainly constitute by D remote lever controller and button input module, 3D remote lever controller touches through wireless transceiver module and signals the route and the direction of control unmanned aerial vehicle, button input module can control the operation mode of unmanned aerial vehicle and realize unmanned aerial vehicle's independent control location.
Specifically, data processing terminal D electric connection in water pump control module, intelligent terminal passes through water pump control module control connection and opens or stop in the water pump water receiver.
Specifically, motor start module A, motor start module B and motor start module C by brushless motor control panel, brushless motor and rotor, the brushless motor control panel passes through brushless motor control rotor and rotates.
Specifically, the infrared distance measuring sensor a, the infrared distance measuring sensor B and the infrared distance measuring sensor C all transmit feedback signals through the zigbee transmitting module.
Specifically, the high-frequency processor B is electrically connected to the storage battery pack, and the storage battery pack is electrically connected to the ultrasonic dust removal device.
The invention has the beneficial effects that:
1. the central fixed-point unmanned aerial vehicle transmits the picture to the picture correction module of the intelligent terminal through the picture acquisition module of the shooting device, the intelligent terminal installation software can be compared with the original picture, the part of the wind driven generator needing to be cleaned is analyzed, the distance and the position of the other two unmanned aerial vehicles are controlled through other components, then the output power and the working time of ultrasonic waves are set for carrying out a dust removal task, the whole dust removal work is environment-friendly and time-saving, and no harm is caused to the body and no danger is caused to operating personnel;
2. the spraying unmanned aircraft and the ultrasonic dust removal unmanned aircraft utilize an infrared distance measuring sensor and a zigbee transmitting module, the central fixed-point unmanned aircraft is used as an operation center to remove dust of the wind driven generator, the spraying unmanned aircraft can realize two modes of spraying and flushing through a spraying device, the intelligent terminal controls the water yield of a water storage device of the water pump, and the intelligent terminal is matched with a rear seat motor stabilizing module to stabilize the unmanned aircraft, so that the high-altitude cleaning and dust removal efficiency is improved;
3. the ultrasonic dust removal unmanned aircraft is fixed on the wind driven generator by using the mechanical sucker device, and then ultrasonic energy is converted into mechanical energy by using the ultrasonic transducer, so that dust particles are resonated under the vibration of sound waves, and are condensed into larger particles to be settled, thereby achieving the effect of efficiently removing dust.
Description of the drawings:
FIG. 1 is a circuit schematic of the present invention;
FIG. 2 is a schematic circuit diagram of the intelligent terminal of the present invention;
FIG. 3 is a schematic circuit diagram of a quad-axial aircraft according to the present invention;
FIG. 4 is a schematic circuit diagram of the signal vehicle of the present invention;
FIG. 5 is a schematic circuit diagram of the signal vehicle of the present invention.
The specific implementation mode is as follows:
in order to make the examination committee more aware of the objects, features and functions of the present invention, the following preferred embodiments are described in detail with reference to the drawings:
please refer to fig. 1 to 5, which are schematic diagrams of a preferred embodiment of the present invention, and are applicable to a high altitude ultrasonic dust removing cleaning machine system, mainly comprising: the central fixed-point unmanned aerial vehicle 1, the ultrasonic dust removal unmanned aerial vehicle 2, the spraying unmanned aerial vehicle 3 and the intelligent terminal 4 are arranged, a high-frequency processor A11 is arranged in the central fixed-point unmanned aerial vehicle 1, the high-frequency processor A11 is electrically connected with an infrared distance measuring sensor A12, an air pressure sensor A13, a shooting device 14, a wireless transceiver module A15 and a motor starting module A16, the shooting device 14 is electrically connected with a picture acquisition module 141, the ultrasonic dust removal unmanned aerial vehicle 2 is internally provided with a high-frequency processor B21, a high-frequency processor B21 is electrically connected with an infrared distance measuring sensor B22, an air pressure sensor B23, an ultrasonic dust removal device 24, a wireless transceiver module B25 and a motor starting module B26, an ultrasonic transducer 242 and a frequency power generator 243 are arranged on a mechanical sucker device 241 of the ultrasonic dust removal device 24, the high-frequency processor C31 and a rear seat motor stabilizing module 32 in the spraying unmanned aerial vehicle 3, The air pressure sensor C33, the spraying device 34, the wireless transceiving module C35, the motor starting module C36 and the infrared distance measuring sensor C37 are electrically connected with one another, and the data processing terminal D41 of the intelligent terminal 4 is electrically connected with the control module 42, the wireless transceiving module D43, the ultrasonic control module 44, the picture checking module 45 and the display 47.
