CN106114857A - Outside Wall Cleaning method based on unmanned plane and unmanned plane - Google Patents
Outside Wall Cleaning method based on unmanned plane and unmanned plane Download PDFInfo
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- CN106114857A CN106114857A CN201610488504.1A CN201610488504A CN106114857A CN 106114857 A CN106114857 A CN 106114857A CN 201610488504 A CN201610488504 A CN 201610488504A CN 106114857 A CN106114857 A CN 106114857A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 341
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000007613 environmental effect Effects 0.000 claims abstract description 56
- 239000000428 dust Substances 0.000 claims description 51
- 239000012459 cleaning agent Substances 0.000 claims description 34
- 230000001680 brushing effect Effects 0.000 claims description 18
- 238000004458 analytical method Methods 0.000 claims description 15
- 238000012790 confirmation Methods 0.000 claims description 8
- 238000012806 monitoring device Methods 0.000 claims description 8
- 239000007921 spray Substances 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 20
- 238000004422 calculation algorithm Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000005507 spraying Methods 0.000 description 3
- 239000003550 marker Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000005201 scrubbing Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/29—UAVs specially adapted for particular uses or applications for manufacturing or servicing for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Vacuum Cleaner (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of outside Wall Cleaning method based on unmanned plane, when unmanned plane receives the instruction of cleaning of buildings exterior wall, the appointment position of flight to building to be cleaned；Determine cleaning region corresponding with described appointment position on described skin to be cleaned, obtain the environmental information in described cleaning region；Described cleaning region is cleaned by the cleaning device controlling described unmanned plane according to described environmental information.The invention also discloses a kind of unmanned plane.Present invention achieves the purpose efficiently skin being carried out.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to outside Wall Cleaning method based on unmanned plane and unmanned plane.
Background technology
The at present cleaning of a lot of skins is all dependent on being accomplished manually, but this kind of method carries out the exterior wall of building
Cleaning efficiency is relatively low, and when building belongs to skyscraper, the mode efficiency of employing manual work is low, potential safety hazard is big.
In prior art, the method using robot for cleaning wall surfaces has been had to realize skin is cleaned,
But usual this robot for cleaning wall surfaces is carried out by the way of outside the building wall surface creep, and cleaning efficiency is relatively
Low, therefore need a kind of method efficiently skin being carried out badly.
Summary of the invention
Present invention is primarily targeted at a kind of outside Wall Cleaning method based on unmanned plane of offer and unmanned plane, it is intended to realize
The efficient purpose that skin is carried out.
For achieving the above object, a kind of based on unmanned plane the outside Wall Cleaning method that the present invention provides comprises the following steps:
When unmanned plane receives the instruction of cleaning of buildings exterior wall, the appointment position of flight to building to be cleaned；
Determine cleaning region corresponding with described appointment position on described skin to be cleaned, obtain described clear area
The environmental information in territory；
Described cleaning region is cleaned by the cleaning device controlling described unmanned plane according to described environmental information.
Preferably, the environmental information in described acquisition described cleaning region, including:
Environment monitoring device based on described unmanned plane and/or photographic head detect described cleaning region, and acquisition detects
Dust information and/or image information；
According to described dust information and/or described image information analysis build environment information.
Preferably, described cleaning region is carried out by the described cleaning device according to the described environmental information described unmanned plane of control
Cleaning, including:
Cleaning strategy is confirmed according to described environmental information；
Described cleaning region is cleaned by the cleaning device according to unmanned plane described in described cleaning policy control.
Preferably, described cleaning strategy include cleaning route and cleaning mode, described cleaning device include brushing device and
Cleaning agent ejecting device；
Described cleaning region is cleaned by the described cleaning device according to unmanned plane described in described cleaning policy control, bag
Include:
Control described unmanned plane to fly according to described cleaning route, and control described brushing device described exterior wall is entered
Row is scrubbed and/or the cleaning agent that described unmanned plane carries is sprayed onto the surface in described cleaning region by described cleaning agent ejecting device.
Preferably, described method also includes:
After described unmanned plane completes cleaning to described cleaning region, obtain the next one and specify position, so that described unmanned
Machine flight specifies position to be cleaned to the next of building to be cleaned.
Additionally, for achieving the above object, the present invention also provides for a kind of unmanned plane, and described unmanned plane includes:
Flight module, for when unmanned plane receives the instruction of cleaning of buildings exterior wall, flies to building to be cleaned
Appointment position；
Acquisition module, for determining cleaning region corresponding with described appointment position on described skin to be cleaned,
Obtain the environmental information in described cleaning region；
Cleaning control module, for controlling the cleaning device of described unmanned plane to described clear area according to described environmental information
Territory is cleaned.
