CN109877128B - Flight cleaning equipment and flight cleaning method - Google Patents
Flight cleaning equipment and flight cleaning method Download PDFInfo
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Abstract
The invention discloses flight cleaning equipment and a flight cleaning method, wherein the flight cleaning equipment comprises the following steps: the cleaning robot is used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction after the cleaning is completed; the flight transfer device is used for transferring the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving the cleaning instruction; after a cleaning completion instruction is received, transferring the cleaning robot to the next area to be cleaned according to preset cleaning information until all the areas to be cleaned are cleaned; the preset cleaning information comprises an initial placement position, a cleaning sequence of all areas to be cleaned and a geographical position of the areas to be cleaned. Therefore, the cleaning robot is automatically moved to the area to be cleaned by the flight transfer device, so that the cleaning robot is not limited by the influence of the terrain of the area to be cleaned, the time for moving the cleaning robot is shortened, and the cleaning efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automation, in particular to flight cleaning equipment and a flight cleaning method.
Background
With the development of automation technology, the application of the cleaning robot is more and more extensive. For example, the cleaning robot is applied to a solar photovoltaic panel, and aims to automatically clean a panel surface (called a region to be cleaned) of the solar photovoltaic panel. In the prior art, a cleaning part and a driving device are arranged on a cleaning robot, the cleaning robot is driven by the driving device to move automatically, and a region to be cleaned is cleaned through the cleaning part. However, at present, a cleaning robot is generally moved to a to-be-cleaned area by a manual movement mode to automatically clean the to-be-cleaned area, and if the to-be-cleaned area is large in number and complex in terrain, the difficulty of manually moving the cleaning robot is increased, so that the time for moving the cleaning robot is prolonged, and the cleaning efficiency is low.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide flight cleaning equipment and a flight cleaning method, which can utilize a flight transfer device to autonomously move a cleaning robot to a to-be-cleaned area, so that the cleaning robot is not limited by the influence of the complex terrain of the to-be-cleaned area, the time for moving the cleaning robot is shortened, and the cleaning efficiency is improved.
In order to solve the technical problem, the invention provides flight cleaning equipment, which comprises:
the cleaning robot is used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction after the cleaning is completed;
the flight transfer device is used for transferring the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving a cleaning instruction; after the cleaning completion instruction is received, transferring the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned; the preset cleaning information comprises the initial placement position, the cleaning sequence of all areas to be cleaned and the geographic position of the areas to be cleaned.
Preferably, the flight transfer device is placed on a preset storage device;
correspondingly, the cleaning robot is specifically used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction containing the geographical position of the cleaning robot after the cleaning is completed;
the flight transfer device is specifically used for transferring the cleaning robot from an initial placement position to a first area to be cleaned according to preset cleaning information after receiving a cleaning instruction, and then returning the cleaning robot to the preset storage equipment; after the cleaning completion instruction is received, the robot flies to the current geographical position of the cleaning robot, the cleaning robot is grabbed and transferred to the next area to be cleaned according to preset cleaning information, and then the robot returns to the preset storage equipment until all the areas to be cleaned are cleaned.
Preferably, the flight cleaning device further comprises:
and the charging device is arranged on the preset storage equipment and is used for automatically charging the flight transfer device when the flight transfer device is placed in the preset storage equipment until the flight transfer device is fully charged.
Preferably, the preset storage device is a movable device.
Preferably, the flight transfer device is fixed to the cleaning robot.
Preferably, the preset cleaning information further includes the number of times of cleaning all the areas to be cleaned;
correspondingly, the flight transfer device is also used for acquiring the region cleaning times of the current region to be cleaned according to the preset cleaning information and sending the region cleaning times to the cleaning robot when the cleaning robot is transferred to the region to be cleaned;
the cleaning robot is specifically configured to clean the current region to be cleaned according to the region cleaning times, and generate a cleaning completion instruction after the final cleaning is completed.
Preferably, the flight cleaning equipment further comprises a prompting device;
correspondingly, the flight transfer device is also used for controlling the prompting device to send out prompting information indicating that the current area to be cleaned is about to enter a cleaning state when the current area to be cleaned is determined.
Preferably, the prompting device is a display;
the flight transfer device is specifically configured to control the display to display the geographic position of the current area to be cleaned when the current area to be cleaned is determined.