The frequency power generator 243 comprises an electronic circuit module for generating ultrasonic frequency, an ultrasonic power output module, an ultrasonic working time adjustable module, the full-automatic ultrasonic high-altitude remote control robot further comprises an ultrasonic transducer 242 which can only convert ultrasonic electric energy into mechanical energy, and the full-automatic ultrasonic high-altitude remote control robot further comprises a storage battery pack 27.
In the scheme, the high-frequency processor A11, the high-frequency processor B21 and the high-frequency processor C31 are STM32F103RGT6 main control chips, and the high-frequency processor A11, the high-frequency processor B21 and the high-frequency processor C31 are electrically connected to the electronic compass module 6 and the six-axis gyroscope 7.
In the scheme, the six-axis gyroscope instrument mainly comprises two parts, namely a six-axis sensor and a counter, wherein the six-axis sensor is connected with a high-frequency processor A11, a high-frequency processor B21 and a high-frequency processor C31 through the counter, a wireless transceiving module A15, a wireless transceiving module B25, a wireless transceiving module D43 and a wireless transceiving module D43 all adopt RTC6705 transmitting chips, a picture is transmitted to a picture checking module 45 of the intelligent terminal 4 through a picture collecting module 141 of the shooting device 14, and the controller mainly comprises A3D remote lever controller and a key input module.
In the scheme, the data processing terminal D41 is electrically connected to the water pump control module 46, and the intelligent terminal 4 is controlled by the water pump control module 46 to be connected to the water pump reservoir 38 to start or stop. The motor starting module A16, the motor starting module B26 and the motor starting module C36 are respectively composed of a brushless motor control board, a brushless motor and a rotor wing, and the brushless motor control board controls the rotor wing to rotate through the brushless motor. The infrared distance measuring sensor A12, the infrared distance measuring sensor B22 and the infrared distance measuring sensor C37 all transmit feedback signals through the zigbee transmitting module 5. The high-frequency processor B21 is electrically connected to the storage battery pack 27, and the storage battery pack 27 is electrically connected to the ultrasonic dust removing device 24.
High-altitude fixed-point mode: the intelligent terminal 4 controls the central fixed-point unmanned aerial vehicle 1 through the control module 42, the central fixed-point unmanned aerial vehicle 1 drives a rotor to rotate through a motor of the motor starting module A16, the central fixed-point unmanned aerial vehicle 1 flies to the central position of the wind driven generator, the central fixed-point unmanned aerial vehicle 1 mutually positions the central point of the wind driven generator through the infrared distance measuring sensor A12, the central fixed-point unmanned aerial vehicle 1 sends the pictures acquired by the shooting device 14 to the picture checking module 45 of the intelligent terminal 4 through the wireless transceiving module A15, meanwhile, the data detected by the air pressure sensor A13 are recorded and sent to the intelligent terminal 4 through the wireless transceiving module A15, the electronic compass module 6 and the six-axis gyroscope instrument 7 are mutually matched, and the central fixed-point unmanned aerial vehicle 1 automatically performs suspended flying positioning.