Preferably, described acquisition module includes:
Acquiring unit, detects described cleaning region for environment monitoring device based on described unmanned plane and/or photographic head,
Obtain the dust information and/or image information detected；
Analytic unit, for according to described dust information and/or described image information analysis build environment information.
Preferably, described cleaning control module includes:
Confirmation unit, for confirming cleaning strategy according to described environmental information；
Cleaning control unit, is used for the cleaning device according to unmanned plane described in described cleaning policy control to described clear area
Territory is cleaned.
Preferably, described cleaning strategy include cleaning route and cleaning mode, described cleaning device include brushing device and
Cleaning agent ejecting device；
Described cleaning control unit specifically for, control described unmanned plane and fly according to described cleaning route, and control
Make the cleaning that described exterior wall is scrubbed by described brushing device and/or described unmanned plane is carried by described cleaning agent ejecting device
Agent is sprayed onto the surface in described cleaning region.
Preferably, described unmanned plane also includes:
Position acquisition module, after described cleaning region being completed cleaning when described unmanned plane, obtains the next one and specifies
Position, so that described unmanned plane during flying specifies position to be cleaned to the next of building to be cleaned.
When the embodiment of the present invention is by the instruction that receives cleaning of buildings exterior wall when unmanned plane, flight to building to be cleaned
The appointment position of thing；Determine cleaning region corresponding with described appointment position on described skin to be cleaned, obtain described
The environmental information in cleaning region；Described cleaning region is carried out by the cleaning device controlling described unmanned plane according to described environmental information
Cleaning.Owing to unmanned plane External Wall by the way of flight is carried out, therefore can quickly arrive appointment position and clean,
The cleaning efficiency of External Wall is higher, it is achieved thereby that the purpose efficiently skin being carried out.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of present invention outside Wall Cleaning based on unmanned plane method first embodiment；
Fig. 2 is the refinement step schematic flow sheet of step S20 in embodiment illustrated in fig. 1 of the present invention；
Fig. 3 is the refinement step schematic flow sheet of step S30 in embodiment illustrated in fig. 1 of the present invention；
Fig. 4 is the high-level schematic functional block diagram of unmanned plane first embodiment of the present invention；
Fig. 5 is the high-level schematic functional block diagram of acquisition module in embodiment illustrated in fig. 4 of the present invention
Fig. 6 is the high-level schematic functional block diagram cleaning control module in embodiment illustrated in fig. 4 of the present invention；
Fig. 7 is the high-level schematic functional block diagram added in embodiment illustrated in fig. 4 of the present invention.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further referring to the drawings.
Detailed description of the invention
Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The present invention provides a kind of outside Wall Cleaning method based on unmanned plane.With reference to Fig. 1, in the first embodiment, the method
Including:
Step S10, when unmanned plane receives the instruction of cleaning of buildings exterior wall, the appointment of flight to building to be cleaned
Position；
Step S20, determines cleaning region corresponding with described appointment position on described skin to be cleaned, obtains institute
State the environmental information in cleaning region；
Step S30, described cleaning region is carried out clearly by the cleaning device controlling described unmanned plane according to described environmental information
Clean.
The outside Wall Cleaning method based on unmanned plane that the present invention provides is to be carried out the exterior wall of building clearly by unmanned plane
The method washed.Described unmanned plane can be fixed-wing unmanned plane, many rotor wing unmanned aerial vehicles.The cleaning device of unmanned plane is on unmanned plane
The cleaning device loaded.Cleaning device can be the instrument of the cleaning outer walls such as hairbrush, scraping article, cleaner container and nozzle, specifically
Cleaning device can be an instrument or the multinomial integrated burnisher exterior wall for cleaning of buildings.
The instruction of above-mentioned cleaning of buildings exterior wall is preset order, and the triggering mode of this order has multiple, the most permissible
Remote terminal or monitor terminal by unmanned plane send instruction to this unmanned plane.When unmanned plane receives cleaning of buildings exterior wall
Instruction time, flight to the appointment position of building to be cleaned.
The concrete geographical location information first confirming building to be cleaned, then fly to the appointment position of cleaning of buildings,
Confirm that the geographical location information of building to be cleaned can be by obtaining the picture that the photographic head loaded on unmanned plane captures, root
According to preset algorithm, this picture is carried out graphical analysis and confirm that a certain building is building to be cleaned, further according to the map of storage
The geographical location information of this building of acquisition of information.