In order to solve the technical problem, the invention also provides a flight cleaning method, which comprises the following steps:
after receiving the cleaning instruction, the flying transfer device transfers the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information; the preset cleaning information comprises the initial placement position, the cleaning sequence of all areas to be cleaned and the geographic position of all the areas to be cleaned;
when the cleaning robot is transferred to a region to be cleaned by the flight transfer device, cleaning the current region to be cleaned, and generating a cleaning completion instruction after cleaning is completed;
and after receiving the cleaning completion instruction, the flight transfer device transfers the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned.
Preferably, the flight transfer device is placed on a preset storage device;
correspondingly, the process that the flight transfer device transfers the cleaning robot from the initial placement position to the first area to be cleaned according to the preset cleaning information after receiving the cleaning instruction comprises the following steps:
after receiving the cleaning instruction, the flying transfer device transfers the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information, and then returns to the preset storage equipment;
when the cleaning robot is transferred to a region to be cleaned by the flight transfer device, the cleaning robot cleans the current region to be cleaned and generates a cleaning completion instruction after the cleaning is completed, and the process comprises the following steps:
when the cleaning robot is transferred to an area to be cleaned by the flight transfer device, cleaning the current area to be cleaned, and generating a cleaning completion instruction containing the geographical position of the cleaning robot after cleaning;
after receiving the cleaning completion instruction, the flight transfer device transfers the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned, and the process comprises the following steps:
the flight transfer device flies to the current geographical position of the cleaning robot after receiving the cleaning completion instruction, grabs the cleaning robot according to preset cleaning information, transfers the cleaning robot to the next area to be cleaned, and returns to the preset storage equipment until all the areas to be cleaned are cleaned.
The invention provides a flight cleaning device, comprising: the cleaning robot is used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction after the cleaning is completed; the flight transfer device is used for transferring the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving the cleaning instruction; after a cleaning completion instruction is received, transferring the cleaning robot to the next area to be cleaned according to preset cleaning information until all the areas to be cleaned are cleaned; the preset cleaning information comprises an initial placement position, a cleaning sequence of all areas to be cleaned and a geographical position of the areas to be cleaned.
Therefore, the cleaning robot can be autonomously moved to the area to be cleaned by the aid of the flight transfer device, so that the cleaning robot is not limited by the influence of the complex terrain of the area to be cleaned, the time for moving the cleaning robot is shortened, and the cleaning efficiency is improved.
The invention also provides a flight cleaning method, which has the same beneficial effects as the flight cleaning equipment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a flight cleaning device according to an embodiment of the present invention;
fig. 2(a) is a schematic structural diagram of a flight transfer device in a split type flight cleaning device according to an embodiment of the present invention;
fig. 2(b) is a schematic structural diagram of a cleaning robot in the split type flight cleaning device according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an integrated flight cleaning device according to an embodiment of the present invention;
fig. 4 is a flowchart of a flight cleaning method according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a flight cleaning device and a flight cleaning method, and the flight transfer device can be used for automatically moving the cleaning robot to the area to be cleaned, so that the cleaning robot is not limited by the influence of the complex terrain of the area to be cleaned, the time for moving the cleaning robot is shortened, and the cleaning efficiency is improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a flight cleaning device according to an embodiment of the present invention.
This flight cleaning equipment includes:
the cleaning robot 1 is used for cleaning a current area to be cleaned when the flying transfer device 2 transfers the current area to be cleaned, and generating a cleaning completion instruction after the cleaning is completed;
the flight transfer device 2 is used for transferring the cleaning robot 1 from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving the cleaning instruction; after receiving a cleaning completion instruction, transferring the cleaning robot 1 to the next area to be cleaned according to preset cleaning information until all the areas to be cleaned are cleaned; the preset cleaning information comprises an initial placement position, a cleaning sequence of all areas to be cleaned and a geographical position of the areas to be cleaned.
Specifically, the flight cleaning equipment of this application includes cleaning robot 1 and flight transfer device 2, and its theory of operation is:
the number of the areas to be cleaned may be 1 or more. When the number of the areas to be cleaned is multiple, the cleaning sequence of all the areas to be cleaned also affects the cleaning efficiency due to different geographical positions of different areas to be cleaned, so the cleaning route of the cleaning robot 1 (representing the cleaning sequence of all the areas to be cleaned and the geographical positions of all the areas to be cleaned) should be reasonably planned in advance according to the geographical positions of all the areas to be cleaned.