An ultrasonic dust removal mode: the intelligent terminal 4 starts a motor starting module B26 of the ultrasonic dust removal unmanned aerial vehicle 2 through a wireless transmitting and receiving module D43, according to height data recorded by an air pressure sensor A13 of the central fixed-point unmanned aerial vehicle 1, the ultrasonic dust removal unmanned aerial vehicle 2 is positioned at high altitude through the air pressure sensor B23 and flies to a specified position, the ultrasonic dust removal unmanned aerial vehicle 2 and the central fixed-point unmanned aerial vehicle 1 are matched with each other through an infrared distance measuring sensor, the position of the central fixed-point unmanned aerial vehicle 1 is detected through a zigbee transmitting module 5 and position signals are fed back, so that the ultrasonic dust removal unmanned aerial vehicle 2 is controlled to fly to a position needing dust removal, an ultrasonic control module 44 of the intelligent terminal 4 remotely starts an ultrasonic dust removal device 24 through the wireless transmitting and receiving module D43, the ultrasonic dust removal unmanned aerial vehicle 2 is fixed at the dust removal position through a mechanical sucker device 241 and then is subjected to dust removal by the, the frequency power generator 243 of the ultrasonic dust removing device 24 converts the ultrasonic electric energy into mechanical energy by the ultrasonic transducer 242, and coagulates the dust into larger particles by high-frequency vibration to settle down.
Spray and rinse modes: the intelligent terminal 4 starts a motor starting module C36 of the spraying unmanned aircraft 3 through a wireless transmitting and receiving module D43, the motor starting module C36 is positioned at high altitude through an air pressure sensor C33, the spraying unmanned aircraft 3 and the central fixed-point unmanned aircraft 1 are matched with each other through an infrared distance measuring sensor, the position of the central fixed-point unmanned aircraft 1 is detected through a zigbee transmitting module 5 and a position signal is fed back, the spraying unmanned aircraft 3 starts a spraying device 34 and a backseat motor stabilizing module 32 through a high-frequency processor C31, the spraying device 34 adopts two spray heads of a centralized type and a spraying type, so that two modes of spraying and flushing of the spraying unmanned aircraft 3 are realized, a water pump and water storage device 38 is sprayed at a position needing dust removal through the spraying device 34, the water pump and water storage device 38 can be regulated and controlled through a water pump control module 46 of the intelligent terminal 4, and the water outlet quantity of the water pump and water storage, a certain recoil is generated by the water spray, so that the recoil motor stabilization module 32 is required to start the rotor to maintain the stability of the spraying drone 3.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (7)
1. Be applicable to high altitude ultrasonic cleaning cleaner system, mainly include: unmanned aerial vehicle of center fixed point (1), ultrasonic dedusting unmanned aerial vehicle (2), spray unmanned aerial vehicle (3) and intelligent terminal (4), its characterized in that: the central fixed-point unmanned aerial vehicle (1) is internally provided with a high-frequency processor A (11), the high-frequency processor A (11) is electrically connected with an infrared distance measuring sensor A (12), an air pressure sensor A (13), a shooting device (14), a wireless transceiving module A (15) and a motor starting module A (16), the shooting device (14) is electrically connected with a picture acquisition module (141), the ultrasonic dust removal unmanned aerial vehicle (2) is internally provided with a high-frequency processor B (21), the high-frequency processor B (21) is electrically connected with an infrared distance measuring sensor B (22), an air pressure sensor B (23), an ultrasonic dust removal device (24), a wireless transceiving module B (25) and a motor starting module B (26), and a mechanical sucker device (241) of the ultrasonic dust removal device (24) is provided with an ultrasonic transducer (242) and a frequency power generator (243), a high-frequency processor C (31) inside the spraying unmanned aerial vehicle (3), a rear seat motor stabilizing module (32), an air pressure sensor C (33), a spraying device (34), a wireless transmitting and receiving module C (35), a motor starting module C (36) and an infrared distance measuring sensor C (37) are electrically connected with each other, and a data processing terminal D (41) of the intelligent terminal (4) is electrically connected with a control module (42), a wireless transmitting and receiving module D (43), an ultrasonic control module (44), a picture checking module (45) and a display (47); high-altitude fixed-point mode: the intelligent terminal (4) controls the central fixed-point unmanned aerial vehicle (1) to fly to a pointing position through the control module (42), the central fixed-point unmanned aerial vehicle (1) positions a dust removal target through the infrared distance measuring sensor A (12), and the central fixed-point unmanned aerial vehicle (1) sends a picture acquired by the shooting device (14) to the picture proofreading module (45) of the intelligent terminal (4) through the wireless transceiving module A (15); an ultrasonic dust removal mode: the intelligent terminal (4) starts a motor starting module B (26) of the ultrasonic dedusting unmanned aircraft (2) through the wireless transmitting and receiving module D (43), the ultrasonic dedusting unmanned aircraft (2) is positioned at high altitude through the air pressure sensor B (23), the ultrasonic dedusting unmanned aircraft (2) is matched with the central fixed-point unmanned aircraft (1) through the infrared distance measuring sensor, the position of the central fixed-point unmanned aircraft (1) is detected through the zigbee transmitting module (5) and the position signal is fed back, so that the ultrasonic dedusting unmanned aircraft (2) is controlled to fly to the position needing dedusting, the ultrasonic dedusting unmanned aircraft (2) is fixed at the dedusting position through the mechanical sucker device (241), and then dedusting is carried out through the ultrasonic dedusting device (24); spray and rinse modes: intelligent terminal (4) start the motor start module C (36) that sprays unmanned aerial vehicle (3) through wireless transceiver module D (43), motor start module C (36) are fixed a position in high altitude through baroceptor C (33), it matches each other to spray unmanned aerial vehicle (3) and center fixed point unmanned aerial vehicle (1) and carry out infrared ray distance measuring sensor, detect center fixed point unmanned aerial vehicle (1) position and return position signal feedback through zigbee emission module (5), it starts sprinkler (34) and back seat motor stabilization module (32) to spray unmanned aerial vehicle (3) through high frequency processor C (31), water pump water receiver (38) are sprayed in the position that needs to remove dust through sprinkler (34).
2. The high altitude ultrasonic dust removal cleaner system suitable for use according to claim 1, wherein: high frequency treater A (11) and high frequency treater B (21), high frequency treater C (31) all adopt STM32F103RGT6 main control chip, high frequency treater A (11), high frequency treater B (21), high frequency treater C (31) all electric connection in electron compass module (6) and six gyro instrument (7).
3. The high altitude ultrasonic dust removal cleaner system suitable for use according to claim 2, wherein: six gyro instruments mainly constitute by six sensors and counter two parts, six sensors pass through the counter and connect in high frequency processor A (11) and high frequency processor B (21), high frequency processor C (31), wireless transceiver module A (15), wireless transceiver module B (25), wireless transceiver module D (43) and wireless transceiver module D (43) all adopt RTC6705 emission chip, picture collection module (141) through camera device (14) will be with picture transmission to intelligent terminal's (4) picture proofreading module (45), the remote controller mainly comprises 3D pole controller and key input module.
4. The high altitude ultrasonic dust removal cleaner system suitable for use according to claim 1, wherein: data processing terminal D (41) electric connection in water pump control module (46), intelligent terminal (4) pass through water pump control module (46) control connection and open or stop in water pump water receiver (38).
5. The high altitude ultrasonic dust removal cleaner system suitable for use according to claim 1, wherein: the motor starting module A (16), the motor starting module B (26) and the motor starting module C (36) are respectively composed of a brushless motor control board, a brushless motor and a rotor wing, and the brushless motor control board controls the rotor wing to rotate through the brushless motor.
6. The high altitude ultrasonic dust removal cleaner system suitable for use according to claim 1, wherein: the infrared distance measuring sensor A (12), the infrared distance measuring sensor B (22) and the infrared distance measuring sensor C (37) mutually transmit feedback signals through a zigbee transmitting module (5).
7. The high altitude ultrasonic dust removal cleaner system suitable for use according to claim 5, wherein: the high-frequency processor B (21) is electrically connected to the storage battery pack (27), and the storage battery pack (27) is electrically connected to the ultrasonic dust removal device (24).
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| CN201810071208.0A CN108248842B (en) | 2018-01-25 | 2018-01-25 | High-altitude ultrasonic dust removal cleaning machine system |
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| CN108248842B true CN108248842B (en) | 2021-06-04 |
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| GB2577134B (en) * | 2018-09-10 | 2021-01-13 | Perceptual Robotics Ltd | Control and navigation systems |
| EP3850456B1 (en) | 2018-09-10 | 2024-05-08 | Perceptual Robotics Limited | Control and navigation systems, pose optimisation, mapping, and localisation techniques |
| CN111846275B (en) * | 2020-07-10 | 2021-11-23 | 杭州天为航空技术服务有限公司 | Aircraft cleaning management system |
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