The picture that photographic head gets such as has multiple building, confirms that the highest building is building to be cleaned,
Obtain the geographical location information of this building again.The image got can also be analyzed, the building that analysis is obtained
Point out in terminal, the confirmation building to be cleaned confirmation command sent further according to the control terminal received or monitor terminal
Building to be cleaned, then obtain the geographical location information of this building.Simultaneously can also be directly according to the cleaning building received
The execution position of the positional information flight extremely building to be cleaned comprised in the instruction of beyond the region of objective existence wall, concrete is receiving cleaning building
After the instruction of beyond the region of objective existence wall, the method specifying position of flight to building to be cleaned is also not necessarily limited to described above several, specifically
Can select as required.
Postpone in flight to the specific bit of building to be cleaned, determine on the exterior wall of building to be cleaned with specify position pair
The cleaning region answered.Such as, after unmanned plane flies to location A, the exterior wall area of A point position is the cleaning corresponding with specifying position
Region.The magnitude range in this cleaning region can be preset.Then the environmental information in this cleaning region is obtained in order to clearly
The environmental aspect in region to be cleaned is understood, in order to be preferably cleaned before the exterior wall of clean building.
After obtaining cleaning region environmental information, the cleaning device External Wall controlling unmanned plane according to environmental information is carried out
Cleaning.Concrete cleaning mode can be flipped by hairbrush the dust of exterior wall, can be carried out by Z-shaped direction when flicking off dust
Cleaning, it is also possible to the direction preset by other is swept.Can also pass through again by spraying water or spraying other cleaning agent simultaneously
The mode that hairbrush is scrubbed is cleaned, and concrete by which kind of mode is cleaned to carry out really according to exterior wall environmental information
Fixed.Concrete can being set to by cleaning mode is multiple, uses different cleaning modes according to every kind of exterior wall information.
When the embodiment of the present invention is by the instruction that receives cleaning of buildings exterior wall when unmanned plane, flight to building to be cleaned
The appointment position of thing；Determine cleaning region corresponding with described appointment position on described skin to be cleaned, obtain described
The environmental information in cleaning region；Described cleaning region is carried out by the cleaning device controlling described unmanned plane according to described environmental information
Cleaning.Owing to unmanned plane External Wall by the way of flight is carried out, therefore can quickly arrive appointment position and clean,
The cleaning efficiency of External Wall is higher, it is achieved thereby that the purpose efficiently skin being carried out.
Preferably, with reference to Fig. 2, for the refinement step schematic flow sheet of step S20, above-mentioned steps S20 includes:
Step S210, environment monitoring device based on described unmanned plane and/or photographic head detect described cleaning region, obtain
The dust information detected and/or image information；
Step S220, according to described dust information and/or described image information analysis build environment information.
In the present embodiment after confirming region to be cleaned, obtain regional environment information to be cleaned.Concrete control unmanned plane
According to preset route at the region flight of band cleaning, environment monitoring device based on unmanned plane and/or photographic head in preset distance
Detection cleaning region.Preset distance can be configured as required, such as, be set to 10 meters, can pass through ultrasonic ranging
Instrument, or there is the infrared ray sensing device of distance measurement function, again or range unit detection unmanned plane and the building to be cleaned such as radar
The distance of exterior wall, and control the unmanned plane exterior wall the most all the time with building to be cleaned and keep certain distance, with really
Ensuring safety property.
It is understood that preset route can be set as required when flight detection, such as can be by Chang Qing
The flight path of clean building preserves, or determines flight path according to the shape of the building to be cleaned recognized
Deng, concrete flight path can be from left to right, can also be for the mode such as from top to bottom.
Wherein, flight detection can be carried out when cleaning region is carried out flight detection, and owing to unmanned plane is flying
During row, itself can produce bigger air-flow, can clean dust or the particle of exterior wall surface, or may once fly
Row detection is not accurate enough, it is also possible to carries out one or many flight detection as required, specifically can carry out in advance as required
Definition.
The environmental detection set of above-mentioned unmanned plane is the environmental detection set for detecting dust of unmanned airborne device, example
As dust sensor can detect the dust of exterior wall surface, the photographic head of above-mentioned unmanned plane can be full-view camera, it is also possible to
For being loaded in the common camera on multiaxis The Cloud Terrace.
When unmanned plane is when being scanned cleaning region, obtain the dust letter that the environmental detection set of unmanned plane detects
The image information that breath and/or photographic head detect, concrete dust information can be whether to there is the letter such as dust and dust thickness
Breath.Wherein, dust information and the image information of acquisition can be all information detected in real time, it is also possible to when being preset interval
Between obtain the image information and dust information detected.