It is understood that the starting point of the cleaning route of the cleaning robot 1 is the initial placement position of the cleaning robot 1 (the initial placement position is selected according to the reason that after the cleaning sequence of all the areas to be cleaned is determined, one initial placement position is reasonably selected for the cleaning robot 1 according to the geographical position of the first area to be cleaned). Therefore, the present application should set the cleaning route of the cleaning robot 1 in advance, and store the initial placement position of the cleaning robot 1, the cleaning sequence of all areas to be cleaned, and the geographic position thereof (collectively referred to as cleaning information) included in the cleaning route to lay a foundation for the subsequent cleaning work of the cleaning robot 1.
Considering that the terrain of the area to be cleaned is possibly complex, and the cleaning robot 1 is not easily conveyed to the area to be cleaned, the flying transfer device 2 is configured for the cleaning robot 1, and the flying transfer device 2 conveys the cleaning robot 1 to the area to be cleaned, so that the cleaning robot 1 is not limited by the influence of the complex terrain of the area to be cleaned, the time for moving the cleaning robot 1 is shortened, and the cleaning efficiency is improved.
More specifically, when the cleaning operation of the cleaning robot 1 is ready to be started, a cleaning instruction is sent to the flight transfer device 2. After receiving the cleaning instruction, the flight transfer device 2 transfers the cleaning robot 1 from its initial placement position to the first area to be cleaned according to the set cleaning information (the initial placement position of the cleaning robot 1, the geographical position of the first area to be cleaned of all the areas to be cleaned). The cleaning robot 1 cleans a first area to be cleaned after being delivered to the first area to be cleaned, generates a cleaning completion instruction after the cleaning is completed (cleaning completion flag: the entire area of the first area to be cleaned is cleaned once), and sends the cleaning completion instruction to the flight transfer device 2. After receiving the cleaning completion instruction, the flying transfer device 2 transfers the cleaning robot 1 from the first area to be cleaned to the second area to be cleaned according to the set cleaning information (the geographical position of the second area to be cleaned among all the areas to be cleaned). After being delivered to the second area to be cleaned, the cleaning robot 1 cleans the second area to be cleaned, generates a cleaning completion instruction after the cleaning is completed, and sends the cleaning completion instruction to the flight transfer device 2. Similarly, after receiving the cleaning completion instruction, the flying transfer device 2 transfers the cleaning robot 1 to the next area to be cleaned according to the set cleaning information, and the cleaning operation of the cleaning robot 1 is not finished until all the areas to be cleaned are cleaned.
The invention provides a flight cleaning device, comprising: the cleaning robot is used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction after the cleaning is completed; the flight transfer device is used for transferring the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving the cleaning instruction; after a cleaning completion instruction is received, transferring the cleaning robot to the next area to be cleaned according to preset cleaning information until all the areas to be cleaned are cleaned; the preset cleaning information comprises an initial placement position, a cleaning sequence of all areas to be cleaned and a geographical position of the areas to be cleaned.
Therefore, the cleaning robot can be autonomously moved to the area to be cleaned by the aid of the flight transfer device, so that the cleaning robot is not limited by the influence of the complex terrain of the area to be cleaned, the time for moving the cleaning robot is shortened, and the cleaning efficiency is improved.
On the basis of the above-described embodiment:
as an alternative embodiment, the flight transfer device 2 is placed on a preset storage device;
correspondingly, the cleaning robot 1 is specifically used for cleaning a current area to be cleaned when being transferred to an area to be cleaned by the flying transfer device 2, and generating a cleaning completion instruction containing the geographical position of the cleaning robot after the cleaning is completed;
the flight transfer device 2 is specifically used for transferring the cleaning robot 1 from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving a cleaning instruction, and then returning to preset storage equipment; after receiving the cleaning completion instruction, the robot flies to the current geographical position of the cleaning robot 1, grabs the cleaning robot 1 according to the preset cleaning information, transfers the grabbed cleaning robot to the next area to be cleaned, and returns to the preset storage equipment until all the areas to be cleaned are cleaned.
Referring to fig. 2(a) and fig. 2(b), fig. 2(a) is a schematic structural diagram of a flight transferring device in a split type flight cleaning apparatus according to an embodiment of the present invention; fig. 2(b) is a schematic structural diagram of a cleaning robot in the split type flight cleaning device according to the embodiment of the present invention.