Build environment information it is analyzed after getting dust information and image information.Concrete can be according to preset
Algorithm is analyzed build environment information, can be according to whether there is dust to simulate the area map that there is dust, and by ash
Dirt is more than the zone marker color of pre-set thickness, it is also possible to process the image got, in identification image outside building
Wall surface thing to be cleaned in preset size.It is understood that can be according only to dust information or image information analysis ring
Environment information, it is also possible to dust information and image information are combined analysis environments information.
The present embodiment is by carrying out environment measuring to cleaning region, and obtains dust information and/or the figure in this cleaning region
As information, further according to dust information and/or be analyzed build environment information so that can obtain before cleaning at unmanned plane and treat
The environmental information in the cleaning region of cleaning of buildings, it is to avoid blindly cleaning, improves the efficiency of cleaning further.
Preferably, with reference to Fig. 3, for the refinement step schematic flow sheet of step S30, above-mentioned steps S30 includes:
Step S310, confirms cleaning strategy according to described environmental information；
Step S320, is carried out clearly described cleaning region according to the cleaning device of unmanned plane described in described cleaning policy control
Clean.
When, after the environmental information obtaining cleaning region, confirming cleaning strategy according to environmental information, specifically in the present embodiment
Cleaning strategy can be preset cleaning strategy, it is also possible to for being calculated the cleaning strategy of recommendation by real-time algorithm.
Concrete cleaning strategy can include cleaning route, cleaning order, clean method etc., specifically has which cleaning strategy
Can set as required.
After determining cleaning strategy, cleaning region is cleaned by the cleaning device controlling unmanned plane.Particularly root
According to burnisher corresponding in cleaning policy control cleaning device, cleaning region is cleaned.Such as, adopt according to cleaning strategy
With hairbrush, all exterior walls of building are carried out wiping.
The present embodiment is by confirming cleaning strategy according to environmental information, further according to the sanitizer cartridge of cleaning policy control unmanned plane
Put and cleaning region is cleaned so that clean danger more efficient, that unmanned plane operation simultaneously it also avoid manual work.
Preferably, described cleaning strategy include cleaning route and cleaning mode, described cleaning device include brushing device and
Cleaning agent ejecting device；Described step S320 includes:
Control described unmanned plane to fly according to described cleaning route, and control described brushing device described exterior wall is entered
Row is scrubbed and/or the cleaning agent that described unmanned plane carries is sprayed onto the surface in described cleaning region by described cleaning agent ejecting device.
In the present embodiment, above-mentioned cleaning strategy includes that cleaning route and cleaning mode, concrete cleaning route refer to, from upper
Arrive down, from left to right, the cleaning route information such as one or many, cleaning mode refers to use which kind of burnisher to be cleaned,
The information such as use burnisher is cleaned, wiping one or many can also be included how.
Above-mentioned cleaning device includes brushing device and cleaning agent ejecting device, and brushing device can be hairbrush, and cleaning agent is sprayed
Head unit can be the shower nozzle of preset size, can be wherein high-pressure nozzle, low pressure shower nozzle etc., and different shower nozzles can be according to it
Operation principle carries out corresponding cleaning, such as high-pressure nozzle can spray high temperature (high pressure) water column or steam.It is appreciated that
Be cleaning device can also include scraper plate etc. other for the device of cleaning outer wall.
After getting cleaning strategy, control unmanned plane and fly according to the cleaning route in cleaning strategy, and control
Described brushing device External Wall is scrubbed, it is also possible to the cleaning agent that unmanned plane is carried by control cleaning agent ejecting device is sprayed onto clearly
Clean region surface, or first control the cleaning agent carried by unmanned plane of cleaning agent ejecting device and be sprayed onto clear area field surface, then
Control unmanned plane External Wall and carry out wiping.Wherein when unmanned plane is cleaned, can in conjunction with range unit to unmanned plane with outer
The distance of wall detects, and controls the concrete of unmanned plane and exterior wall remains at certain distance, with ensure unmanned plane not with treat
The exterior wall of cleaning of buildings collides, and improves the safety of cleaning.
It is understood that when unmanned plane during flying, what the supervising device of unmanned plane can be real-time monitors unmanned plane
Handling situations, in order to be adjusted whenever necessary.And can be with the work electricity of examinations unmanned plane, when electricity is too low,
Report to the police to monitoring unmanned device, or control unmanned plane enter pattern of automatically making a return voyage, and makes unmanned plane be back to preset location,
Improve unmanned plane and be cleaned the safety of work.
The present embodiment flies according to cleaning route by controlling unmanned plane, improves the efficiency of cleaning, pilot brush simultaneously
Cleaning device External Wall surface carries out scrubbing and/or the cleaning agent that unmanned plane is carried by cleaning agent ejecting device be sprayed onto cleaning region
Surface so that unmanned plane can complete to treat the task that the exterior wall of cleaning of buildings is cleaned.