Specifically, the present application may prepare a storage device for the flight transfer device 2 in advance, and when the flight transfer device 2 does not work, the flight transfer device 2 is placed on the prepared storage device. In this case, after receiving the cleaning instruction, the flying transfer device 2 first obtains the initial placement position of the cleaning robot 1 and the geographical position of the first to-be-cleaned area of all to-be-cleaned areas according to the set cleaning information, and then first flies to the initial placement position of the cleaning robot 1 in order to grab and carry the cleaning robot 1 to the first to-be-cleaned area. The flying transfer device 2 returns the cleaning robot 1 to the storage facility to be ready after delivering it to the first area to be cleaned.
After being delivered to a first to-be-cleaned area, the cleaning robot 1 cleans the first to-be-cleaned area, generates a cleaning completion instruction containing the geographical position of the cleaning robot after cleaning, and sends the cleaning completion instruction to the flight transfer device 2.
After receiving the cleaning completion instruction, the flying transfer device 2 firstly acquires the current geographical position of the cleaning robot 1 according to the cleaning completion instruction, acquires the geographical position of the next to-be-cleaned area in all to-be-cleaned areas according to the set cleaning information, and then flies to the current geographical position of the cleaning robot 1 to grab and carry the cleaning robot 1 to the next to-be-cleaned area, and then returns to the storage device to be ready until all to-be-cleaned areas are cleaned, so that the cleaning work of the cleaning robot 1 is finished.
In addition, the storage device can be specifically set to be a device capable of placing a plurality of flight transfer devices 2, so that the flight transfer devices 2 for executing different cleaning tasks share one storage device, and the cost is saved.
As an optional embodiment, the flight cleaning apparatus further comprises:
and the charging device is arranged on the preset storage equipment and is used for automatically charging the flight transfer device 2 when the flight transfer device 2 is placed on the preset storage equipment until the flight transfer device is fully charged.
Further, considering that the flight transfer device 2 consumes too much electric power for a long time during continuous flight, in order to prevent the situation that the flight transfer device 2 is insufficient in electric power when performing a cleaning task, the present application is further provided with a charging device on the storage device. Specifically, when the flight transfer device 2 is placed on the storage device, the charging device can automatically charge the flight transfer device 2 until the flight transfer device is fully charged, so that the flight transfer device 2 is ensured to have sufficient electric quantity when performing a cleaning task.
As an alternative embodiment, the preset storage device is embodied as a movable device.
Specifically, considering that the area to be cleaned may change according to the cleaning requirement, when the geographical position of the changed area to be cleaned is different from the geographical position before the change by a relatively large amount, the initial placement position of the cleaning robot 1 and the position of the storage device where the flying transfer device 2 is placed should be adaptively adjusted, so that the cleaning robot 1 can conveniently perform cleaning work. Therefore, the storage device can be arranged as a movable device, so that the position of the storage device can be adjusted conveniently.
As an alternative embodiment, the flight transfer device 2 is fixed to the washing robot 1.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an integrated flight cleaning apparatus according to an embodiment of the present invention.
Specifically, in addition to the placement of the flight transfer device 2 in the preset storage device proposed in the above embodiment, the flight transfer device 2 of the present application may also be fixed to the cleaning robot 1, so that the cleaning robot 1 has the capability of autonomous flight.
As an optional embodiment, the preset cleaning information further includes the number of times of cleaning all the areas to be cleaned;
correspondingly, the flight transfer device 2 is also used for acquiring the region cleaning times of the current region to be cleaned according to preset cleaning information and sending the region cleaning times to the cleaning robot 1 when the cleaning robot 1 is transferred to the region to be cleaned;
the cleaning robot 1 is specifically configured to clean a current region to be cleaned according to the number of times of region cleaning, and generate a cleaning completion instruction after the final cleaning is completed.
Further, under the known default condition, the whole area of the area to be cleaned is cleaned once and then is considered to be cleaned completely, but the cleaning once is possibly impossible to clean the area to be cleaned with serious surface dirt considering that the surface dirt degrees of different areas to be cleaned are different, so that the cleaning times can be reasonably distributed for the area to be cleaned in advance according to the surface dirt degrees of the areas to be cleaned, and the cleaning times of all the areas to be cleaned are put into the cleaning information to be stored, so that the subsequent cleaning work of the cleaning robot 1 is more complete.