Preferably, the outside Wall Cleaning method based on unmanned plane that the present invention proposes, also include:
After described unmanned plane completes cleaning to described cleaning region, obtain the next one and specify position, so that described unmanned
Machine flight specifies position to be cleaned to the next of building to be cleaned.
In the present embodiment after unmanned plane completes cleaning to the cleaning region specifying position corresponding, then obtain next specific bit
Put so that unmanned plane can be specified position by flight to next, obtain the next one after a region completes cleaning
Specify the environmental information of position, next one cleaning region is cleaned.
Concrete position of specifying can be by receiving the position command that monitoring client sends, it is also possible to is obtained by built-in calculation algorithm
To position thus control unmanned plane during flying to specifying position.
Such as, after unmanned plane completes cleaning to the cleaning region of the exterior wall of primary importance, obtain the second position the most again,
Make unmanned plane can fly to the second position, the exterior wall area that the cleaning second position is corresponding so that unmanned plane subregional by
Walk cleaning.
The present embodiment by when unmanned plane to one cleaning region complete cleaning after, then obtain the next one specify position, make
Unmanned plane can fly to next one appointment position cleaning, so that whole building can subregional be completed by unmanned plane
Cleaning.
The present invention also provides for a kind of unmanned plane, with reference to Fig. 4, it is provided that unmanned plane first embodiment of the present invention, this embodiment
In, unmanned plane includes:
Flight module 10, for when unmanned plane receives the instruction of cleaning of buildings exterior wall, flies to building to be cleaned
The appointment position of thing；
Acquisition module 20, for determining clear area corresponding with described appointment position on described skin to be cleaned
Territory, obtains the environmental information in described cleaning region；
Cleaning control module 30, for controlling the cleaning device of described unmanned plane to described cleaning according to described environmental information
Region is cleaned.
The unmanned plane that the present invention provides may be used for being carried out the exterior wall of building.Described unmanned plane can be fixing
Wing unmanned plane, many rotor wing unmanned aerial vehicles.The cleaning device of unmanned plane is the cleaning device loaded on unmanned plane.Cleaning device can be
The instrument of the cleaning outer walls such as hairbrush, scraping article, cleaner container and nozzle, concrete cleaning device can be an instrument or multinomial
Integrated burnisher is for the exterior wall of cleaning of buildings.
The instruction of above-mentioned cleaning of buildings exterior wall is preset order, and the triggering mode of this order has multiple, the most permissible
Remote terminal or monitor terminal by unmanned plane send instruction to this unmanned plane.When unmanned plane receives cleaning of buildings exterior wall
Instruction time, flight module 10 controls unmanned plane during flying to the appointment position of building to be cleaned.
The concrete geographical location information first confirming building to be cleaned, then fly to the appointment position of cleaning of buildings,
Confirm that the geographical location information of building to be cleaned can be by obtaining the picture that the photographic head loaded on unmanned plane captures, root
According to preset algorithm, this picture is carried out graphical analysis and confirm that a certain building is building to be cleaned, further according to the map of storage
The geographical location information of this building of acquisition of information.
The picture that photographic head gets such as has multiple building, confirms that the highest building is building to be cleaned,
Obtain the geographical location information of this building again.The image got can also be analyzed, the building that analysis is obtained
Point out in terminal, the confirmation building to be cleaned confirmation command sent further according to the control terminal received or monitor terminal
Building to be cleaned, then obtain the geographical location information of this building.Simultaneously can also be directly according to the cleaning building received
The execution position of the positional information flight extremely building to be cleaned comprised in the instruction of beyond the region of objective existence wall, concrete is receiving cleaning building
After the instruction of beyond the region of objective existence wall, the method specifying position of flight to building to be cleaned is also not necessarily limited to described above several, specifically
Can select as required.
Postpone in flight to the specific bit of building to be cleaned, determine on the exterior wall of building to be cleaned with specify position pair
The cleaning region answered.Such as, after unmanned plane flies to location A, the exterior wall area of A point position is the cleaning corresponding with specifying position
Region.The magnitude range in this cleaning region can be preset.Acquisition module 20 obtains the environmental information in this cleaning region, it is therefore an objective to for
The environmental aspect in region to be cleaned was understood, in order to be preferably cleaned before the exterior wall of cleaning of buildings.
After obtaining cleaning region environmental information, cleaning control module 30 controls the cleaning of unmanned plane according to environmental information
Device External Wall is cleaned.Concrete cleaning mode can be flipped by hairbrush the dust of exterior wall, can lead to when flicking off dust
Cross Z-shaped direction to be cleaned, it is also possible to the direction preset by other is swept.By spraying water or can also be sprayed it simultaneously
He is cleaned by the way of hairbrush is scrubbed in cleaning agent again, and concrete being cleaned by which kind of mode can be according to exterior wall ring
Environment information is determined.Concrete can being set to by cleaning mode is multiple, uses different cleanings according to every kind of exterior wall information
Mode.
When the embodiment of the present invention is by the instruction that receives cleaning of buildings exterior wall when unmanned plane, flight to building to be cleaned
The appointment position of thing；Determine cleaning region corresponding with described appointment position on described skin to be cleaned, obtain described
The environmental information in cleaning region；Described cleaning region is carried out by the cleaning device controlling described unmanned plane according to described environmental information
Cleaning.Owing to unmanned plane External Wall by the way of flight is carried out, therefore can quickly arrive appointment position and clean,
The cleaning efficiency of External Wall is higher, it is achieved thereby that the purpose efficiently skin being carried out.
Preferably, with reference to Fig. 5, above-mentioned acquisition module 20 includes:
Acquiring unit 210, detects described clear area for environment monitoring device based on described unmanned plane and/or photographic head
Territory, obtains the dust information and/or image information detected；
Analytic unit 220, for according to described dust information and/or described image information analysis build environment information.
In the present embodiment after confirming region to be cleaned, obtain regional environment information to be cleaned.Concrete control unmanned plane
According to preset route at the region flight of band cleaning, environment monitoring device based on unmanned plane and/or photographic head in preset distance
Detection cleaning region.Preset distance can be configured as required, such as, be set to 10 meters, can pass through ultrasonic ranging
Instrument, or there is the infrared ray sensing device of distance measurement function, again or range unit detection unmanned plane and the building to be cleaned such as radar
The distance of exterior wall, and control the unmanned plane exterior wall the most all the time with building to be cleaned and keep certain distance, with really
Ensuring safety property.
It is understood that preset route can be set as required when flight detection, such as can be by Chang Qing
The flight path of clean building preserves, or determines flight path according to the shape of the building to be cleaned recognized
Deng, concrete flight path can be from left to right, can also be for the mode such as from top to bottom.
Wherein, flight detection can be carried out when cleaning region is carried out flight detection, and owing to unmanned plane is flying
During row, itself can produce bigger air-flow, can clean dust or the particle of exterior wall surface, or may once fly
Row detection is not accurate enough, it is also possible to carries out one or many flight detection as required, specifically can carry out in advance as required
Definition.
The environmental detection set of above-mentioned unmanned plane is the environmental detection set for detecting dust of unmanned airborne device, example
As dust sensor can detect the dust of exterior wall surface, the photographic head of above-mentioned unmanned plane can be full-view camera, it is also possible to
For being loaded in the common camera on multiaxis The Cloud Terrace.
When unmanned plane is when being scanned cleaning region, and acquiring unit 210 obtains the environmental detection set inspection of unmanned plane
The image information that the dust information measured and/or photographic head detect, concrete dust information can be whether exist dust and
The information such as dust thickness.Wherein, dust information and the image information of acquisition can be all information detected in real time, it is also possible to
It is to obtain the image information and dust information detected the preset interval time.
When getting dust information and image information post analysis unit 220 is analyzed build environment information.Concrete can
To be analyzed build environment information according to preset algorithm, can be according to whether there is dust to simulate the region that there is dust
Map, and dust is more than the zone marker color of pre-set thickness, it is also possible to the image got is processed, identifies image
Middle skin surface thing to be cleaned in preset size.It is understood that can be according only to dust information or image
Information analysis environmental information, it is also possible to dust information and image information are combined analysis environments information.
The present embodiment is by carrying out environment measuring to cleaning region, and obtains dust information and/or the figure in this cleaning region
As information, further according to dust information and/or be analyzed build environment information so that can obtain before cleaning at unmanned plane and treat
The environmental information in the cleaning region of cleaning of buildings, it is to avoid blindly cleaning, improves the efficiency of cleaning further.
Preferably, with reference to Fig. 6, above-mentioned cleaning control module 30 includes:
Confirmation unit 310, for confirming cleaning strategy according to described environmental information；
Cleaning control unit 320, for according to the cleaning device of unmanned plane described in described cleaning policy control to described clearly
Clean region is cleaned.
When, after the environmental information obtaining cleaning region, confirmation unit 310 confirms clear according to environmental information in the present embodiment
Clean strategy, concrete cleaning strategy can be preset cleaning strategy, it is also possible to for calculating recommendation by real-time algorithm
Cleaning strategy.
Concrete cleaning strategy can include cleaning route, cleaning order, clean method etc., specifically has which cleaning strategy
Can set as required.