Correspondingly, when the flying transfer device 2 transfers the cleaning robot 1 to a region to be cleaned, the region cleaning times of the current region to be cleaned are obtained according to the set cleaning information, and the region cleaning times are sent to the cleaning robot 1, so that the cleaning robot 1 cleans the current region to be cleaned according to the region cleaning times. It can be understood that the cleaning robot 1 considers that the cleaning of the current area to be cleaned is completed after the last cleaning pass, and the cleaning robot 1 can send a cleaning completion instruction to the flight transfer device 2.
As an optional embodiment, the flight cleaning device further comprises a prompting device;
correspondingly, the flight transfer device 2 is also used for controlling the prompting device to send out prompting information indicating that the current area to be cleaned is about to enter a cleaning state when the current area to be cleaned is determined.
Further, the flight cleaning equipment of the application also comprises a prompting device controlled by the flight transfer device 2. Specifically, when the flight transfer device 2 determines the current region to be cleaned, the control prompting device sends out prompting information indicating that the current region to be cleaned is about to enter a cleaning state, so as to inform a worker of which region the current region being cleaned is.
As an optional embodiment, the prompting device is specifically a display;
the flight transfer device 2 is specifically configured to control the display to display the geographical position of the current area to be cleaned when the current area to be cleaned is determined.
Specifically, the prompting device of the application can select a display, and when the flight transfer device 2 determines that the current area to be cleaned is about to enter the cleaning state, the display is controlled to display information indicating that the current area to be cleaned is about to enter the cleaning state, such as the geographical position of the current area to be cleaned, so that the effect of informing the working personnel of which area the current area to be cleaned is can be achieved.
Referring to fig. 4, fig. 4 is a flowchart of a flight cleaning method according to an embodiment of the present invention.
The flight cleaning method comprises the following steps:
step S1: and after receiving the cleaning instruction, the flying transfer device transfers the cleaning robot to a first area to be cleaned from the initial placement position according to preset cleaning information.
The preset cleaning information comprises an initial placement position, a cleaning sequence of all areas to be cleaned and a geographical position of the areas to be cleaned.
Step S2: when the cleaning robot is transferred to a region to be cleaned by the flying transfer device, the current region to be cleaned is cleaned, and a cleaning completion instruction is generated after the cleaning is completed.
Step S3: and after receiving the cleaning completion instruction, the flying transfer device transfers the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned.
As an alternative embodiment, the flight transfer device is placed on a preset storage device;
correspondingly, flight transfer device is after receiving the washing instruction, and the process of transferring cleaning robot to the first region of waiting to wash from the initial placement position according to presetting washing information includes:
after receiving the cleaning instruction, the flight transfer device transfers the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information, and then returns to the preset storage equipment;
when the cleaning robot is transferred to a to-be-cleaned area by the flying transfer device, the current to-be-cleaned area is cleaned, and a cleaning completion instruction is generated after the cleaning is completed, the process comprises the following steps:
when the cleaning robot is transferred to an area to be cleaned by the flying transfer device, cleaning the current area to be cleaned, and generating a cleaning completion instruction containing the geographical position of the cleaning robot after cleaning;
flight transfer device is after receiving and washs the completion instruction, and according to presetting washing information with washing robot transfer to next waiting to wash the region, until washing all the process that waits to wash the region, include:
the flying transfer device flies to the current geographical position of the cleaning robot after receiving the cleaning completion instruction, grabs the cleaning robot according to the preset cleaning information, transfers the cleaning robot to the next area to be cleaned, and returns to the preset storage equipment until all the areas to be cleaned are cleaned.
For introduction of the flight cleaning method provided in the present application, reference is made to the above-mentioned embodiment of the flight cleaning device, and details are not repeated herein.
It should also be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (6)
1. A flight cleaning apparatus, comprising:
the cleaning robot is used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction after the cleaning is completed;
the flight transfer device is used for transferring the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information after receiving a cleaning instruction; after the cleaning completion instruction is received, transferring the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned; the preset cleaning information comprises the initial placement position, the cleaning sequence of all areas to be cleaned and the geographic position of all the areas to be cleaned;
the flight transfer device is placed on preset storage equipment;
correspondingly, the cleaning robot is specifically used for cleaning the current area to be cleaned when the flying transfer device transfers the current area to be cleaned to the area to be cleaned, and generates a cleaning completion instruction containing the geographical position of the cleaning robot after the cleaning is completed;
the flight transfer device is specifically used for transferring the cleaning robot from an initial placement position to a first area to be cleaned according to preset cleaning information after receiving a cleaning instruction, and then returning the cleaning robot to the preset storage equipment; after the cleaning completion instruction is received, the robot flies to the current geographical position of the cleaning robot, the cleaning robot is grabbed and transferred to the next area to be cleaned according to preset cleaning information, and then the robot returns to the preset storage equipment until all the areas to be cleaned are cleaned;
this flight cleaning equipment still includes:
and the charging device is arranged on the preset storage equipment and is used for automatically charging the flight transfer device when the flight transfer device is placed in the preset storage equipment until the flight transfer device is fully charged.