After determining cleaning strategy, cleaning control unit 320 controls the cleaning device of unmanned plane and carries out cleaning region
Cleaning.Particularly according to burnisher corresponding in cleaning policy control cleaning device, cleaning region is cleaned.Such as,
Use hairbrush that all exterior walls of building are carried out wiping according to cleaning strategy.
The present embodiment is by confirming cleaning strategy according to environmental information, further according to the sanitizer cartridge of cleaning policy control unmanned plane
Put and cleaning region is cleaned so that clean danger more efficient, that unmanned plane operation simultaneously it also avoid manual work.
Preferably, in the present embodiment, described cleaning strategy includes that cleaning route and cleaning mode, described cleaning device include
Brushing device and cleaning agent ejecting device；
Above-mentioned cleaning control unit 320 specifically for, control described unmanned plane and fly according to described cleaning route, and
Control described brushing device described exterior wall to be scrubbed and/or that described unmanned plane is carried by described cleaning agent ejecting device is clear
The clean dose of surface being sprayed onto described cleaning region.
In the present embodiment, above-mentioned cleaning strategy includes that cleaning route and cleaning mode, concrete cleaning route refer to, from upper
Arrive down, from left to right, the cleaning route information such as one or many, cleaning mode refers to use which kind of burnisher to be cleaned,
The information such as use burnisher is cleaned, wiping one or many can also be included how.
Above-mentioned cleaning device includes brushing device and cleaning agent ejecting device, and brushing device can be hairbrush, and cleaning agent is sprayed
Head unit can be the shower nozzle of preset size, can be wherein high-pressure nozzle, low pressure shower nozzle etc., and different shower nozzles can be according to it
Operation principle carries out corresponding cleaning, such as high-pressure nozzle can spray high temperature (high pressure) water column or steam.It is appreciated that
Be cleaning device can also include scraper plate etc. other for the device of cleaning outer wall.
After getting cleaning strategy, control unmanned plane and fly according to the cleaning route in cleaning strategy, and control
Described brushing device External Wall is scrubbed, it is also possible to the cleaning agent that unmanned plane is carried by control cleaning agent ejecting device is sprayed onto clearly
Clean region surface, or first control the cleaning agent carried by unmanned plane of cleaning agent ejecting device and be sprayed onto clear area field surface, then
Control unmanned plane External Wall and carry out wiping.Wherein when unmanned plane is cleaned, can in conjunction with range unit to unmanned plane with outer
The distance of wall detects, and controls the concrete of unmanned plane and exterior wall remains at certain distance, with ensure unmanned plane not with treat
The exterior wall of cleaning of buildings collides, and improves the safety of cleaning.
It is understood that when unmanned plane during flying, what the supervising device of unmanned plane can be real-time monitors unmanned plane
Handling situations, in order to be adjusted whenever necessary.And can be with the work electricity of examinations unmanned plane, when electricity is too low,
Report to the police to monitoring unmanned device, or control unmanned plane enter pattern of automatically making a return voyage, and makes unmanned plane be back to preset location,
Improve unmanned plane and be cleaned the safety of work.
The present embodiment flies according to cleaning route by controlling unmanned plane, improves the efficiency of cleaning, pilot brush simultaneously
Cleaning device External Wall surface carries out scrubbing and/or the cleaning agent that unmanned plane is carried by cleaning agent ejecting device be sprayed onto cleaning region
Surface so that unmanned plane can complete to treat the task that the exterior wall of cleaning of buildings is cleaned.
Preferably, with reference to Fig. 7, in the present embodiment, the unmanned plane that the present invention proposes also includes:
Position acquisition module 40, after described cleaning region being completed cleaning when described unmanned plane, obtains the next one and refers to
Location is put, so that described unmanned plane during flying specifies position to be cleaned to the next of building to be cleaned.
In the present embodiment after unmanned plane completes cleaning to the cleaning region specifying position corresponding, position acquisition module 40 obtains
Take off an appointment position so that unmanned plane can be after a region completes cleaning, can be by flight to next specific bit
Put, obtain the next one and specify the environmental information of position, next one cleaning region is cleaned.
Concrete position of specifying can be by receiving the position command that monitoring client sends, it is also possible to is obtained by built-in calculation algorithm
To position thus control unmanned plane during flying to specifying position.
Such as, after unmanned plane completes cleaning to the cleaning region of the exterior wall of primary importance, obtain the second position the most again,
Make unmanned plane can fly to the second position, the exterior wall area that the cleaning second position is corresponding so that unmanned plane subregional by
Walk cleaning.
The present embodiment by when unmanned plane to one cleaning region complete cleaning after, then obtain the next one specify position, make
Unmanned plane can fly to next one appointment position cleaning, so that whole building can subregional be completed by unmanned plane
Cleaning.
These are only the preferred embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilize this
Equivalent structure or equivalence flow process that bright description and accompanying drawing content are made convert, or are directly or indirectly used in other relevant skills
Art field, is the most in like manner included in the scope of patent protection of the present invention.
Claims (10)
1. an outside Wall Cleaning method based on unmanned plane, it is characterised in that said method comprising the steps of:
When unmanned plane receives the instruction of cleaning of buildings exterior wall, the appointment position of flight to building to be cleaned；
Determine cleaning region corresponding with described appointment position on described skin to be cleaned, obtain described cleaning region
Environmental information；
Described cleaning region is cleaned by the cleaning device controlling described unmanned plane according to described environmental information.
2. the method for claim 1, it is characterised in that the environmental information in described acquisition described cleaning region, including:
Environment monitoring device based on described unmanned plane and/or photographic head detect described cleaning region, obtain the dust detected
Information and/or image information；
According to described dust information and/or described image information analysis build environment information.
3. method as claimed in claim 2, it is characterised in that described control the clear of described unmanned plane according to described environmental information
Described cleaning region is cleaned by clean device, including:
Cleaning strategy is confirmed according to described environmental information；
Described cleaning region is cleaned by the cleaning device according to unmanned plane described in described cleaning policy control.
4. method as claimed in claim 3, it is characterised in that described cleaning strategy includes cleaning route and cleaning mode, institute
State cleaning device and include brushing device and cleaning agent ejecting device；
Described cleaning region is cleaned by the described cleaning device according to unmanned plane described in described cleaning policy control, including:
Control described unmanned plane to fly according to described cleaning route, and control described brushing device described exterior wall is brushed
Wash and/or the cleaning agent that described unmanned plane carries is sprayed onto the surface in described cleaning region by described cleaning agent ejecting device.
5. the method as described in any one of Claims 1-4, it is characterised in that described method also includes:
After described unmanned plane completes cleaning to described cleaning region, obtain the next one and specify position, so that described unmanned plane flies
Walking to the next of building to be cleaned specifies position to be cleaned.
6. a unmanned plane, it is characterised in that described unmanned plane includes:
Flight module, for when unmanned plane receives the instruction of cleaning of buildings exterior wall, flies to the finger of building to be cleaned
Location is put；
Acquisition module, for determining cleaning region corresponding with described appointment position on described skin to be cleaned, obtains
The environmental information in described cleaning region；
Cleaning control module, enters described cleaning region for controlling the cleaning device of described unmanned plane according to described environmental information
Row cleaning.
7. unmanned plane as claimed in claim 6, it is characterised in that described acquisition module includes:
Acquiring unit, detects described cleaning region for environment monitoring device based on described unmanned plane and/or photographic head, obtains
The dust information detected and/or image information；
Analytic unit, for according to described dust information and/or described image information analysis build environment information.
8. unmanned plane as claimed in claim 7, it is characterised in that described cleaning control module includes:
Confirmation unit, for confirming cleaning strategy according to described environmental information；
Cleaning control unit, for entering described cleaning region according to the cleaning device of unmanned plane described in described cleaning policy control
Row cleaning.
9. unmanned plane as claimed in claim 8, it is characterised in that described cleaning strategy includes cleaning route and cleaning mode,
Described cleaning device includes brushing device and cleaning agent ejecting device；
Described cleaning control unit specifically for, control described unmanned plane and fly according to described cleaning route, and control institute
State the cleaning agent spray that described exterior wall is scrubbed by brushing device and/or described unmanned plane is carried by described cleaning agent ejecting device
Surface to described cleaning region.
10. the unmanned plane as described in any one of claim 6 to 9, it is characterised in that described unmanned plane also includes:
Position acquisition module, after described cleaning region being completed cleaning when described unmanned plane, obtains the next one and specifies position,
So that described unmanned plane during flying specifies position to be cleaned to the next of building to be cleaned.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610488504.1A CN106114857A (en) | 2016-06-28 | 2016-06-28 | Outside Wall Cleaning method based on unmanned plane and unmanned plane |
| PCT/CN2016/109146 WO2018000736A1 (en) | 2016-06-28 | 2016-12-09 | External wall cleaning method based on unmanned aerial vehicle, and unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610488504.1A CN106114857A (en) | 2016-06-28 | 2016-06-28 | Outside Wall Cleaning method based on unmanned plane and unmanned plane |
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| CN106114857A true CN106114857A (en) | 2016-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| WO (1) | WO2018000736A1 (en) |
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Application publication date: 20161116 |
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