2. Flight cleaning apparatus according to claim 1, characterised in that the pre-set storage apparatus is embodied as a mobile apparatus.
3. The flight cleaning apparatus of any one of claims 1-2, wherein the preset cleaning information further includes the number of cleans for all areas to be cleaned;
correspondingly, the flight transfer device is also used for acquiring the region cleaning times of the current region to be cleaned according to the preset cleaning information and sending the region cleaning times to the cleaning robot when the cleaning robot is transferred to the region to be cleaned;
the cleaning robot is specifically configured to clean the current region to be cleaned according to the region cleaning times, and generate a cleaning completion instruction after the final cleaning is completed.
4. A flight cleaning apparatus according to claim 3, characterised in that the flight cleaning apparatus further comprises prompting means;
correspondingly, the flight transfer device is also used for controlling the prompting device to send out prompting information indicating that the current area to be cleaned is about to enter a cleaning state when the current area to be cleaned is determined.
5. A flight cleaning device according to claim 4, wherein the prompting means is embodied as a display;
the flight transfer device is specifically configured to control the display to display the geographic position of the current area to be cleaned when the current area to be cleaned is determined.
6. A flight cleaning method, comprising:
after receiving the cleaning instruction, the flying transfer device transfers the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information; the preset cleaning information comprises the initial placement position, the cleaning sequence of all areas to be cleaned and the geographic position of all the areas to be cleaned;
when the cleaning robot is transferred to a region to be cleaned by the flight transfer device, cleaning the current region to be cleaned, and generating a cleaning completion instruction after cleaning is completed;
after receiving the cleaning completion instruction, the flight transfer device transfers the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned;
the flight transfer device is placed on preset storage equipment;
correspondingly, the process that the flight transfer device transfers the cleaning robot from the initial placement position to the first area to be cleaned according to the preset cleaning information after receiving the cleaning instruction comprises the following steps:
after receiving the cleaning instruction, the flying transfer device transfers the cleaning robot from the initial placement position to a first area to be cleaned according to preset cleaning information, and then returns to the preset storage equipment;
when the cleaning robot is transferred to a region to be cleaned by the flight transfer device, the cleaning robot cleans the current region to be cleaned and generates a cleaning completion instruction after the cleaning is completed, and the process comprises the following steps:
when the cleaning robot is transferred to an area to be cleaned by the flight transfer device, cleaning the current area to be cleaned, and generating a cleaning completion instruction containing the geographical position of the cleaning robot after cleaning;
after receiving the cleaning completion instruction, the flight transfer device transfers the cleaning robot to the next area to be cleaned according to the preset cleaning information until all the areas to be cleaned are cleaned, and the process comprises the following steps:
the flight transfer device flies to the current geographical position of the cleaning robot after receiving the cleaning completion instruction, grabs and transfers the cleaning robot to the next area to be cleaned according to preset cleaning information, and then returns to the preset storage equipment until all the areas to be cleaned are cleaned;
the preset storage equipment is provided with a charging device,
the flight cleaning method further comprises the following steps:
and when the flight transfer device is placed in the preset storage equipment, the flight transfer device is automatically charged until the flight transfer device is fully charged.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910163877.5A CN109877128B (en) | 2019-03-05 | 2019-03-05 | Flight cleaning equipment and flight cleaning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910163877.5A CN109877128B (en) | 2019-03-05 | 2019-03-05 | Flight cleaning equipment and flight cleaning method |
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| CN109877128A CN109877128A (en) | 2019-06-14 |
| CN109877128B true CN109877128B (en) | 2020-11-03 |
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|---|---|---|---|---|
| CN112806905A (en) * | 2020-12-31 | 2021-05-18 | 广州极飞科技股份有限公司 | Method and device for multi-equipment cooperative operation, unmanned aerial vehicle and sweeping robot |
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